WO2022198772A1 - Manipulateur de ramassage de tiges de forage à deux bielles - Google Patents

Manipulateur de ramassage de tiges de forage à deux bielles Download PDF

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Publication number
WO2022198772A1
WO2022198772A1 PCT/CN2021/094348 CN2021094348W WO2022198772A1 WO 2022198772 A1 WO2022198772 A1 WO 2022198772A1 CN 2021094348 W CN2021094348 W CN 2021094348W WO 2022198772 A1 WO2022198772 A1 WO 2022198772A1
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WO
WIPO (PCT)
Prior art keywords
claw
drill rod
movable claw
telescopic shaft
picking manipulator
Prior art date
Application number
PCT/CN2021/094348
Other languages
English (en)
Chinese (zh)
Inventor
王清峰
陈航
辛德忠
李学忠
万军
蒲剑
刘小华
吕晋军
杨林
邱响林
马振纲
王志锦
唐敏
杜渔舟
雷万年
万园
杨燕鸽
Original Assignee
中煤科工集团重庆研究院有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中煤科工集团重庆研究院有限公司 filed Critical 中煤科工集团重庆研究院有限公司
Priority to AU2021277751A priority Critical patent/AU2021277751A1/en
Publication of WO2022198772A1 publication Critical patent/WO2022198772A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/146—Carousel systems, i.e. rotating rack systems
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/10—Slips; Spiders ; Catching devices

Definitions

  • the invention belongs to the technical field of coal mine drilling rigs, and relates to a double-link drill pipe picking manipulator.
  • the drill pipe pick-up manipulator is a key component of the automatic drilling rig. Due to the diversity of downhole drilling, such as different opening heights and different opening angles, the downhole space has special characteristics, such as sufficient axial space in the roadway, while lateral and The lack of height phase space limits the use of manipulators. Since the drill pipe picking manipulator in the prior art cannot take into account the opening height and the drilling inclination angle, the manipulator cannot effectively and reasonably utilize the roadway space.
  • the purpose of the present application is to provide a dual-link drill rod pick-up manipulator to solve the problem that the drill rod pick-up manipulator in the prior art cannot take into account the hole height and the drill hole inclination.
  • the present invention provides the following technical solutions:
  • a double-link drill rod picking manipulator comprises a rotating arm capable of rotating in a vertical plane, the other end of the rotating arm is provided with a large arm, one end of the large arm is connected with a first driving device for driving rotation around its axis, and the other One end is hinged with two mutually parallel connecting rods, and the other end of the two connecting rods is provided with a mechanical claw whose clamping power is parallel to the big arm, and also includes a second driving device connected with the connecting rod and capable of making the mechanical claw move in translation.
  • the mechanical claw includes a fixed claw, and the fixed claw is provided with a guide hole along its length direction, the guide hole is provided with a telescopic shaft with only axial freedom of movement, and one end of the telescopic shaft is connected with a shaft capable of driving along its axis.
  • the third driving device for moving in the direction; the telescopic shaft is also sleeved with a movable claw that can rotate around its axis line, and the movable claw and the fixed claw form a pair of clamping claw whose clamping center is parallel to the telescopic shaft.
  • the telescopic shaft is provided with a telescopic shaft helical groove in the circumferential direction, a through hole is formed on the movable claw, and a movable claw helical groove matched with the telescopic shaft helical groove is opened on the wall of the through hole to form a ball channel.
  • ball and ball cage With ball and ball cage.
  • the movable claw is arranged in the middle of the telescopic shaft, the middle of the fixed claw is provided with a U-shaped movable claw avoidance groove, the guide holes are opened on both sides of the movable claw avoidance groove, and the movable claw is installed in the movable claw avoidance groove.
  • the middle of the fixed claw is provided with a U-shaped movable claw avoidance groove
  • the guide holes are opened on both sides of the movable claw avoidance groove
  • the movable claw is installed in the movable claw avoidance groove.
  • the contact surface of the fixed claw and the drill rod to be clamped is larger than the contact surface of the movable claw and the drill rod to be clamped.
  • the fixed claw includes a groove-shaped fixed claw slip installation groove and a fixed claw slip detachably connected in the fixed claw slip installation groove
  • the movable claw includes a groove-shaped movable claw slip installation groove.
  • the movable claw slip which is detachably connected in the installation groove of the movable claw slip.
  • the contact surface of the fixed claw and the drill rod to be clamped is larger than the contact surface of the movable claw and the drill rod to be clamped.
  • the cross section of the guide hole is a regular polygon.
  • one side of the boom is provided with two drill pipe boxes along the axial direction of the drill pipe to be clamped.
  • the rotating arm is connected to one side of the drilling rig frame through a gyrator.
  • the present invention adopts a parallel four-bar linkage mechanism, which realizes the longitudinal movement and parallel movement of the drill rod, shortens the radius of the drill rod turning over to the drilling center, and improves the stability of turning over.
  • the parallel four-bar linkage mechanism also realizes The axial movement of the drill pipe, combined with the turning function, can effectively avoid the space of the column.
  • the mechanism utilizes the combination of the longitudinal movement and the axial movement of the drill pipe generated by the swing to realize the function of effectively avoiding the drilling rig column at different inclination angles and different drilling heights, thereby realizing the diversity of drilling, and can also realize the A plurality of drill pipe boxes are arranged in the axial space of the drill pipe, thereby improving the capacity of accommodating the drill pipe.
  • the present invention adopts built-in clamping power, the direction of the clamping power is perpendicular to the direction of the clamping load, and parallel to the axis of the drill pipe, which is consistent with the direction of the downhole space, and the three-dimensional transposition of the drill pipe can be changed to a plane transposition, saving rotation. It is convenient for the spatial layout of automatic drilling rigs, and provides technical support for the development of automatic drilling rigs in both miniaturization and large-scale development. In addition, the drill pipe transposition method of the manipulator can effectively avoid obstacles (drilling rig column), thereby providing technical support for the high-position automatic drilling rig, and the structure is more compact.
  • the mechanical claw of the present invention utilizes the driving principle of the screw nut to drive the circumferential rotation of the movable claw through the axial movement of the telescopic shaft, thereby realizing the opening and closing of the mechanical claw, thereby realizing the clamping and opening functions of the mechanical claw;
  • the telescopic shaft is parallel to the axis of the drill rod, so that the clamping direction is perpendicular to the direction of the dynamic load, making the structure of the mechanical claw more compact; because the length direction of the mechanical claw is consistent with the axis direction of the frame, the design of the pick-up structure of the drill rod is more compact. It is compact; in addition, because the ball rotates along the spiral groove, the load transmission loss is less, and the clamping force of the mechanical claw can be controlled more accurately.
  • Fig. 1 is the structural schematic diagram 1 of the double-link drill pipe picking manipulator
  • Fig. 2 is the structural schematic diagram 2 of the double-link drill pipe picking manipulator
  • Fig. 3 is the structural schematic diagram 1 of the mechanical claw
  • FIG. 4 is a second structural schematic diagram of the mechanical claw.
  • first drive device 1 rotating arm 2, boom 3, connecting rod 4, second drive device 5, mechanical claw 6, drill rod 7, column 8, third drive device 61, fixed claw 62, telescopic Shaft 63 , ball assembly 64 , movable claw 65 , fixed claw slip 66 , movable claw slip 67 .
  • a double-link drill rod picking robot includes a rotating arm 2 that can rotate in a vertical plane, the other end of the rotating arm 2 is provided with a large arm 3, and one end of the large arm 3 is connected with a drive
  • the other end of the first driving device 1 that rotates around its axis is hinged with two mutually parallel connecting rods 4, and the other ends of the two connecting rods 4 are hinged with a mechanical claw 6 whose clamping power is parallel to the boom 3, and at least one
  • the connecting rod 4 is connected to a second driving device 5 which drives it to swing about its hinge point.
  • the first driving device 1 can be a hydraulic motor
  • the second driving device 5 can be a swing hydraulic cylinder.
  • the mechanical claw 6 adopts built-in clamping power, and the direction of the clamping power is perpendicular to the direction of the clamping load.
  • the mechanical claw 6 includes a fixed claw 62.
  • the fixed claw 62 is provided with a guide hole along its length direction.
  • a telescopic shaft 63 with a degree of freedom, one end of the telescopic shaft 63 is connected with a third driving device 61 that can drive the movement along its axial direction; the telescopic shaft 63 is also sleeved with a movable claw 65 that can rotate around its axis.
  • 65 and the fixed claw 62 form a pair of clamping claw whose clamping center is parallel to the telescopic shaft 63 .
  • the cross section of the guide hole in the mechanical claw 6 of the present invention can be a regular polygon, preferably a regular hexagon.
  • the telescopic shaft 63 is provided with a telescopic shaft spiral groove in the circumferential direction
  • the movable claw 65 is provided with a through hole
  • the through hole wall is provided with a movable claw spiral groove matched with the telescopic shaft spiral groove to form a ball channel. Ball cage.
  • the movable claw 65 in the mechanical claw 6 of the present invention is arranged at one end or the middle part of the telescopic shaft 63, preferably the middle part.
  • the way of setting the movable claw 65 in the middle part is as follows: a U-shaped movable claw escape groove is opened in the middle part of the fixed claw 62, and the guide hole is arranged in the middle part. Opened on both sides of the movable claw avoidance groove, the movable claw 65 is installed in the movable claw avoidance groove.
  • the contact surface of the fixed claw slips 66 in the mechanical claw 6 of the present invention and the drill rod 7 to be clamped is larger than the contact surface of the movable claw slips 67 and the drill rod 7 to be clamped, which can more stably clamp the to-be-clamped piece .
  • the third driving device 61 in the mechanical gripper 6 of the present invention adopts an end-mounted linear hydraulic cylinder.
  • the hole is connected with the telescopic shaft 63 , and the fixed end of the third driving device 61 is fixed on the end of the fixed claw 62 .
  • one side of the boom 3 is provided with two drill rod boxes along the length direction of the drill rods to be installed, and respectively correspond to the front position and the rear position of the manipulator.
  • the invention adopts the parallel four-bar linkage mechanism to realize the longitudinal movement and parallel movement of the drill rod 7, shortens the radius of the drill rod 7 turning over to the drilling center, and improves the stability of turning over.
  • the parallel four-bar linkage mechanism also realizes the The axial movement of the drill rod 7, combined with the turning function, can effectively avoid the space of the column 8.
  • the mechanism can make full use of the combination of the longitudinal movement and the axial movement of the drill rod 7 generated by the swing, and realize the function of effectively avoiding the drilling rig column 8 at different inclination angles and different drilling heights, thereby realizing the diversity of drilling. It is also possible to arrange a plurality of drill rod boxes in the axial space of the drill rod 7 , thereby improving the capacity of accommodating the drill rod 7 .
  • a double-link drill rod picking manipulator as shown in FIGS. 1 to 4 , includes a first driving device 1 , a rotating arm 2 , a large arm 3 , a connecting rod 4 , a second driving device 5 and a mechanical claw 6 .
  • the specific structure and function of each component are as follows:
  • the first driving device 1 it is a hydraulic motor, which is fixed on the rotating arm 2, and its rotating shaft is connected with the connecting rod of the boom 3, so as to realize the rotation of the boom 3 around the center of rotation of the first driving device 1, so as to realize the adjustment of the position of the drill pipe. Variety.
  • Swivel arm 2 It is set on one side of the rig frame through the gyrator, and can be rotated along the O point to realize the change of the inclination angle of the drill pipe.
  • Boom 3 connected with the rotating shaft of the first drive device 1, can rotate around the rotation center of the first drive device 1, the other end is connected with the connecting rod 4 and the second drive device 5, the second drive device 5 is a swing hydraulic cylinder, A parallelogram structure is formed between the two connecting rods 4 , the mechanical claw 6 and the big arm 3 , under the action of the second driving device, the drill rod 7 can move along its axial direction and the up and down direction in FIG. 1 .
  • Link 4 Connect the boom 3 and the gripper 6 to ensure the parallel movement of the gripper 6.
  • the mechanical claw 6 Using the principle of screw nut transmission, the axial movement of the telescopic shaft 63 drives the circumferential rotation of the movable claw 65 to realize the opening and closing of the mechanical claw 6, thereby realizing the clamping and opening functions of the mechanical claw 6.
  • the mechanical claw 6 includes a fixed claw 62, a movable claw 65, a telescopic shaft 63, a ball, a ball fixing frame and a third driving device 61.
  • the third driving device 61 drives the telescopic shaft 63 to move along the guide hole opened on the fixed claw 62, and The thrust of the driving device is converted into the clamping force of the movable claw 65 through the movement of the balls.
  • the relative installation positions and specific structural functions of each component are as follows:
  • the third driving device 61 is a hydraulic cylinder for linear motion, which is parallel to the axis of the drill rod 7 and provides clamping power. 63 moves axially in the hexagonal guide hole of the fixing claw 62 .
  • Fixed claw 62 One end of the fixed claw 62 is connected with the third driving device 61, and there is a guide hole in the middle to cooperate with the telescopic shaft 63.
  • the telescopic shaft 63 can move in the guide hole and combine with the movable claw 65 to complete the clamping of the drill rod 7 ;
  • One end of the fixed claw 62 is provided with a positioning table to achieve the positioning of the third driving device 61 .
  • the fixed claw slip installation groove of the fixed claw 62 is the installation position of the fixed claw slip 66, which matches the shape of the fixed claw slip 66, and a fixed claw slip connection hole is opened on it, which is in the position of the installation hole of the fixed claw slip. Consistent.
  • the telescopic shaft 63 is connected to the third driving device 61, cooperates with the guide hole of the fixing claw 62, can move axially in the guide hole of the fixing claw 62, and has a plurality of telescopic shaft spiral grooves in the circumferential direction, and the telescopic shaft spiral groove
  • the spiral groove of the telescopic shaft is provided with a ball assembly 64 composed of balls and a ball fixing frame.
  • the balls can roll in the spiral groove of the telescopic shaft, and at the same time move relative to the axial direction to reduce the load delivery resistance.
  • the ball fixing frame Prevent balls from erratic movement.
  • One end of the telescopic shaft 63 is provided with a connecting hole in the center, and the connecting hole is a threaded hole, which is connected with the third driving device 61 to realize the transmission of the clamping load.
  • Both ends of the telescopic shaft 63 are polygonal structures matched with the guide holes of the fixing claw 62 to prevent the circumferential rotation of the telescopic shaft 63 .
  • the movable claw 65 cooperates with the fixed claw 62 to complete the clamping of the drill rod 7 .
  • the movable claw 65 is provided with a through hole, and the inner wall of the through hole is provided with a movable claw helical groove matched with the telescopic shaft helical groove.
  • the telescopic shaft 63 can move in the axial direction, the balls can rotate in the circumferential direction, and act on the spiral groove of the movable claw, thereby realizing the circumferential rotation of the movable claw 65 along the telescopic shaft 63, so as to complete the circumferential angle change relative to the fixed claw 62, and then complete Clamping and opening of the drill rod 7 .
  • the movable claw slip installation groove of the movable claw 65 is the installation position of the movable claw slip 67, which matches the shape of the movable claw slip 67, and a movable claw slip connection hole is opened on it, which corresponds to the position of the installation hole of the movable claw slip. Consistent.
  • the working principle of the mechanical claw 6 is as follows:
  • Drill pipe clamping Before clamping, the third driving device 61 is in the retracted position, the movable claw 65 is in the open position, and the mechanical claw 6 is moved to the required clamping position of the drill pipe 7 through the external mechanism; Under the action, the piston of the third driving device 61 stretches out, pushes the telescopic shaft 63 forward, drives the ball to rotate, acts on the movable claw 65, and the movable claw 65 rotates to clamp the drill rod 7 to complete the clamping of the drill rod 7;
  • the drill pipe is loosened: the mechanical claw 6 moves to the designated position and clamps the drill pipe 7, the hydraulic oil of the third driving device 61 is reversed, the piston of the third driving device 61 is retracted, and the telescopic shaft 63 is driven to the third The direction of the device 61 moves, the movable claw 65 is opened, and the drill rod 7 is released.
  • the working principle of the manipulator is as follows:
  • Initial state the drill rod 7 is in a horizontal position, the manipulator is in any position that is not in contact with the drill rod 7, and the mechanical claw 6 is in the open position.
  • the first driving device 1 works, and the boom 3 rotates, so that the center of rotation O of the mechanical claw 6 and the rotating arm 2 is located on the same side of the boom 3;
  • the second driving device 5 works to make the center of the mechanical claw 6 coincide with the center of the drill pipe 7;
  • the first drive device 1 works, and the boom 3 rotates 270° clockwise along the center of the first drive device 1;
  • the second drive device 5 works, the mechanical claw 6 is at the maximum distance from the center of the boom 3, and the drill rod 7 is sent to the drilling center;
  • the third driving device 61 works, the mechanical claw 6 is released, and the drilling rod 7 is sent into the working position;
  • the first driving device 1 rotates 270° counterclockwise, and the rotation center O of the mechanical claw 6 and the rotating arm 2 is located on the same side of the big arm 3;
  • Steps (3) to (12) are repeated to carry out the feeding process of the next drill pipe 7 .
  • Initial position After drilling, the boom 3 is in a horizontal position, the gripper 6 is open, the gripper 6 and the center of the rotating arm are located on the same side of the boom 3, and the boom 3 and the gripper 6 are at a minimum distance.
  • the first driving device 1 rotates 270° clockwise;
  • the second driving device 5 works to send the mechanical claw 6 to the center of the drill pipe 7;
  • the third driving device 61 works, and the mechanical claw 6 clamps the drill rod 7;
  • the first driving device 1 works, and the boom 3 rotates 270° counterclockwise;
  • the rotating arm 2 is rotated around its center to a horizontal position
  • the third driving device 61 works, the drill rod 7 is released, and the retrieval of the drill rod 7 is completed;
  • the length of the frame is more than twice the length of the drill pipe, so in the direction of the length of the frame, there is enough space on the same side of the drill pipe box to accommodate another drill pipe box, that is, at B Another drill pipe box is installed in place to realize the expansion of the drill pipe.
  • the mechanical claw 6 of the present invention is a built-in piston type mechanical claw 6, which adopts built-in clamping power.
  • the direction of the clamping power is perpendicular to the direction of the clamping load, and is parallel to the axis of the drill pipe 7, which is consistent with the direction of the downhole space, and can change the drilling
  • the three-dimensional transposition of the rod 7 is a plane transposition, which saves the transposition space, facilitates the spatial layout of the automatic drilling rig, and provides technical support for the development of the miniaturization and large-scale automatic drilling rigs.
  • the transposition method of the drill pipe 7 of the manipulator can effectively avoid obstacles (the drill column 8 ), thereby providing technical support for the high-position automatic drilling rig, and the structure is more compact.
  • the manipulator of the present invention can move the drill rod 7 along the axial direction of the drill rod and in the up and down direction, so that the axial space of the frame can be fully utilized; when the second driving device 5 is fully retracted, the center of the drill rod and the rotation center (ie the motor The distance from the center of rotation) is the shortest, so that the drill pipe can be turned smoothly, the required motor turning torque is smaller, and the turning impact is smaller; when the drill pipe 7 is turned at a high position, it can effectively avoid the column 8 and is not affected by the height of the column 8; It solves the problem of small space perpendicular to the drilling rig frame; when the minimum center distance is used, that is, when the manipulator is in the front position, the drill pipe 7 is in the frontmost position A of the drilling rig, and the drill pipe container can be set at the rear position B of the drilling rig at the same time, that is, respectively in the manipulator.
  • the front position and the rear position of the drill pipe container are respectively set to realize the expansion of the drill

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un manipulateur de ramassage de tiges de forage à deux bielles, comprenant un bras rotatif (2) apte à tourner dans un plan vertical. Un grand bras (3) est disposé à l'autre extrémité du bras rotatif (2). Une première extrémité du grand bras (3) est reliée à un premier dispositif d'entraînement (1) entraînant le grand bras en rotation autour de son axe, et l'autre extrémité est articulée à deux bielles parallèles (4). Les autres extrémités des deux bielles (4) sont pourvues d'une griffe mécanique (6) dont la puissance de serrage est parallèle au grand bras. Le manipulateur comprend en outre un second dispositif d'entraînement (5) qui est relié aux bielles (4) et peut amener la griffe mécanique (6) à se déplacer horizontalement.
PCT/CN2021/094348 2021-03-26 2021-05-18 Manipulateur de ramassage de tiges de forage à deux bielles WO2022198772A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2021277751A AU2021277751A1 (en) 2021-03-26 2021-12-03 Dual-link drill pipe picking manipulator

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110327571.6A CN113006713B (zh) 2021-03-26 2021-03-26 一种双连杆钻杆拾取机械手
CN202110327571.6 2021-03-26

Publications (1)

Publication Number Publication Date
WO2022198772A1 true WO2022198772A1 (fr) 2022-09-29

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PCT/CN2021/094348 WO2022198772A1 (fr) 2021-03-26 2021-05-18 Manipulateur de ramassage de tiges de forage à deux bielles

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CN (1) CN113006713B (fr)
AU (1) AU2021277751A1 (fr)
WO (1) WO2022198772A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115611009A (zh) * 2022-12-01 2023-01-17 中煤科工西安研究院(集团)有限公司 一种煤矿井下码垛式杆箱钻杆分离系统与方法

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JPH08296388A (ja) * 1995-04-26 1996-11-12 Raito Kogyo Co Ltd ロッド着脱装置
CN205572459U (zh) * 2016-05-12 2016-09-14 钱成普 一种薄型气动夹爪机构
CN106761488A (zh) * 2017-03-16 2017-05-31 中煤科工集团重庆研究院有限公司 一种煤矿钻机用钻杆输送装置
CN109113597A (zh) * 2018-10-29 2019-01-01 天津职业技术师范大学 钻机钻杆自动抓取与排放机器人
CN211639362U (zh) * 2020-02-25 2020-10-09 上海载科智能科技有限公司 一种锤头打磨抛光工业机器人自动抓手

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GB464601A (en) * 1936-04-09 1937-04-21 William Charles Whaley Improvements in or relating to mechanism for driving a cable-sheave from a drive shaft
CN104389536B (zh) * 2014-11-20 2017-01-04 四川宏华石油设备有限公司 一种管具移运机械手
CN105332663B (zh) * 2015-10-30 2019-05-03 南阳师范学院 一种钻杆立柱自动排放机械手
CN209289299U (zh) * 2018-12-14 2019-08-23 南京斯庄森金属材料有限公司 一种铸造浇筑机械手
CN211230302U (zh) * 2019-11-27 2020-08-11 中煤科工集团重庆研究院有限公司 一种用于装卸钻杆机械手的定位装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08296388A (ja) * 1995-04-26 1996-11-12 Raito Kogyo Co Ltd ロッド着脱装置
CN205572459U (zh) * 2016-05-12 2016-09-14 钱成普 一种薄型气动夹爪机构
CN106761488A (zh) * 2017-03-16 2017-05-31 中煤科工集团重庆研究院有限公司 一种煤矿钻机用钻杆输送装置
CN109113597A (zh) * 2018-10-29 2019-01-01 天津职业技术师范大学 钻机钻杆自动抓取与排放机器人
CN211639362U (zh) * 2020-02-25 2020-10-09 上海载科智能科技有限公司 一种锤头打磨抛光工业机器人自动抓手

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115611009A (zh) * 2022-12-01 2023-01-17 中煤科工西安研究院(集团)有限公司 一种煤矿井下码垛式杆箱钻杆分离系统与方法
CN115611009B (zh) * 2022-12-01 2023-03-21 中煤科工西安研究院(集团)有限公司 一种煤矿井下码垛式杆箱钻杆分离系统与方法

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CN113006713A (zh) 2021-06-22
AU2021277751A1 (en) 2022-12-08

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