CN220869350U - Drill rod grabbing structure - Google Patents

Abstract

The utility model relates to a drill rod grabbing structure, and belongs to the field of mechanical design. Comprising the following steps: the device comprises a first telescopic cylinder, a second telescopic cylinder and a connecting rod, wherein one end of the first telescopic cylinder is provided with a beam assembly and drives the beam assembly to move in a direction approaching or separating from the first telescopic cylinder, and a sliding block used for connecting an external device is arranged on the first telescopic cylinder; the second telescopic cylinder is arranged at one end of the beam assembly far away from the first telescopic cylinder and moves on the beam assembly in a direction approaching or far away from the first telescopic cylinder; and the paw assembly is arranged at one end, far away from the beam assembly, of the second telescopic cylinder and is used for grabbing a drill rod. The utility model can solve the technical problems that the existing mechanical arm has single movement form and can not adapt to flexible drill rod box structure in limited space.

Description

Drill rod grabbing structure

Technical Field

The utility model belongs to the field of mechanical design, and relates to a drill rod grabbing structure.

Background

The traditional drilling machine for underground coal mine drilling construction mainly relies on manually supplementing a drill rod for drilling. The manipulator is an auxiliary device for carrying drill rods of a drilling machine and has the function of transferring the drill rods between a drill rod box and a rack. Due to the narrow space of the underground roadway, the manipulator needs to consider the movement space and the position control precision.

The existing industrial manipulator is relatively fixed in movement mode, the capacity of a drill rod box matched with the existing industrial manipulator is limited, the existing industrial manipulator cannot meet the requirement of deep drilling, the movement mode is relatively single, and if the capacity of the drill rod is required to be increased, the existing industrial manipulator can only be realized by increasing the number of columns of the drill rod box; in the translation process, the cooperation of slide rail slider is usually adopted to realize the translation, and the slider is worn and torn easily, causes the manipulator motion process to be not mild, is difficult to pinpoint to the drilling rod and snatchs the position.

Disclosure of utility model

In view of the above, an object of the present utility model is to provide a drill rod grabbing structure, which improves the flexibility of movement during grabbing through the structural design of the grabbing system.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

A drill pipe gripping structure comprising:

The device comprises a first telescopic cylinder, a second telescopic cylinder and a connecting rod, wherein one end of the first telescopic cylinder is provided with a beam assembly and drives the beam assembly to move in a direction approaching or separating from the first telescopic cylinder, and a sliding block used for connecting an external device is arranged on the first telescopic cylinder;

And the paw assembly is movably arranged on the beam assembly and is used for grabbing a drill rod.

Optionally, the first telescopic cylinder comprises a first outer cylinder and a first inner cylinder which are nested, and the first inner cylinder is movably arranged along the extending direction of the first outer cylinder.

Optionally, a first telescopic oil cylinder is arranged in the first inner cylinder, and the first telescopic oil cylinder drives the cross beam to move; one end of the first telescopic oil cylinder is fixed on the first outer cylinder, and the other end of the first telescopic oil cylinder is a piston rod and synchronously moves along with the first inner cylinder when the cross beam is driven to move.

Optionally, the paw assembly is arranged on the beam assembly through a second telescopic cylinder, and the second telescopic cylinder is arranged at one end of the beam assembly far away from the first telescopic cylinder; the second telescopic cylinder moves on the beam assembly in a direction approaching or separating from the first telescopic cylinder; the driving beam is internally provided with a rack, the second telescopic cylinder is internally provided with a motor, and the motor is provided with a translation gear meshed with the rack.

Optionally, a motor mounting seat for mounting the motor is arranged on one side of the second telescopic cylinder.

Optionally, a track seat for sliding along the set direction of the beam assembly is arranged in the second telescopic cylinder.

Optionally, the second telescopic cylinder comprises a second outer cylinder and a second inner cylinder which are nested, and the second inner cylinder is movably arranged along the extending direction of the second outer cylinder.

Optionally, a second telescopic oil cylinder is arranged in the second inner cylinder, and the second telescopic oil cylinder drives the paw assembly; one end of the second telescopic oil cylinder is fixed on the second outer cylinder, and the other end of the second telescopic oil cylinder is a piston rod which moves synchronously with the second inner cylinder when driving the paw assembly to move.

Optionally, the paw assembly comprises a third telescopic oil cylinder, and outputs power in a linear movement mode; the clamping device comprises a first clamping jaw and a second clamping jaw which are oppositely arranged, wherein the first clamping jaw and the second clamping jaw are both rotatably arranged, and the first clamping jaw is connected with the second clamping jaw through a connecting rod; the third telescopic oil cylinder drives the first clamping jaw to rotate, and the first clamping jaw and the second clamping jaw are synchronously opened or synchronously clamped under the drive of the connecting rod.

Optionally, the paw assembly comprises a connector, an installation cavity is formed in the connector, and the third telescopic oil cylinder is arranged in the installation cavity through a pin shaft penetrating through the connector; the connecting body is provided with two side plates which are arranged oppositely, and the first clamping jaw and the second clamping jaw are arranged on the connecting body through clamping jaw fixing pins penetrating through the side plates.

Optionally, a sliding block is fixedly arranged outside the first telescopic cylinder, and the sliding block is used for being matched with an external sliding rail.

The utility model has the beneficial effects that:

1. In some embodiments of the utility model, the sliding block is arranged outside the first telescopic cylinder and can be matched with the sliding rail to slide along the sliding rail on the outer wall of the drill rod box, so that the moving range of the manipulator is wider while the capacity of the drill rod box is improved, and the labor intensity of workers is further reduced.

2. In some embodiments of the utility model, a driving mode of matching a motor with a gear rack is adopted, so that the mechanical gripper can grasp a drill rod in a larger range under the condition of limited movement space.

3. In some embodiments of the utility model, the two side clamping jaws of the gripper assembly clamp towards the middle at the same time, so that the cylinder driving stroke required by clamping is reduced, and the size of the mechanical gripper is reduced.

Additional advantages, objects, and features of the utility model will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the utility model. The objects and other advantages of the utility model may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.

Drawings

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the present utility model will be described in the following preferred detail with reference to the accompanying drawings, in which:

FIG. 1 is an overall schematic;

FIG. 2 is a schematic view of a first telescoping cartridge;

FIG. 3 is a schematic diagram of a rack;

FIG. 4 is a schematic diagram of a motor;

FIG. 5 is a schematic view of a second telescoping cylinder;

FIG. 6 is a schematic view of a gripper assembly;

FIG. 7 is a schematic diagram of a first jaw and a second jaw;

FIG. 8 is an overall construction of the gripper assembly;

Fig. 9 is a schematic view of a drive rod.

Reference numerals: the device comprises a first telescopic cylinder, a 2 beam assembly, a3 translation assembly, a4 second telescopic cylinder, a 5 paw assembly, a 11 sliding block, a 12 ear seat, a 13 first pin shaft, a 14 first telescopic cylinder, a 15 first inner cylinder, a 16 first outer cylinder, a 21 rack, a 31 motor, a 32 translation gear, a 41 second telescopic cylinder, a 42 motor installation seat, a 43 second outer cylinder, a 44 second inner cylinder, a 45 track seat, a 51 clamping jaw, a 52 third telescopic cylinder, a 53 second pin shaft, a 54 connecting body, a 511 second clamping jaw, a 512 first clamping jaw and a 513 clamping jaw fixing pin shaft; 521 third pin, 522 drive rod pin, 523 drive rod.

Detailed Description

Other advantages and effects of the present utility model will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present utility model with reference to specific examples. The utility model may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present utility model. It should be noted that the illustrations provided in the following embodiments merely illustrate the basic idea of the present utility model by way of illustration, and the following embodiments and features in the embodiments may be combined with each other without conflict.

Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to limit the utility model; for the purpose of better illustrating embodiments of the utility model, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numbers in the drawings of embodiments of the utility model correspond to the same or similar components; in the description of the present utility model, it should be understood that, if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc., that indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, it is only for convenience of describing the present utility model and simplifying the description, but not for indicating or suggesting that the referred device or element must have a specific azimuth, be constructed and operated in a specific azimuth, so that the terms describing the positional relationship in the drawings are merely for exemplary illustration and should not be construed as limiting the present utility model, and that the specific meaning of the above terms may be understood by those of ordinary skill in the art according to the specific circumstances.

Referring to fig. 1 to 9, the manipulator is composed of a first telescopic cylinder 1, a beam assembly 2, a translation assembly 3, a second telescopic cylinder 4, a gripper assembly 5, etc., and is clamped in a telescopic manner by adopting an oil cylinder driving manner, and in order to further increase the movement stroke of the gripper, the translation assembly is added to enable the gripper part to move along the beam assembly 2, and in the application, a motor driving gear and a rack meshing manner are preferably adopted to move.

(1) First telescopic cylinder 1

The first telescopic cylinder 1 is externally provided with an oil cylinder lug 12 for connecting other related components; a slide 11 is provided which can be moved along a slide rail outside the drill rod box. The first outer cylinder 16 is fixedly connected with the sliding block 11, and a first inner cylinder 15 fixedly connected with the beam assembly 2 is arranged in the first outer cylinder 16 and can move along the up-and-down direction of the first outer cylinder 16; the first telescopic cylinder 14 is fixedly connected with the end cover at the lower part of the first outer cylinder 16, a piston rod of the first telescopic cylinder 14 is fixedly connected with the beam assembly 2 through a first pin shaft 13, and the piston rod of the first telescopic cylinder 14 drives the first inner cylinder 15 and the beam assembly 2 to move up and down when acting.

(2) Translation assembly 3

For driving the gripper parts along the beam assembly 2, the motor 31 preferably moves in such a way that the translation gear 32 engages the rack 21. The motor 31 is fixedly mounted on the motor mounting seat 42 of the second telescopic cylinder 4, and the rack 21 is fixedly connected to the beam assembly 2 by bolts.

(3) Second telescopic cylinder 4

The mechanical claw, the second telescopic cylinder 4 and other parts can move along the length direction of the beam assembly 2, and in the application, the motor 31 preferably drives the translation gear 32 to engage with the rack 21 for movement, so a motor mounting seat 42 and a track seat 45 are arranged in the figure and are fixedly connected with the second outer cylinder 43 in a welding mode; the track seat 45 is movable along a slide rail in the beam assembly 2; the upper end cover of the second outer cylinder 43 is fixedly connected with the oil cylinder barrel of the second telescopic oil cylinder 41, a piston rod is fixedly connected with the mechanical claw through a second pin shaft 53, the lower part of the second inner cylinder 44 is fixedly connected with the mechanical claw through a bolt, and when the mechanical claw is driven to move downwards by the second telescopic oil cylinder 41, the second inner cylinder 44 also moves downwards simultaneously. In some embodiments, the mechanical claw can be directly and movably arranged on the beam assembly 2 in a structural mode that only the first telescopic cylinder 1 is arranged and the second telescopic cylinder 4 is not arranged, and the movement and the lifting of the mechanical arm can be realized.

(4) Mechanical claw

The connecting body 54 is used for fixedly mounting the parts such as the third telescopic cylinder 52, the clamping jaw 51 and the like, and is also used for connecting the mechanical claw with an arm or other related parts. The oil cylinder barrel of the third telescopic oil cylinder 52 is fixedly connected with the connecting body 54 through a pin shaft, and the piston rod of the oil cylinder 52 is connected with an oil cylinder connecting hole arranged on the first clamping jaw 512 through a third pin shaft 521; the second clamping jaw 511 and the first clamping jaw 512 are respectively provided with a fixed pin shaft connecting hole and are fixedly connected with the connecting body 54 through a clamping jaw fixed pin shaft 513; the first clamping jaw 512 and the second clamping jaw 511 are respectively provided with a connecting hole for mounting a transmission rod pin shaft 522; the lower half parts of the first clamping jaw 512 and the second clamping jaw 511 are clamping sections with the inner and outer surfaces mainly comprising circular arcs, and the inner circular arcs of the clamping sections are matched with the outer surface of the drill rod.

2. Drill rod grabbing process

When the manipulator is required to grasp a drill rod from the drill rod box, under the pushing action of the oil cylinder connected with the oil cylinder lug seat 12, the sliding block 11 transversely moves along the sliding rail outside the drill rod box until the manipulator moves to the position for grasping the drill rod. The horizontal direction of the parallel slide 11 is taken as the X axis (X is taken as 1 and 2 and represents two drill rod boxes), the vertical direction is taken as the Y axis (Y represents the drill rod column number), and the vertical direction is taken as the Z axis (Z represents the drill rod layer number). When the manipulator is to grasp a drill rod located at (X, Y, Z) = (1, 10) (the uppermost layer), firstly, the beam assembly 2 is lifted upwards in the first telescopic cylinder 1 under the action of the first telescopic cylinder 14, so as to prevent the gripper assembly 5 from colliding with the drill rod box in the moving process; secondly, the second telescopic cylinder 4 and the paw assembly 5 drive the translation gear 32 to move along the rack 21 in the beam assembly 2 to be close to the first telescopic cylinder 1 under the action of the motor 31 in the translation assembly 3; finally, the movable gripper 51 clamps the drill rod under the hydraulic action of the third telescopic cylinder 52, and the mechanical arm moves to place the drill rod on the drill rod transferring device. When the manipulator is to grasp a drill rod located at (X, Y, Z) = (1, 1) (the lowest layer), the beam assembly 2 is lifted up by the first telescopic cylinder 14; second, the second telescopic cylinder 4 and the gripper assembly 5 are moved close to the first telescopic cylinder 1; finally, the first telescopic cylinder 1 is retracted to the original position, the second telescopic cylinder 4 is fully extended downwards under the action of the second telescopic cylinder 41, after the clamping jaw 51 clamps the drill rod, the second telescopic cylinder 4 is retracted, and the mechanical arm moves to place the drill rod on the drill rod transferring device. The first telescopic cylinder 1 controls the extending length of the manipulator when grabbing drill rods in different layers through the first telescopic cylinder 14, so that the manipulator can extend to the drill rod grabbing position of each layer; the translation assembly 3 controls the moving distance of the manipulator when grabbing different columns of drill rods through the motor 31, so that the manipulator can be ensured to move to each column of drill rod grabbing positions.

3. Drill rod returning process

The manipulator moves to the drill rod transferring device, the clamping jaw 51 clamps and grabs the drill rod under the action of the third telescopic oil cylinder 52, the clamping jaw moves along the beam assembly 2, the position of the spare drill rod in the drill rod box is selected through an electric control program, and the drill rod is put back into the drill rod box.

4. Jaw movement process

In the initial state, the clamping jaw is completely loosened, the third telescopic oil cylinder 52 is retracted, the piston rod drives the first clamping jaw 512 to swing upwards by a specific angle theta, and the clamping section swings inwards by the angle theta around the pin shaft 513, so that inward contraction is realized; the first clamping jaw 512 synchronously transmits the swing to the second clamping jaw 511 through the transmission rod 523, and drives the clamping section of the second clamping jaw 511 to swing inwards by an angle theta so as to realize synchronous inward contraction with the first clamping jaw 512, thereby clamping the drill rod; when the drill rod is released, the third telescopic cylinder 52 extends out, and the parts move reversely.

Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present utility model, which is intended to be covered by the claims of the present utility model.

Claims (10)

1. A drill rod grasping structure, comprising:

The device comprises a first telescopic cylinder, a second telescopic cylinder and a connecting rod, wherein one end of the first telescopic cylinder is provided with a beam assembly and drives the beam assembly to move in a direction approaching or separating from the first telescopic cylinder, and a sliding block used for connecting an external device is arranged on the first telescopic cylinder;

The paw assembly is movably arranged on the beam assembly and is used for grabbing a drill rod;

The paw assembly is arranged on the beam assembly through a second telescopic cylinder, and the second telescopic cylinder is arranged at one end, far away from the first telescopic cylinder, of the beam assembly; the second telescopic cylinder moves on the beam assembly in a direction approaching or separating from the first telescopic cylinder.

2. The drill rod grasping structure according to claim 1, wherein the first telescopic tube includes a first outer tube and a first inner tube arranged in a nested manner, the first inner tube being movably disposed along an extending direction of the first outer tube.

3. The drill rod grabbing structure according to claim 2, wherein a first telescopic oil cylinder is arranged in the first inner cylinder and drives the cross beam to move; one end of the first telescopic oil cylinder is fixed on the first outer cylinder, and the other end of the first telescopic oil cylinder is a piston rod and synchronously moves along with the first inner cylinder when the cross beam is driven to move.

4. The drill rod grasping structure according to claim 1, wherein a rack is provided in the beam assembly, a motor is provided in the second telescopic tube, and a translation gear engaged with the rack is provided on the motor.

5. The drill rod grasping structure according to claim 4, wherein a motor mount for mounting the motor is provided at one side of the second telescopic tube.

6. The drill rod grasping structure according to claim 4, wherein the second telescopic cylinder is provided with a rail seat for sliding in a setting direction of the beam assembly.

7. The drill rod grasping structure according to claim 4, wherein the second telescopic tube includes a second outer tube and a second inner tube that are nested, the second inner tube being movably arranged along an extending direction of the second outer tube.

8. The drill rod grabbing structure of claim 7, wherein a second telescopic cylinder is arranged in the second inner cylinder, and the second telescopic cylinder drives the gripper assembly; one end of the second telescopic oil cylinder is fixed on the second outer cylinder, and the other end of the second telescopic oil cylinder is a piston rod which moves synchronously with the second inner cylinder when driving the paw assembly to move.

9. The drill rod grabbing structure of claim 1, wherein the gripper assembly comprises a third telescopic cylinder that outputs power in a linear motion; the clamping device comprises a first clamping jaw and a second clamping jaw which are oppositely arranged, wherein the first clamping jaw and the second clamping jaw are both rotatably arranged, and the first clamping jaw is connected with the second clamping jaw through a connecting rod; the third telescopic oil cylinder drives the first clamping jaw to rotate, and the first clamping jaw and the second clamping jaw are synchronously opened or synchronously clamped under the drive of the connecting rod.

10. The drill rod grabbing structure according to claim 9, wherein the gripper assembly comprises a connecting body, a mounting cavity is formed in the connecting body, and the third telescopic oil cylinder is arranged in the mounting cavity through a pin shaft penetrating through the connecting body; the connecting body is provided with two side plates which are arranged oppositely, and the first clamping jaw and the second clamping jaw are arranged on the connecting body through clamping jaw fixing pins penetrating through the side plates.