SU848620A1

SU848620A1 - Manipulator gripper

Info

Publication number: SU848620A1
Application number: SU792785404A
Authority: SU
Inventors: Михаил Самсонович Сафохин; Виктор Афанасьевич Акулов; Игорь Дмитриевич Богомолов; Николай Михайлович Скорняков; Константин Викторович Начев; Владимир Иванович Великанов; Юрий Спиридонович Щербаков; Олег Петрович Гаврилов
Original assignee: Кузбасский Политехнический Институт
Priority date: 1979-06-22
Filing date: 1979-06-22
Publication date: 1981-07-23

Description

(54) ЗАХВАТ МАНИПУЛЯТОРА(54) CAPTURE MANIPULATOR

1one

Изобретение относитс к горному делу, а именно к буросбоечным машинам .The invention relates to mining, namely, drilling machines.

Известен захват манипул тора без захватыва,кхцих силовых элементов .Known capture manipulator without capturing, khtsih power elements.

Недостатком этого захвата вл етс ненадежное удержание штанг.The disadvantage of this grip is the unreliable holding of the rods.

.Известен также захват манипул тора преимущественно дл штанг буросбоечной машины, включан ций гидроцилиндр и щеки захвата с размещенными между ними ос ми, снабженными контактными роликами Гй} .The gripper handler is also known predominantly for the rods of the drilling machine, including the hydraulic cylinder and the gripping cheeks with axles placed between them and equipped with contact rollers Gy.

Недостатком этого захвата вл етс трудность осевого перемещени захваченной штанги при ее подаче на . ось бурени и свинчивании штанги со ставом.The disadvantage of this gripper is the difficulty in axially moving the gripped rod when it is being fed to. the axis of drilling and screwing the rod with the rod.

Цель изобретени - уменьшение соп)отивлени осевому перемещению штанги в захвате.The purpose of the invention is to reduce the cone by axial movement of the rod in the grip.

Поставленна цель достигаетс тем, что в захвате оси с роликами подпружинены и ус:гановлены с возможностью осевого перемещени .The goal is achieved by the fact that in the gripper the axis with the rollers is spring-loaded and the bolts are axially displaceable.

На фиг. 1 схематически изображен манипул тор, общий вид; на фиг. 2 то же, вид сверху.FIG. 1 schematically shows a manipulator, general view; in fig. 2 the same, top view.

Манипул тор состоит из трубы 1, имеющей проушину 2. Труба 1 осью 3The manipulator consists of pipe 1 having eye 2. Pipe 1 axis 3

шарнирно соединена с кронштейном 4. Кронштейн 4 имеет проушину 5. Проушина 5 осью 6 шарнирно соединена с корпусом гидроцилиндра 7. Шток гидроцилиндра 7 осью. 8 соединен с прсгуг шиной 2. Кронштейн 4 подвижно сопр жен , со стойкой 9. На стойке 9 имеетс выступ 10 с проушиной 11. В проу-. шине 11 шарнирно прикреплен корпус pivotally connected to the bracket 4. The bracket 4 has an eye 5. The eye 5 of the axis 6 is pivotally connected to the housing of the hydraulic cylinder 7. The cylinder of the hydraulic cylinder 7 has an axis. 8 is connected to the belt bus 2. The bracket 4 is movably coupled to the stand 9. On the stand 9 there is a projection 10 with an eye 11. In the pro-. bus 11 hinged body

10 гидроцилиндра 12. Шток гидроцилиндра 12 шарнирно прикреплен к выступу 13, укрепленному на кронштейне 4. На конце трубы 1 имеетс вилка 14. В вилке имеютс отверсти , в которых размещены оси 15;. На ос х 15 попарно расположены верхние и нижние щеки:16, образуквдие захват манипул тора. В щеках 16 имеютс отверсти , в которых размещены оси 17. Длина вылета 10 cylinders 12. The rod of the hydraulic cylinder 12 is pivotally attached to the protrusion 13 fixed on the bracket 4. At the end of the pipe 1 there is a fork 14. In the fork there are holes in which the axles 15 are placed ;. On the x 15 axes, the upper and lower cheeks are located in pairs: 16, the shape of the seizure of the manipula torus. The cheeks 16 have holes in which the axes 17 are placed. Length of departure

20 концов осей внутрь захвата и на его внешнюю сторону не одинакова. Больша величина вылета концов осей нгсходитс вне захвата.The 20 ends of the axes inside the grip and on its outer side are not the same. The larger outreach of the axle ends is taken out of the grip.

Claims

The date of departure of the axles can be selected based on the amount of feed of the rod (rotational stroke) necessary to start screwing and collar on the rod. On the axles, the contact rollers 18 are reinforced. Moreover, the ribs 18, reinforced 30 on one axis, are located on both sides of the cheek (i.e., one is located in, and the other is out of it). Inside the surface of the cheeks, rollers and ,, axes form a gripping jaw. At the long ends of the axles (they come out of the gripper) there are elastic elements 19, which abut one end of the cheeks, and the other end are shoulders 20 belonging to the axes 17. Between the cheeks 16 there is a hydraulic cylinder 21, which axes 22 23 are attached to the other cam 16. In the initial position of the manipulator, the cylinders 7, 12 and 21 are shifted. The grips formed by the cheeks 16 are folded once. The manipulator is prepared to grip the rod and feed to the axis of the drill. The manipulator works as follows. The bar is, for example, in a cassette, store, etc. - the device before the manipulator in the area of divorced grips. The hydraulic cylinder 21 is engaged. The decks 16 rotate about the axes 15. The rotation of the cheeks 16 ends when the rollers 18 abut against the surface of the rod. The boom power cycle ends. The boom is now unable to sag and fall out of the manipulator torus. Then the hydraulic cylinder 7 is turned on, the tube 1 is rotated around the axis 3. The rod is transferred to the drilling axis. Having completed the rotation of the pipe by the hydraulic cylinder 7, include the hydraulic cylinder 12; The hydraulic cylinder 12 rotates the manipulator, and with it the rod 5 of the plane perpendicular to the plane of the previous turn, orienting and aligning the axis of the rod with the axis of drilling. To make the rod clamped in the manipulator throat with the rods in the well, it is necessary to feed it in the axial direction. For this, the machine rotator is advanced. The cartridge grips the shank of the rod, and under the action of the force of the feed rod begins to move in the axial direction. In this case, the rollers are pressed against the rod and move with it in the axial direction. This is possible due to the fact that the axis 17 slides in the apertures of the cheeks 16. As the axes 17 move, compression of the elastic elements 19 occurs. The movement of the axles and, consequently, the axes end when the threaded rod nipple contacts the thread of the rod of the rod, on the drilling axis in the well. Thereafter, the rotator for rotation is engaged. The rod in the gripper of the manipulator is screwed to the rod in the well. When screwing the rods, the rollers 18 rotate about an axis 17, which does not cause much resistance. Then the hydraulic cylinder 21 is turned on. The cheeks 16, turning around the axles 15, remove the rollers from contact with the surface of the rod. Hydraulic cylinders 7 and 12 are turned on, which return the manipulator to its original position. Placing the rollers on both sides of the cheeks and the elongated end of the axes increase the travel of the movable axes 17, and placing them movably in the holes does not reduce the force required to move the rod in the axial direction and eliminate wear of the rollers and rods due to movement:. the surface of the rod relative to the rollers. In addition, the mobility of the axles, and consequently, the exciting rollers, makes it possible for the manipulator to work with the rods having shoulders, since in the case of an emphasis of the collar of the rod on the rollers, the axial movement of the rod is possible due to the effect of axial mobility. Claims: Handlebar gripper for rods of a drilling machine, including a hydraulic cylinder and gripping cheeks with axles with rollers located between them, characterized in that, in order to reduce resistance (the left axle displacement, in the axle gripper with rollers is spring-loaded and axially displaced Sources of information taken into account in the examination 1. The author's certificate of the USSR 560974, class E 21 C 1/14, 1972.

2. US patent number 3521509, class. 71-5715, 1970.

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