CN217372356U

CN217372356U - Automatic change drilling rod and snatch arm

Info

Publication number: CN217372356U
Application number: CN202123251300.1U
Authority: CN
Inventors: 姚克; 方鹏; 王松; 翁寅生; 李保民; 唐祯; 崔顺炬; 夏滔龙; 陈余刚
Original assignee: Guangdong Robot Innovation Center Co ltd; Xian Research Institute Co Ltd of CCTEG
Current assignee: Guangdong Robot Innovation Center Co ltd; Xian Research Institute Co Ltd of CCTEG
Priority date: 2021-12-22
Filing date: 2021-12-22
Publication date: 2022-09-06
Anticipated expiration: 2031-12-22

Abstract

The utility model relates to a drilling rod transmission technical field discloses an automatic change drilling rod and snatch arm, the on-line screen storage device comprises a base, big arm, forearm and tongs, be equipped with rotary hydraulic cylinder in the base, the base can use self to be the hub rotation under rotary hydraulic cylinder's drive, fixedly connected with roating seat on the base, big arm is connected with the roating seat is articulated, the forearm is connected with big arm is articulated, be equipped with first pneumatic cylinder and second pneumatic cylinder in the big arm, big arm can rotate relative roating seat under the drive of first pneumatic cylinder, the forearm can rotate relative big arm under the effect of second pneumatic cylinder, the tongs is connected with the forearm is articulated, the tongs is used for snatching the drilling rod. Compared with the prior art, the automatic drilling rod grabbing mechanical arm is ingenious in structural design, labor cost is reduced, and construction efficiency is improved.

Description

Automatic change drilling rod and snatch arm

Technical Field

The utility model relates to a drilling rod transmission technical field especially relates to an automatic change drilling rod and snatch arm.

Background

The underground long drilling of the coal mine is a fundamental measure and means for preventing and controlling mine accidents such as coal mine gas disasters, mine water disasters, roadway geological abnormal disasters and the like, gas extraction is used as a fundamental way for preventing and treating the coal mine gas disasters, and efficient and reliable coal seam drilling technologies and equipment are needed for realizing the gas extraction, namely drilling complete technologies and equipment are core equipment and technologies for long drilling construction. Meanwhile, the coal can be used as the leading energy of China for a long time by analyzing the energy structure of China, the market demand of drilling equipment in China is increased, informatization, intellectualization and automation are inevitable directions of development, and automatic construction is finally realized.

To the drilling equipment that has can realize automatic drilling construction among the above-mentioned condition prior art, but still need the manual work to cooperate to the loading and unloading of drilling rod, consequently the purpose of this application is to provide an automatic drilling rod and snatchs the arm, uses with automatic drilling equipment cooperation, and then realizes the automatic construction of whole probing flow.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model aims at providing an automatic drilling rod snatchs arm, it has structural design ingenious, reduce the cost of labor, promote advantages such as efficiency of construction.

Based on this, the utility model provides an automatic change drilling rod and snatch arm, it includes base, big arm, forearm and tongs, be equipped with rotary hydraulic cylinder in the base, the base can use self to be the hub rotation under rotary hydraulic cylinder's the drive, fixedly connected with roating seat on the base, big arm with roating seat articulates the connection, the forearm with big arm articulates the connection, be equipped with first pneumatic cylinder and second pneumatic cylinder in the big arm, big arm can be relative under the drive of first pneumatic cylinder the roating seat rotates, the forearm can be relative under the effect of second pneumatic cylinder big arm rotates, the tongs with the forearm articulates the connection, the tongs is used for snatching the drilling rod.

In some embodiments of this application, still include big arm connecting rod, forearm connecting rod and triangle goods of furniture for display rather than for use, the both ends of big arm connecting rod respectively with the triangle goods of furniture for display rather than for use with the roating seat is articulated to be connected, the both ends of forearm connecting rod respectively with the triangle goods of furniture for display rather than for use with the forearm is articulated to be connected, the triangle goods of furniture for display rather than for use still with big arm with the forearm is articulated to be connected.

In some embodiments of the present application, the large arm is fitted with a first valve block.

In some embodiments of the present application, the small arm is fitted with a second valve block.

In some embodiments of this application, the tongs is including connecting wrist, horizontal hydraulic pressure tilt cylinder, vertical hydraulic pressure tilt cylinder and drill rod holder, connect the wrist with the forearm is articulated to be connected, horizontal hydraulic pressure tilt cylinder is located connect on the wrist, be used for realizing drill rod holder's horizontal motion, vertical hydraulic pressure tilt cylinder through the connecting plate with horizontal hydraulic pressure tilt cylinder is connected, is used for realizing drill rod holder's vertical motion, drill rod holder includes fixed part and movable part, the movable part with the articulated connection of fixed part, be equipped with the hydro-cylinder that opens and shuts on the fixed part, the movable part can open and shut under the effect of hydro-cylinder open and shut around it with the articulated shaft of fixed part rotates.

In some embodiments of the present application, a first explosion-proof encoder is connected to the horizontal hydraulic tilt cylinder.

In some embodiments of the present application, a second explosion-proof encoder is connected to the vertical hydraulic tilt cylinder.

In some embodiments of the present application, a proximity switch connected to the opening/closing oil cylinder is disposed beside the opening/closing oil cylinder.

The embodiment of the utility model provides a pair of automatic drilling rod snatchs arm, compare with prior art, its beneficial effect lies in:

the utility model provides an automatic drilling rod grabbing mechanical arm, which comprises a base, a big arm, a small arm and a gripper, wherein a rotary hydraulic cylinder is arranged in the base, the base can rotate around the base under the drive of the rotary hydraulic cylinder, a rotary seat is fixedly connected on the base, the big arm is hinged with the rotary seat, the small arm is hinged with the big arm, a first hydraulic cylinder and a second hydraulic cylinder are arranged in the big arm, the big arm can rotate relative to the rotary seat under the drive of the first hydraulic cylinder, the small arm can rotate relative to the big arm under the action of the second hydraulic cylinder, the gripper is hinged with the small arm, the gripper comprises a connecting wrist, a horizontal hydraulic swing cylinder, a vertical hydraulic swing cylinder and a drill rod holder, the connecting wrist is hinged with the small arm, the horizontal hydraulic swing cylinder is arranged on the connecting wrist and used for realizing the horizontal movement of a drilling rod holder, the vertical hydraulic swing cylinder is connected with the horizontal hydraulic swing cylinder through a connecting plate, the drill rod holder comprises a fixed part and a movable part, the movable part is hinged to the fixed part, an opening-closing oil cylinder is arranged on the fixed part, and the movable part can rotate around a hinge shaft of the movable part under the action of the opening-closing oil cylinder. Based on the structure, when in use, the movable part rotates along the hinged shaft of the movable part under the action of the opening and closing oil cylinder, and along with the mutual approaching or separating of the movable part and the fixed part, the whole drill rod clamp holder is in an open state and can approach the drill rod for clamping when being mutually separated, and the whole drill rod clamp holder is in a closed state when being mutually approached and can clamp the drill rod clamped between the fixed part and the movable part; the horizontal hydraulic tilt cylinder and the vertical hydraulic tilt cylinder which are arranged beside the drill rod holder are provided with corresponding push rods, and the drill rod holder can be controlled to finish horizontal displacement and vertical displacement respectively, so that the drill rod holder can move in a certain plane; furthermore, the large arm and the small arm which are hinged to each other can swing back and forth under the action of the first hydraulic cylinder and the second hydraulic cylinder to drive the drill rod holder connected with the large arm to complete large-amplitude displacement. Of course only still can't accomplish the removal of drilling rod holder in the space by above-mentioned structure, consequently, the end-to-end connection of big arm has the roating seat, the roating seat is fixed on the base, the steerable base of rotary hydraulic cylinder in the base rotates around its self, the rotation of base then can further drive big arm, forearm and drilling rod holder isotructure take place to rotate, thereby realize the effective removal of drilling rod holder in all directions, this arm can cooperate other equipment to use together and then accomplish the automation mechanized operation of drilling rod loading and unloading, the structure of this arm is ingenious, the cost of labor has been reduced, be favorable to promoting the efficiency of construction.

Drawings

Fig. 1 is a schematic structural view of an automated drill pipe gripping robot according to an embodiment of the present invention;

fig. 2 is a second schematic structural view of the automated drill pipe gripping robot according to the embodiment of the present invention;

fig. 3 is a schematic structural view of a drill rod holder according to an embodiment of the present invention.

In the figure, 1, a base; 11. a rotating base; 2. a large arm; 21. a first hydraulic cylinder; 22. a first valve block; 3. a small arm; 31. a second hydraulic cylinder; 32. a second valve block; 4. connecting a wrist; 5. a drill rod holder; 51. a fixed part; 52. a movable portion; 53. a horizontal hydraulic tilt cylinder; 54. a vertical hydraulic tilt cylinder; 55. opening and closing the oil cylinder; 6. a large arm connecting rod; 7. a small arm connecting rod; 8. the triangle goods of furniture.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

It should be understood that the present invention uses the terms "front", "back", etc. to describe various information, but the information should not be limited to these terms, and these terms are only used to distinguish one type of information from another. For example, "front" information may also be referred to as "back" information, and "back" information may also be referred to as "front" information without departing from the scope of the present invention.

As shown in fig. 1 to 3, the present invention provides an automatic drill rod grabbing mechanical arm, which comprises a base 1, a large arm 2, a small arm 3 and a gripper, wherein a rotary hydraulic cylinder is arranged in the base 1, the base 1 can rotate around its own axis under the driving of the rotary hydraulic cylinder, a rotary base 11 is fixedly connected to the base 1, the large arm 2 is connected to the rotary base 11 in an articulated manner, the small arm 3 is connected to the large arm 2 in an articulated manner, a first hydraulic cylinder 21 and a second hydraulic cylinder 31 are arranged in the large arm 2, the large arm 2 can rotate relative to the rotary base 11 under the driving of the first hydraulic cylinder 21, the small arm 3 can rotate relative to the large arm 2 under the driving of the second hydraulic cylinder 31, the gripper is connected to the small arm 3 in an articulated manner, the gripper comprises a connecting wrist 4, a horizontal hydraulic swing cylinder 53, a vertical hydraulic swing cylinder 54 and a drill rod gripper 5, the connecting wrist 4 is connected to the small arm 3 in an articulated manner, the horizontal hydraulic swing cylinder 53 is arranged on the connecting wrist 4, the drill rod clamping device comprises a fixing portion 51 and a movable portion 52, the movable portion 52 is hinged to the fixing portion 51, an opening and closing oil cylinder 55 is arranged on the fixing portion 51, and the movable portion 52 can rotate around a hinge shaft of the movable portion 52 and the opening and closing oil cylinder 55.

Based on the structure, when in use, the movable part 52 rotates along the hinging axis of the movable part 52 under the action of the opening and closing oil cylinder 55, the movable part 52 and the fixed part 51 approach or separate from each other along with the rotation of the movable part 52, the whole drill rod clamp 5 is in an open state and can approach a drill rod to clamp when the movable part 52 and the fixed part 51 approach each other, and the whole drill rod clamp 5 is in a closed state and can clamp the drill rod clamped between the fixed part 51 and the movable part 52 when the movable part 5 approaches each other; the horizontal hydraulic tilt cylinder 53 and the vertical hydraulic tilt cylinder 54 beside the drill rod holder 5 are respectively provided with corresponding push rods, and can respectively control the drill rod holder 5 to perform horizontal displacement and vertical displacement, so as to realize the movement of the drill rod holder 5 in a certain plane; further, the large arm 2 and the small arm 3 which are hinged to each other can swing back and forth under the action of the first hydraulic cylinder 21 and the second hydraulic cylinder 31 to drive the drill rod holder 5 connected with the hydraulic cylinders to complete large-amplitude displacement. Of course, the movement of the drill rod holder 5 in the space cannot be completed only by the structure, so that the tail end of the large arm 2 is connected with the rotary seat 11, the rotary seat 11 is fixed on the base 1, the base 1 can be controlled by the rotary hydraulic cylinder in the base 1 to rotate around the rotary hydraulic cylinder, the rotation of the base 1 can further drive the large arm 2, the small arm 3, the drill rod holder 5 and other structures to rotate, the effective movement of the drill rod holder 5 in all directions is realized, the mechanical arm can be matched with other equipment to be used together, and then the automatic operation of drill rod loading and unloading is completed, the mechanical arm is ingenious in structure, labor cost is reduced, and construction efficiency is improved.

Further, to the automatic drilling rod snatchs arm of this application, it still includes big arm connecting rod 6, forearm connecting rod 7 and triangle goods of furniture for display rather than for use isotructure, and the both ends of big arm connecting rod 6 are connected with triangle goods of furniture for display rather than for use 8 and roating seat 11 are articulated respectively, and the both ends of forearm connecting rod 7 are connected with triangle goods of furniture for display rather than for use 8 and forearm 3 are articulated respectively, and triangle goods of furniture for display rather than for use 8 still is connected with big arm 2 and forearm 3 are articulated. The arrangement of the large arm connecting rod 6, the small arm connecting rod 7 and the triangular swing part 8 can further assist the large arm 2 and the small arm 3 to complete rotation quickly and accurately, and position adjustment of the drill rod holder 5 is guaranteed.

Similarly, in order to balance the stress of each structure in the robot and ensure the stress balance, the large arm 2 is provided with a first valve block 21, and the small arm 3 is provided with a second valve block 32.

Furthermore, the side of the horizontal hydraulic tilt cylinder 53 is provided with a first explosion-proof encoder connected with the horizontal hydraulic tilt cylinder, the side of the vertical hydraulic tilt cylinder 54 is provided with a second explosion-proof encoder connected with the vertical hydraulic tilt cylinder, the two explosion-proof encoders can record and integrate the operation of the horizontal hydraulic tilt cylinder 53 and the operation of the vertical hydraulic tilt cylinder 54, and then the explosion-proof encoders can process the collected information to simulate the action of the horizontal hydraulic tilt cylinder 53 and the vertical hydraulic tilt cylinder 54, so that subsequent automatic operation is realized.

In addition, a proximity switch electrically connected with the opening and closing oil cylinder 55 is arranged beside the opening and closing oil cylinder 55, the proximity switch can collect position information of the drill rod, and when the drill rod holder 5 reaches a specified position, the drill rod holder sends an instruction to the opening and closing oil cylinder 55 to control the opening and closing of the opening and closing oil cylinder 55, so that the drill rod can be effectively grabbed.

To sum up, the utility model provides an automatic drilling rod grabbing mechanical arm, which comprises a base, a big arm, a small arm and a gripper, wherein a rotary hydraulic cylinder is arranged in the base, the base can rotate around the base under the drive of the rotary hydraulic cylinder, a rotary seat is fixedly connected on the base, the big arm is hinged with the rotary seat, the small arm is hinged with the big arm, a first hydraulic cylinder and a second hydraulic cylinder are arranged in the big arm, the big arm can rotate relative to the rotary seat under the drive of the first hydraulic cylinder, the small arm can rotate relative to the big arm under the action of the second hydraulic cylinder, the gripper is hinged with the small arm, the gripper comprises a connecting wrist, a horizontal hydraulic swing cylinder, a vertical hydraulic swing cylinder and a drill rod holder, the connecting wrist is hinged with the small arm, the horizontal hydraulic swing cylinder is arranged on the connecting wrist for realizing the horizontal movement of a drilling rod gripper, the vertical hydraulic swing cylinder is connected with the horizontal hydraulic swing cylinder through a connecting plate, the drill rod holder comprises a fixed part and a movable part, the movable part is hinged to the fixed part, an opening and closing oil cylinder is arranged on the fixed part, and the movable part can rotate around a hinged shaft of the movable part and the movable part under the action of the opening and closing oil cylinder. Compared with the prior art, the automatic drilling rod grabbing mechanical arm is ingenious in structural design, labor cost is reduced, and construction efficiency is improved.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides an automatic change drilling rod and snatch arm, its characterized in that, includes base, big arm, forearm and tongs, be equipped with rotary hydraulic cylinder in the base, the base can use self to be the hub rotation under rotary hydraulic cylinder's the drive, fixedly connected with roating seat on the base, big arm with the roating seat is articulated to be connected, the forearm with big arm is articulated to be connected, be equipped with first pneumatic cylinder and second pneumatic cylinder in the big arm, big arm can be relative under the drive of first pneumatic cylinder roating seat rotates, the forearm can be relative under the effect of second pneumatic cylinder big arm rotates, the tongs with the forearm is articulated to be connected, the tongs is used for snatching the drilling rod.

2. The automated drill rod grabbing mechanical arm as claimed in claim 1, further comprising a large arm connecting rod, a small arm connecting rod and a triangular swing part, wherein two ends of the large arm connecting rod are respectively hinged with the triangular swing part and the rotary seat, two ends of the small arm connecting rod are respectively hinged with the triangular swing part and the small arm, and the triangular swing part is further hinged with the large arm and the small arm.

3. The automated drill rod grabbing robot arm of claim 1, wherein the large arm is fitted with a first valve block.

4. The automated drill rod grabbing robot arm of claim 1, wherein the small arm is fitted with a second valve block.

5. The automatic drill rod grabbing mechanical arm according to claim 1, wherein the gripper comprises a connecting wrist, a horizontal hydraulic tilt cylinder, a vertical hydraulic tilt cylinder and a drill rod gripper, the connecting wrist is hinged to the small arm, the horizontal hydraulic tilt cylinder is arranged on the connecting wrist and used for achieving horizontal movement of the drill rod gripper, the vertical hydraulic tilt cylinder is connected with the horizontal hydraulic tilt cylinder through a connecting plate and used for achieving vertical movement of the drill rod gripper, the drill rod gripper comprises a fixed portion and a movable portion, the movable portion is hinged to the fixed portion, an opening and closing oil cylinder is arranged on the fixed portion, and the movable portion can rotate around a hinge shaft of the movable portion and the hinge shaft of the fixed portion under the action of the opening and closing oil cylinder.

6. The automated drill rod grabbing mechanical arm according to claim 5, wherein a first explosion-proof encoder connected with the horizontal hydraulic tilt cylinder is arranged beside the horizontal hydraulic tilt cylinder.

7. The automated pipe gripping robot of claim 5, wherein a second explosion-proof encoder is attached to the vertical hydraulic tilt cylinder and is located alongside the vertical hydraulic tilt cylinder.

8. The automated drill rod grabbing mechanical arm according to claim 5, wherein a proximity switch connected with the opening and closing oil cylinder is arranged beside the opening and closing oil cylinder.