CN217712459U

CN217712459U - Manipulator and propeller structure using same

Info

Publication number: CN217712459U
Application number: CN202221286522.9U
Authority: CN
Inventors: 王再兴; 邹海波; 王子文; 张镇; 刘建春; 杨明; 李小祥; 李嘉明
Original assignee: Jiangxi Siton Machinery Manufacturing Co Ltd
Current assignee: Jiangxi Siton Machinery Manufacturing Co Ltd
Priority date: 2022-05-26
Filing date: 2022-05-26
Publication date: 2022-11-01
Anticipated expiration: 2032-05-26

Abstract

The application provides a manipulator and use propeller structure of this manipulator. The manipulator comprises a mounting base, an oil cylinder base and a chuck, wherein the mounting base is connected with the oil cylinder base and used for mounting the manipulator; the drill rod clamping device is characterized in that the clamping heads and the oil cylinder bases are respectively provided with a clamping sleeve, the clamping sleeves are detachably connected with the clamping heads and the oil cylinder bases, the clamping sleeves are used for clamping drill rods, and the size of each clamping sleeve is matched with that of each drill rod. The manipulator of this application has saved the step that the manual work connects the pole, labour saving and time saving and safety. The application provides a manipulator and use propeller structure of this manipulator has the advantage that manipulator stability is better, but the multiple size drill rod of adaptation.

Description

Manipulator and propeller structure using same

Technical Field

The application relates to the technical field of rock drilling equipment, in particular to a manipulator and a thruster structure using the manipulator.

Background

Rock drills are used to directly mine rock material, and they drill blast holes in rock strata to put explosives into the blast holes to blast the rock, thereby completing the mining of rock material or other rock engineering. The feed beam is the main feed mechanism of the rock drill, can provide the rock drill with the longest possible feed length, and has the severe working environment and is subjected to combined loads of impact, bending and twisting, and the like, so that the rock drill has enough rigidity, strength and stability. Along with the development and application of hydraulic control and electronic technology, the rock drill needs to have the functions of some automatic connecting rods, and the existing rock drill mainly realizes the replacement of a drill rod through a manipulator.

At present, there are some related technical solutions related to the mechanical arm of the rock drilling machine in the prior art, for example, the publication number is: CN 211712059U's utility model patent discloses a manipulator mechanism of rock drill, specifically including setting up the connecting seat on the girder, the pivot is worn to establish on the connecting seat, and the pivot meets with actuating mechanism, be provided with the manipulator more than two in the pivot, the manipulator more than two includes first manipulator, first manipulator includes the first articulated seat that meets with the pivot, and the top of this first articulated seat is provided with fixed chuck and activity chuck respectively, and wherein, fixed chuck is located the offside of activity chuck, and the one end of activity chuck is articulated mutually with the one end up of first articulated seat, and the other end of activity chuck is articulated mutually with the telescopic link of first hydro-cylinder, and the cylinder body of first hydro-cylinder articulates the one end down of first articulated seat. Be provided with the fixing base in the pivot, one side of first articulated seat meets with the fixing base through the connecting plate. The crossbeam is provided with a positioning seat protruding outwards, and the positioning seat is positioned beside the fixing seat. The technical scheme mainly fixes the mechanical arm on the rotating shaft, more than two mechanical arms are arranged on the rotating shaft, the mechanical arm mechanism is poor in stability, the size of a chuck of the mechanical arm is fixed, the mechanical arm can only be adapted to a single drill rod, and the mechanical arm is very inconvenient to use.

From the content that prior art discloses, the propeller mechanism of present in-service use has the manipulator stability relatively poor, the suitability is relatively poor scheduling problem.

SUMMERY OF THE UTILITY MODEL

The application has the problem that manipulator stability is relatively poor, the suitability is relatively poor to propeller mechanism among the prior art, provides a manipulator and uses the propeller structure of this manipulator, has the advantage that manipulator stability is better, can adapt to the multiple size drill rod.

One of the ideas of the application is to provide a manipulator, which comprises a mounting base, an oil cylinder base and a chuck, wherein the mounting base is connected with the oil cylinder base, the mounting base is used for mounting the manipulator, an oil cylinder is arranged in the oil cylinder base, the chuck is connected with the oil cylinder, and the chuck is matched with the oil cylinder base and used for clamping a drill rod;

the drill rod clamping device comprises a drill rod, a clamping head, an oil cylinder seat, a clamping sleeve and a drill rod clamping sleeve, wherein the clamping head and the oil cylinder seat are both provided with clamping sleeves, the clamping sleeves are detachably connected with the clamping head and the oil cylinder seat, the clamping sleeves are used for clamping the drill rod, and the size of the clamping sleeves is matched with that of the drill rod.

The clamping heads used in the prior art are all single in size, the drill rod is various in size, the clamping heads and the drill rod cannot be matched, and the use is inconvenient. In the technical scheme, the clamping sleeve is arranged on the clamping head, so that when the size of the clamped drill rod is changed, the clamping sleeve can be changed to adapt to the drill rod, more use requirements are met, and the drill rod is more convenient to maintain.

Further, another idea of the present application is that the collet is provided with a positioning pin for fixing the collet to the collet.

Furthermore, a buffer is arranged between the clamping sleeve and the clamping head.

In the technical scheme, the clamping sleeve is fixed on the clamping head through the positioning pin, and the positioning pin is simple in structure and good in stability of the fixing clamping sleeve. On the other hand, the buffering piece is arranged between the clamping sleeve and the clamping head, so that a certain buffering effect can be achieved during clamping and using, the clamping sleeve is not easy to damage during mounting and dismounting, the drill rod and the clamping sleeve are protected, and the service life is prolonged.

Furthermore, the chuck is connected with the oil cylinder base through an expansion shaft, and the expansion shaft and the oil cylinder base are installed through bolts.

Furthermore, the mounting seat is also provided with a spiral swinging motor, and the spiral swinging motor is connected with the mounting seat through a bolt.

The application can also provide a manipulator and use propeller structure of this manipulator, including rock drill, slide rail and manipulator, the rock drill is installed on the slide, slide and slide rail sliding connection, the manipulator is aforementioned manipulator.

Further, another idea of the present application is that the manipulator is mounted on a slide rail, and the manipulator is used for grabbing the drill rod.

In the in-service use process, the manipulator is installed in the pivot more, but install in the pivot manipulator and have the not good condition of stability in use, and this technical scheme is through with manipulator direct mount on the slide rail for the manipulator snatchs the stability of drill rod better, and saved the use of pivot, reduced the volume.

Further, another idea of the application is that the thruster construction further comprises an end plate for abutting against the work surface and a drill clamp arranged at the end plate for clamping a drill rod, which drill clamp cooperates with a robot arm automatically to connect the rod.

In the tunnel construction process, the drilling depth of ordinary propeller often can not reach the operation requirement, at this moment just needs to connect the pole propeller to carry out the operation, just meet in order to increase the drilling depth through two drill rods promptly, often need press from both sides borer ware and manipulator cooperation this moment, presss from both sides the borer ware and plays the effect of pressing from both sides tight preceding drill rod in order conveniently to connect a back drill rod, and the manipulator has saved the manual step that connects the pole, labour saving and time saving and safety.

The manipulator is provided with the clamping sleeve on the clamping head, and when the size of a clamped drill rod is changed, the clamping sleeve can be replaced to adapt to the drill rod, so that more use requirements are met; the manipulator is directly arranged on the slide rail, so that the stability of grabbing the drill rod by the manipulator is better, the use of a rotating shaft is saved, and the volume is reduced; the drill rod clamping device is matched with the mechanical arm, the drill rod clamping device plays a role in clamping a front drill rod to conveniently connect a rear drill rod, the mechanical arm saves the step of manually connecting the rod, and time, labor and safety are saved. The application provides a manipulator and use propeller structure of this manipulator has the advantage that manipulator stability is better, but the multiple size drill rod of adaptation.

Drawings

The present application will be described in further detail below with reference to the drawings and preferred embodiments, but those skilled in the art will appreciate that the drawings are only drawn for the purpose of illustrating the preferred embodiments and therefore should not be taken as limiting the scope of the present application. Furthermore, unless specifically stated otherwise, the drawings are merely schematic representations based on conceptual representations of elements or structures depicted and may contain exaggerated displays and are not necessarily drawn to scale.

FIG. 1: the application provides a side view schematic diagram of a manipulator;

FIG. 2: the application provides a structural explosion schematic diagram of a manipulator;

FIG. 3: the structure of embodiment 2 of the present application is schematically illustrated.

Wherein, 1, a mechanical arm; 2. a mounting seat; 3. a cylinder block; 4. a chuck; 5. an oil cylinder; 6. a jacket; 7. positioning pins; 8. a buffer member; 9. an expansion shaft; 10. a bushing; 11. a helical swing motor; 12. cushion blocks; 13. a rock drill; 14. a slide base; 15. a slide rail; 16. an end plate; 17. a drill rod clamping device.

Detailed Description

The present application will be described in detail below with reference to fig. 1 to 3.

In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Example 1

The embodiment provides a manipulator 1, which comprises a mounting base 2, an oil cylinder base 3 and a chuck 4, wherein the mounting base 2 is connected with the oil cylinder base 3, the mounting base 2 is connected with the oil cylinder base 3 through a bolt, the mounting base 2 is used for mounting the manipulator 1, an oil cylinder 5 is arranged in the oil cylinder base 3, the chuck 4 is connected with the oil cylinder 5, the chuck 4 is matched with the oil cylinder base 3 and used for clamping a drill rod, and the chuck 4 is controlled by the oil cylinder 5; chuck 4 and hydro-cylinder seat 3 all are provided with and press from both sides cover 6, press from both sides cover 6 and chuck 4, hydro-cylinder seat 3 can dismantle and be connected, press from both sides cover 6 and be used for the centre gripping drill rod, press from both sides 6 sizes and drill rod size adaptation of cover, when the drill rod size of centre gripping changes, can satisfy more user demands through changing 6 adaptation drill rods that press from both sides the cover to it is more convenient to maintain.

Furthermore, the chuck 4 is provided with a positioning pin 7, the positioning pin 7 is used for fixing the jacket 6 on the chuck 4, the positioning pin 7 is simple in structure, and the stability of the fixing jacket 6 is good; a buffer part 8 is arranged between the clamping sleeve 6 and the clamping head 4, so that a certain buffer effect can be achieved when the clamping device is used for clamping, the clamping sleeve 6 is not easy to damage when the clamping device is mounted and dismounted, the drill rod and the clamping sleeve 6 are protected, and the service life is prolonged.

Furthermore, the chuck 4 is connected with the oil cylinder base 3 through an expansion shaft 9, a bushing 10 is arranged between the chuck 4 and the expansion shaft 9, the expansion shaft 9 and the oil cylinder base 3 are installed through a locking nut bolt, the bottom of the oil cylinder 5 is connected with the bottom of the oil cylinder base 3, the top of the oil cylinder 5 is connected with the chuck 4, and the chuck 4 is connected with the oil cylinder 5 through the expansion shaft 9; the mounting seat 2 is further provided with a spiral swing motor 11, the spiral swing motor 11 is fixed on the mounting seat 2 through a flat washer bolt, and the spiral swing motor 11 is further provided with a cushion block 12.

Example 2

The embodiment provides a propeller structure based on embodiment 1, and the propeller structure comprises a rock drilling machine 13, a sliding seat 14, a sliding rail 15 and a manipulator 1, wherein the rock drilling machine 13 is installed on the sliding seat 14, the sliding seat 14 is connected with the sliding rail 15 in a sliding manner, the rock drilling machine 13 moves on the sliding rail 15 through the sliding seat 14, and the rock drilling machine 13 is used for conveying drill rods, wherein the manipulator 1 in the embodiment is the manipulator 1 provided in embodiment 1, and the manipulator 1 is used for grabbing the drill rods.

Further, the manipulator 1 is installed on the slide rail 15, and the manipulator 1 is fixed on the slide rail 15 through the mount pad 2 for the stability that the manipulator 1 snatchs the drill rod is better, and has saved the use of pivot, reduces the volume.

Furthermore, the propeller structure further comprises an end plate 16 and a drill clamp 17, wherein the end plate 16 is used for abutting against a working surface, the drill clamp 17 is arranged at the end plate 16, the drill clamp 17 is used for clamping a drill rod, one drill clamp 17 can be arranged in the middle of the propeller structure, the two drill clamps 17 are better and more stable in clamping effect, the drill clamp 17 is matched with the manipulator 1 to automatically connect a rod, the drill clamp 17 plays a role in clamping the previous drill rod so as to conveniently connect the next drill rod, the manipulator 1 saves the steps of manually connecting the rod, and time, labor and safety are saved.

The application provides a manipulator 1 and a propeller structure using the manipulator 1, the manipulator 1 is provided with a jacket 6 on a chuck 4, when the size of a clamped drill rod is changed, the jacket 6 can be replaced to adapt to the drill rod, and more use requirements are met; the manipulator 1 is directly arranged on the slide rail 15, so that the stability of grabbing the drill rod by the manipulator 1 is better, the use of a rotating shaft is saved, and the volume is reduced; the drill rod clamping device 17 is matched with the manipulator 1, the drill rod clamping device 17 plays a role in clamping a front drill rod so as to conveniently connect a rear drill rod, and the manipulator 1 saves the step of manually connecting the rods, so that time, labor and safety are saved. The application provides a manipulator 1 and use propeller structure of this manipulator 1 has the advantage of manipulator 1 stability better, the multiple size drill rod of adaptable.

The present application has been described in detail above, and specific examples thereof are used herein to explain the principles and implementations of the present application, which are presented solely to aid in understanding the present application and its core concepts. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.

Claims

1. The manipulator (1) is characterized by comprising a mounting base (2), an oil cylinder base (3) and a chuck (4), wherein the mounting base (2) is connected with the oil cylinder base (3), the mounting base (2) is used for mounting the manipulator (1), an oil cylinder (5) is arranged in the oil cylinder base (3), the chuck (4) is connected with the oil cylinder (5), and the chuck (4) is matched with the oil cylinder base (3) to clamp a drill rod;

the drill rod clamping device is characterized in that the clamping heads (4) and the oil cylinder base (3) are both provided with clamping sleeves (6), the clamping sleeves (6) are detachably connected with the clamping heads (4) and the oil cylinder base (3), the clamping sleeves (6) are used for clamping drill rods, and the sizes of the clamping sleeves (6) are matched with the sizes of the drill rods.

2. A manipulator (1) according to claim 1, wherein the collet (4) is provided with positioning pins (7), the positioning pins (7) being used to fix the collet (6) to the collet (4).

3. A manipulator (1) according to claim 2, wherein a buffer (8) is arranged between the jacket (6) and the collet (4).

4. A manipulator (1) according to claim 1, wherein the collet (4) is connected to the cylinder block (3) by an expansion shaft (9), and the expansion shaft (9) is bolted to the cylinder block (3).

5. A manipulator (1) according to claim 1, wherein the mounting (2) is further provided with a screw swing motor (11), the screw swing motor (11) being bolted to the mounting (2).

6. A propeller structure is characterized by comprising a rock drilling machine (13), a sliding seat (14), a sliding rail (15) and a manipulator (1), wherein the rock drilling machine (13) is installed on the sliding seat (14), the sliding seat (14) is connected with the sliding rail (15) in a sliding mode, and the manipulator (1) is the manipulator (1) according to any one of claims 1-5.

7. A thruster construction according to claim 6, characterized in that the manipulator (1) is mounted on slide rails (15), the manipulator (1) being intended to grip a drill rod.

8. A thruster construction according to claim 7, characterized in that the thruster construction further comprises an end plate (16) for abutting against a work surface and a drill holder (17), which drill holder (17) is arranged at the end plate (16), which drill holder (17) is intended to hold a drill rod, which drill holder (17) cooperates with the robot arm (1) for automatically connecting the rod.