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CN-224228625-U - Drilling rod snatchs manipulator

CN224228625UCN 224228625 UCN224228625 UCN 224228625UCN-224228625-U

Abstract

The utility model relates to a drill rod grabbing mechanical arm, and belongs to the technical field of mining drilling rigs. The manipulator is arranged on a slide rail of the drill rod box and comprises a lifting joint, a rotating joint, a telescopic joint and clamping jaws, the rotating joint is connected with the lifting joint through a cross beam, the lifting joint comprises a lifting oil cylinder, a lifting outer cylinder and a lifting inner cylinder, the rotating joint comprises a rotating driver and a rotating shaft, the rotating shaft is rotatably arranged in an inner cavity of the cross beam, a protruding part is arranged on the outer side of the rotating shaft, an arc groove matched with the protruding part is arranged in the inner cavity of the cross beam, when the rotating shaft rotates, the protruding part slides in the arc groove along the circumferential direction to realize rotation limit of the rotating shaft, and the telescopic joint comprises a telescopic oil cylinder, a telescopic outer cylinder and a telescopic inner cylinder. The drill rod grabbing method relies on a lifting joint, a rotating joint and a telescopic joint to adjust the positions of clamping jaws, so that the clamping jaws can accurately grab or put down a drill rod. The utility model solves the problem that the existing grabbing manipulator cannot meet the drilling requirements of the full section and the full inclination angle range.

Inventors

  • WAN JUN
  • MA BIN
  • CHEN HANG
  • XIN DEZHONG
  • XIAO YUQING
  • ZHANG SHIZHAI
  • LONG WEI
  • FU HONG

Assignees

  • 中煤科工集团重庆研究院有限公司

Dates

Publication Date
20260512
Application Date
20250703

Claims (9)

  1. 1. The drill rod grabbing mechanical arm is arranged on a slide rail of a drill rod box and is characterized by comprising a lifting joint, a rotating joint, a telescopic joint and a clamping jaw (609) which are sequentially connected, wherein one end, far away from the clamping jaw (609), of the lifting joint is connected to the slide rail, and the telescopic joint and the clamping jaw (609) are arranged towards the inner side of the drill rod box; The rotary joint is connected with the lifting joint through a cross beam (603), the rotary joint comprises a rotary shaft (605) rotatably arranged in an inner cavity of the cross beam (603), an arc groove is formed in the inner cavity of the cross beam (603), a protruding portion is arranged on the outer side of the rotary shaft (605), and when the rotary shaft (605) rotates, the protruding portion slides in the arc groove along the circumferential direction to limit rotation of the rotary shaft (605).
  2. 2. The drill rod grabbing manipulator as claimed in claim 1, wherein one end of the lifting joint away from the sliding rail is connected below the cross beam (603).
  3. 3. The drill rod grabbing manipulator according to claim 2, wherein the lifting joint comprises a lifting outer cylinder (602), the lifting outer cylinder (602) is sleeved with a lifting inner cylinder below the cross beam (603), and the lifting outer cylinder (602) and the lifting inner cylinder form a lifting pair to realize lifting movement.
  4. 4. The drill rod grabbing manipulator as claimed in claim 3, wherein the lifting joint further comprises a lifting oil cylinder (601) connected with the lifting outer cylinder (602), and the lifting oil cylinder (601) drives the lifting pair to perform lifting motion.
  5. 5. The drill rod gripping robot according to claim 2, wherein the rotary joint further comprises a rotary driver (604) connected to the cross member (603), the rotary driver (604) being connected to the rotary shaft (605) to drive the rotation of the rotary shaft (605).
  6. 6. The drill rod grabbing mechanical arm as claimed in claim 5, wherein one end, far away from the cross beam (603), of the rotating shaft (605) is connected with the telescopic joint, and the rotating shaft (605) rotates to drive the telescopic joint and the clamping jaw (609) to swing.
  7. 7. The drill rod grabbing mechanical arm as claimed in claim 5, wherein the telescopic joint comprises a telescopic outer cylinder (607) and a telescopic inner cylinder (608), and the telescopic inner cylinder (608) is inserted into the telescopic outer cylinder (607) to form a telescopic pair for telescopic movement.
  8. 8. The drill rod grabbing manipulator as claimed in claim 7, wherein the telescopic joint further comprises a telescopic oil cylinder (606) connected with the rotating shaft (605), and the telescopic oil cylinder (606) is connected with a telescopic outer cylinder (607) so as to drive the telescopic pair to perform telescopic motion.
  9. 9. The drill rod grabbing mechanical arm as claimed in claim 1, wherein one side, close to the telescopic joint, of the clamping jaw (609) is connected with a clamping oil cylinder (610), and the clamping jaw (609) is clamped or loosened under the driving of the clamping oil cylinder (610).

Description

Drilling rod snatchs manipulator Technical Field The utility model belongs to the technical field of mining drilling rigs, and relates to a drill rod grabbing manipulator. Background Under the age background of the intelligent strategic pushing of coal mines, the automation of drilling machines is already a core gripper for realizing less humanization and no humanization of underground operation. The underground environment of the coal mine is intricate and complex, potential dangerous factors such as gas, coal dust and the like are filled, meanwhile, the space is narrow, the humidity is high, the temperature is high, and the traditional manual operation mode faces great challenges in the severe environment. The workers work underground for a long time, the body and spirit bear huge pressure, the fatigue is continuously accumulated, the work efficiency is difficult to ensure, and the safety accident risk is greatly increased. This mode clearly fails to meet the dual requirements of efficient mining and intrinsically safe for modern coal mines. The advent of automation technology has brought new dawn to coal mining. Through automated techniques, the drilling process and auxiliary processes can be automated. The operation that the workers consume a great deal of physical power in the past is automatically finished by a machine, so that the labor intensity is obviously reduced. Meanwhile, the machine can not cause misoperation due to fatigue like people, and the safety of operation is greatly improved. Moreover, the automation technology breaks through the efficiency bottleneck of manual operation, can continuously and stably run efficiently, and becomes a necessary choice for technical upgrading in the coal industry. In a rig automation system, the drill rod handling system is one of the core systems of an automatic rig, and the drill rod handling robot is a critical component of the drill rod handling system. The automatic drilling machine is just like a tired carrier, and is responsible for accurately conveying the drill rod between the drill rod box and a subsequent drilling or conveying device, so that the continuous and efficient operation of the drill machine can be ensured. However, currently, three-stage drill rod conveying systems formed by combining double manipulators with translational conveyers are mostly adopted in automatic drilling machines applied in the industry. The drill rod grabbing manipulator of the system adopts a rectangular coordinate type joint manipulator, and all joints of the manipulator are translation joints. The design is relatively simple in structure, but can only realize translation or lifting conveying of the drill rod, and greatly limits the subsequent mechanism of the drill rod conveying system and the layout form of the whole drilling machine. In particular, in the height direction, the rectangular coordinate type joint manipulator can only perform straight up and down movements. In actual operation, the drilling machine needs to cope with various complicated drilling demands, and the necessary parts of the drilling machine such as lifting sleeves and the like often become a 'blocking tiger' for conveying drill rods. The mechanical arm cannot flexibly bypass the components, so that the drill rod is difficult to smoothly finish the conveying task under the driving of the grabbing mechanical arm. This makes the existing automatic drilling machine look out of the way when facing the full face, full pitch range drilling needs. In some scenes requiring large-angle and complex-position drilling, the traditional drill rod conveying system cannot meet the requirements and can only rely on manual auxiliary operation, so that the labor cost is increased, and potential safety hazards are brought. In order to break the dilemma, the coal industry is urgent to carry out technical innovation and upgrading and reconstruction on the drill rod conveying system, so that the drill rod conveying system can adapt to complex underground environments and various drilling requirements, and further development of drilling machine automation is realized. Disclosure of utility model Therefore, the utility model aims to provide a drill rod grabbing manipulator which solves the problem that the existing grabbing manipulator can only directly upwards and downwards and cannot meet the drilling requirements of a full section and a full inclination angle range. In order to achieve the above purpose, the present utility model provides the following technical solutions: The drill rod grabbing manipulator is arranged on a slide rail of a drill rod box and comprises a lifting joint, a rotating joint, a telescopic joint and a clamping jaw which are sequentially connected, wherein one end, far away from the clamping jaw, of the lifting joint is connected to the slide rail, and the telescopic joint and the clamping jaw are arranged towards the inner side of the drill rod box; The rotary joint is connected with