CN218624128U - Manipulator and raise boring machine - Google Patents

Abstract

The utility model discloses a manipulator and raise boring machine, the manipulator includes: one end of the rotating arm is provided with an arc-shaped groove, and the other end of the rotating arm is provided with a lifting rod in a penetrating way; the clamping piece is hinged to the rotating arm and can move relative to the arc-shaped groove to clamp the workpiece in the arc-shaped groove; the two ends of the first telescopic structure are respectively connected with the lifting rod and the rotating arm and are used for driving the rotating arm to rotate around the lifting rod; the two ends of the second telescopic structure are respectively connected with the rotating arm and the clamping piece and are used for driving the clamping piece to act; the raise boring machine comprises the manipulator. According to the utility model discloses a manipulator and celestial body rig, manipulator can stably press from both sides the drilling rod or the stabilizer bar of getting the external diameter nonconformity, has avoided the stabilizer bar to drop the risk that produces to raise the security of raise boring machine drilling construction.

Description

Manipulator and raise boring machine

Technical Field

The utility model relates to a mining machinery technical field, in particular to manipulator and raise boring machine.

Background

The raise boring machine is important equipment in mine construction and ore mining links, and is shaft excavation mechanical equipment which utilizes rotary drilling to break rock to form guide holes and can reversely ream. The raise boring machine completes the guide hole operation by sequentially assembling and connecting the drill rods, removes the drill bit after the guide hole is completed, changes and connects the cutter head, and then completes the reverse reaming by sequentially unloading the drill rods. Anti-sediment when being convenient for the guide hole operation, the outline diameter of drill bit will be slightly bigger than the drilling rod usually, there is the clearance because this between drilling rod and the guide hole inner wall, in operation process, because the reason in clearance, the drilling rod is easy to produce and rocks, can bring adverse effect to guide hole and reaming precision, for solving above-mentioned problem, usually can be in the middle of the drilling rod, the intermittent arrangement stabilizer bar, the external diameter of stabilizer bar and the inner wall diameter of guide hole equal, in order to improve the stability of drilling rod in the guide hole, also can bring a problem this moment, because the external diameter of drilling rod is inequality with the external diameter of stabilizer bar, can lead to when raise boring machine connects and unloads the drilling rod manipulator can not be compatible drilling tool of two kinds of diameters simultaneously, because the external diameter of stabilizer bar is great, the manipulator presss from both sides unstably when pressing from both sides the clamp stabilizer bar, there is the risk of dropping, because stabilizer bar weight is great, in case fall can injure equipment by a crashing, also can bring the potential safety hazard for operating personnel.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a manipulator can stably press from both sides the drilling rod or the stabilizer bar of getting the external diameter nonconformity, has avoided the stabilizer bar to drop the risk that produces, has promoted the security of production.

The utility model also provides a raise boring machine of having above-mentioned manipulator.

According to the utility model discloses manipulator of first aspect embodiment, include: one end of the rotating arm is provided with an arc-shaped groove, and the other end of the rotating arm is provided with a lifting rod in a penetrating way; the clamping piece is hinged to the rotating arm and can move relative to the arc-shaped groove to clamp the workpiece in the arc-shaped groove; the two ends of the first telescopic structure are respectively connected with the lifting rod and the rotating arm and used for driving the rotating arm to rotate around the lifting rod; and two ends of the second telescopic structure are respectively connected with the rotating arm and the clamping piece and used for driving the clamping piece to move.

According to the utility model discloses manipulator has following beneficial effect at least:

the first telescopic structure is arranged to drive the rotating arm to rotate around the lifting rod, so that the rotating arm can move, and the drill rod or the stabilizing rod is driven to move; the second telescopic structure is arranged to drive the clamping piece to move relative to the arc-shaped groove, so that the rotating arm can clamp drill rods or stabilizer bars with different sizes, the clamping mode is simple, the clamping force is good, the problem that the stabilizer bar is unstable when the stabilizing bar is clamped at present is effectively solved, and the safety of equipment is improved; the whole manipulator is simple in structure, convenient to use, low in manufacturing cost, and applicable to severe construction environments due to the adoption of a mechanical structure.

According to some embodiments of the utility model, the holder includes the strip shaped plate, the strip shaped plate middle part be provided with be used for with the first reaming that the rocking arm is connected and be used for with the second reaming that second extending structure connects, the strip shaped plate both ends all are provided with wear-resisting cushion.

According to some embodiments of the utility model, the arc wall back is provided with convex first free bearing, first extending structure one end with first free bearing is connected.

According to some embodiments of the utility model, the pole cover that rises and falls is equipped with the mount pad, the first extending structure other end with the mount pad is connected.

According to some embodiments of the utility model, the rocking arm still wears to be equipped with the round pin axle, second extending structure both ends respectively with the round pin axle with the holder is connected.

According to the utility model discloses a some embodiments, the round pin axle with lifting rod parallel arrangement.

According to some embodiments of the utility model, lifting rod one end is articulated with the rig substructure and is connected with its third extending structure around the articulated department of rig substructure of drive.

According to some embodiments of the invention, the lifting rod has a first position for horizontally gripping a workpiece and a second position for vertically placing the workpiece, and the third telescopic structure is used for driving the lifting rod to switch between the first position and the second position.

According to some embodiments of the utility model, the pole middle part that rises and falls is equipped with the second free bearing, third extending structure both ends respectively with second free bearing and rig substructure are connected.

According to the utility model discloses raise boring machine of second aspect embodiment, including foretell manipulator.

According to the utility model discloses raise boring machine has following beneficial effect at least:

the raise boring machine comprises the manipulator, so that all the beneficial effects of the manipulator are achieved; the manipulator drives the rotating arm to rotate around the lifting rod through the first telescopic structure, so that the movement of the rotating arm can be realized, and the drill rod or the stabilizing rod is driven to move; the second telescopic structure is arranged to drive the clamping piece to move relative to the arc-shaped groove, so that the rotating arm can clamp drill rods or stabilizer bars with different sizes, the clamping mode is simple, the clamping force is good, the problem that the stabilizer bar is unstable when the stabilizing bar is clamped at present is effectively solved, and the safety of equipment is improved; the whole manipulator is simple in structure, convenient to use, low in manufacturing cost, and applicable to severe construction environments due to the adoption of a mechanical structure.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The invention will be further described with reference to the following drawings and examples, in which:

fig. 1 is a schematic structural diagram of a manipulator according to an embodiment of the present invention;

fig. 2 is an exploded view of a robot according to an embodiment of the present invention;

fig. 3 is an assembly schematic diagram of the manipulator and the raise boring machine according to the embodiment of the present invention;

figure 4 is a schematic view of the robot of figure 1 with the second telescopic configuration extended to horizontally clamp the workpiece;

FIG. 5 is a schematic view of the robot of FIG. 1 with the first telescoping structure retracted to move the workpiece;

fig. 6 is a schematic structural diagram of the third telescopic structure of the manipulator in fig. 1 extending out to drive the workpiece to turn over;

fig. 7 is a schematic view of the robot of fig. 1 delivering a workpiece to the raise boring machine.

Reference numerals:

the lifting device comprises a rotating arm 100, an arc-shaped groove 110, a lifting rod 120, a second hinged support 121, a first hinged support 130, a mounting base 140 and a pin shaft 150;

the clamping piece 200, the strip-shaped plate 210, the first hinge hole 220, the second hinge hole 230, the wear-resistant cushion block 240 and the hinge arm 250;

a first telescoping structure 300;

a second telescoping structure 400;

a third telescoping structure 500;

the drilling machine comprises a drilling machine base 600, a reduction gearbox 610 and a lifting oil cylinder 620.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper and lower directions, is the orientation or positional relationship shown on the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore should not be construed as limiting the present invention.

In the description of the present invention, a plurality means two or more. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

Referring to fig. 1 to 7, the present invention provides a manipulator, including: the clamp comprises a rotating arm 100, a clamping member 200, a first telescopic structure 300 for driving the rotating arm 100 to act and a second telescopic structure 400 for driving the clamping member 200 to act, wherein the first telescopic structure 300 and the second telescopic structure 400 can be driven by a cylinder or a cylinder.

An arc-shaped groove 110 is formed at one end of the rotating arm 100, a lifting rod 120 penetrates through the other end of the rotating arm, and the lifting rod 120 is connected with a third telescopic structure 500 for driving the lifting rod to move. Referring to fig. 1 and 2, one end of the lifting rod 120 is hinged to one side of the drilling machine base 600, the rotating arm 100 is sleeved on the other end of the lifting rod 120, and the third telescopic structure 500 is used for driving the lifting rod 120 to rotate around the hinged position with the drilling machine base 600. It is noted that the directions of rotation of the first and third telescoping structures 300 and 500 are perpendicular to each other.

In some embodiments of the present invention, the lifting bar 120 has a first position for horizontally clamping the workpiece and a second position for vertically placing the workpiece, and the third telescopic structure 500 is used for driving the lifting bar 120 to switch between the first position and the second position. Specifically, the first position of the lift pins 120 is in a horizontal position, and the second position of the lift pins 120 is in a vertical position. The middle part of the lifting rod 120 is provided with a second hinged support 121, and two ends of the third telescopic structure 500 are respectively connected with the second hinged support 121 and the drilling machine base 600. The third telescoping structure 500 may be similar to the first telescoping structure 300 or the second telescoping structure 400, and may be cylinder driven or air cylinder driven as well.

In some embodiments of the present invention, the second hinge base 121 is disposed on the outer surface of the landing rod 120 and extends downward, and both ends of the third telescopic structure 500 are hinged to the second hinge base 121 and the drilling machine base 600, respectively.

Referring to fig. 1 and 2, the rotating arm 100 is composed of an arc plate and two supporting rods arranged at intervals, an opening on one side of the arc plate forms an arc groove 110, the same end of the two supporting rods is connected with the arc plate, and the lifting rod 120 penetrates through one end of the supporting rod far away from the arc plate.

Referring to fig. 1 and 2, in some embodiments of the present invention, a first hinge base 130 is protruded from the back of the arc plate, and one end of a first telescopic structure 300 is connected to the first hinge base 130; the lifting rod 120 is sleeved with a mounting base 140, and the other end of the first telescopic structure 300 is connected with the mounting base 140. It should be understood that the first hinge seat 130 is disposed on the back of the arc-shaped slot 110, and the mounting seat 140 is sleeved on the lifting rod 120 and is in transmission connection with the lifting rod 120, i.e. the mounting seat 140 cannot rotate around the lifting rod 120, so that when the first telescopic structure 300 extends, the supporting rod is driven to rotate around the lifting rod 120.

Further, the mounting base 140 is disposed between the two support rods, and two ends of the first telescopic structure 300 are respectively hinged to the first hinge base 130 and the support base.

In some embodiments of the present invention, the rotating arm 100 further has a pin 150, and both ends of the second telescopic structure 400 are respectively connected to the pin 150 and the clamping member 200; the pin 150 is disposed parallel to the landing bar 120. Specifically, the pin 150 is installed between the two support rods, the pin 150 is disposed at a position close to the lifting rod 120, and two ends of the second telescopic structure 400 are hinged to the pin 150 and the clamping member 200 respectively.

In some embodiments of the present invention, the clamping member 200 is hinged to the rotating arm 100, and the clamping member 200 can move relative to the arc-shaped groove 110 to clamp the workpiece placed in the arc-shaped groove 110. Specifically, referring to fig. 2, the clamping member 200 includes a strip-shaped plate 210, a first hinge hole 220 for connecting with the rotating arm 100 and a second hinge hole 230 for connecting with the second telescopic structure 400 are disposed in the middle of the strip-shaped plate 210, and wear-resistant pads 240 are disposed at both ends of the strip-shaped plate 210. When second extending structure 400 stretches out, can drive holder 200 around rotatory with the articulated department of rocking arm 100 to drive strip 210 and arc wall 110 and be close to, thereby press from both sides the work piece of arranging in arc wall 110 in the clamp, when second extending structure 400 withdrawal, can drive strip 210 and keep away from arc wall 110, thereby loosen the work piece of arranging in arc wall 110.

Referring to fig. 2, a hinge arm 250 is disposed in the middle of the strip-shaped plate 210, and the hinge arm 250 extends toward one side of the strip-shaped plate 210; the first hinge hole 220 is provided at an end of the hinge arm 250, and the second hinge hole 230 is provided at a middle position of the hinge arm 250. The wear-resistant pad 240 is disposed on a side of the strip 210 facing the arc-shaped groove 110.

The utility model discloses raise boring machine of another embodiment, including rig substructure 600, reducing gear box 610 and the lift cylinder 620 isotructure of connecting reducing gear box 610 and rig substructure 600, foretell manipulator is installed on rig substructure 600 for provide the drilling rod between rig substructure 600 and the reducing gear box 610.

According to the manipulator and the raise boring machine provided by the embodiment of the utility model, the first telescopic structure 300 is arranged to drive the rotating arm 100 to rotate around the lifting rod 120, so that the rotating arm 100 can move, and further the drill rod or the stabilizing rod can be driven to move; the second telescopic structure 400 is arranged to drive the clamping piece 200 to move relative to the arc-shaped groove 110, so that the rotating arm 100 can clamp drill rods or stabilizer bars with different sizes, the clamping mode is simple, the clamping force is good, the problem that the stabilizer bar is unstable when the stabilizer bar is clamped at present is effectively solved, and the safety of equipment is improved; the whole manipulator is simple in structure, convenient to use, low in manufacturing cost, and applicable to severe construction environments due to the adoption of a mechanical structure.

The working process of the manipulator of the embodiment of the utility model is as follows;

1. referring to fig. 3, the landing bar 120 is in a horizontal position, i.e., a first position; the boom 100 is also in a horizontal position with the first telescoping structure 300 in an extended state, the second telescoping structure 400 in a retracted state, and the third telescoping structure 500 in a retracted state to facilitate loading of workpieces into the arcuate slot 110;

2. referring to fig. 4, at this time, the second telescopic structure 400 is in an extended state, and the driving clamping member 200 is engaged with the arc-shaped groove 110 to clamp the workpiece placed in the arc-shaped groove 110; the lifting rod 120 is still in the horizontal position, the first telescopic structure 300 is in the extended state, and the third telescopic structure 500 is in the retracted state;

3. referring to fig. 5, the first telescopic structure 300 is in a retracted state, and the rotating arm 100 is driven to rotate from the horizontal position to the vertical position; the second telescoping structure 400 is still in an extended state to clamp a workpiece disposed within the arcuate slot 110; the lifting bar 120 is in a horizontal position and the third telescopic structure 500 is in a retracted state;

4. referring to fig. 6, at this time, the third telescopic structure 500 is in an extended state, and drives the lifting rod 120 to rotate from the first position to the second position, that is, to rotate from the horizontal position to the main vertical position; the lifting lever 120 engages the rotating arm 100 to change the workpiece from a horizontal transverse state to a vertical state; the first telescoping structure 300 is still in the retracted state and the second telescoping structure 400 is in the extended state;

5. referring to fig. 7, the first telescopic structure 300 is in an extended state to drive the rotating arm 100 to move toward the installation position, and after the rotating arm moves to the set position, the second telescopic structure 400 is driven to retract to release the workpiece, so that the grabbing and transferring of one workpiece are completed;

and (4) moving the manipulator to the position of the step (1) according to the reverse steps, and grabbing the next workpiece.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims (10)

1. A manipulator, characterized by comprising:

one end of the rotating arm (100) is provided with an arc-shaped groove (110), and the other end of the rotating arm is provided with a lifting rod (120) in a penetrating way;

the clamping piece (200) is hinged to the rotating arm (100), and the clamping piece (200) can move relative to the arc-shaped groove (110) to clamp a workpiece placed in the arc-shaped groove (110);

the two ends of the first telescopic structure (300) are respectively connected with the lifting rod (120) and the rotating arm (100) and used for driving the rotating arm (100) to rotate around the lifting rod (120);

and two ends of the second telescopic structure (400) are respectively connected with the rotating arm (100) and the clamping piece (200) and are used for driving the clamping piece (200) to act.

2. A manipulator according to claim 1, wherein: the clamping piece (200) comprises a strip-shaped plate (210), wherein the middle of the strip-shaped plate (210) is provided with a first hinge hole (220) used for being connected with the rotating arm (100) and a second hinge hole (230) used for being connected with the second telescopic structure (400), and two ends of the strip-shaped plate (210) are provided with wear-resistant cushion blocks (240).

3. A manipulator according to claim 1, wherein: the back of the arc-shaped groove (110) is provided with a first protruding hinge base (130), and one end of the first telescopic structure (300) is connected with the first hinge base (130).

4. A manipulator according to claim 3, wherein: the lifting rod (120) is sleeved with a mounting seat (140), and the other end of the first telescopic structure (300) is connected with the mounting seat (140).

5. A manipulator according to claim 1, wherein: the rotating arm (100) is further provided with a pin shaft (150) in a penetrating mode, and two ends of the second telescopic structure (400) are connected with the pin shaft (150) and the clamping piece (200) respectively.

6. A manipulator according to claim 5, wherein: the pin shaft (150) and the lifting rod (120) are arranged in parallel.

7. A manipulator according to claim 1, wherein: one end of the lifting rod (120) is hinged with the drilling machine base (600) and is connected with a third telescopic structure (500) which drives the lifting rod to rotate around the hinged position with the drilling machine base (600).

8. A manipulator according to claim 7, wherein: the lifting rod (120) is provided with a first position for horizontally clamping the workpiece and a second position for vertically placing the workpiece, and the third telescopic structure (500) is used for driving the lifting rod (120) to switch between the first position and the second position.

9. A manipulator according to claim 8, wherein: and a second hinged support (121) is arranged in the middle of the lifting rod (120), and two ends of the third telescopic structure (500) are respectively connected with the second hinged support (121) and the drilling machine base (600).

10. A raise boring machine characterized in that: comprising the robot hand of any one of claims 1 to 9.

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