Double-connecting-rod drill rod picking manipulator

A technology of manipulator and double connecting rod, which is applied in the direction of drill pipe, drill pipe, earthwork drilling and mining, etc. It can solve the problems of not taking into account the height of the hole and the inclination angle of the drill hole, so as to improve the ability to accommodate the drill pipe and save the transposition space , The effect of facilitating space layout

Active Publication Date: 2021-06-22
CHINA COAL TECH ENG GRP CHONGQING RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of this, the purpose of this application is to provide a dual-rod drill pipe pick-up manipulator to solve the problem t

Method used

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  • Double-connecting-rod drill rod picking manipulator
  • Double-connecting-rod drill rod picking manipulator
  • Double-connecting-rod drill rod picking manipulator

Examples

Experimental program
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Example Embodiment

[0037] Example

[0038] A double-link drill pipe picking up robot, such asFigure 1 ~ 4 As shown, the first driving device 1, the rotating arm 2, the large arm 3, the link 4, the second drive device 5, and the mechanical claws 6 are included. The specific structure and functions of each component are as follows:

[0039] The first driving device 1: is a hydraulic motor, which is fixed to the rotating arm 2, and the rotating shaft is connected to the connecting rod of the large arm 3 to achieve the rotation center of the first driving device 1, thereby achieving the position of the drill pipe. Variety.

[0040] Turn arm 2: Set the side of the drill rack through the slewers to rotate along the O point to achieve the change in the joining rod.

[0041] The large arm 3: is connected to the rotation center of the first driving device 1, and the other end is connected to the link 4, the second drive device 5, and the second driving device 5 is swinging the hydraulic cylinder. The two lin...

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Abstract

The invention relates to a double-connecting-rod drill rod picking manipulator, and belongs to the technical field of coal mine drilling rigs. The manipulator comprises a rotating arm capable of rotating in a vertical plane, a big arm is arranged at the other end of the rotating arm, one end of the big arm is connected with a first driving device for driving the big arm to rotate around the axis of the big arm, two parallel connecting rods are hinged to the other end of the big arm, the other ends of the two connecting rods are provided with mechanical claws with clamping power parallel to the big arm, and the manipulator further comprises a second driving device which is connected with the connecting rods and can make the mechanical claws move horizontally. According to the manipulator, a parallel four-connecting-rod mechanism is adopted, longitudinal movement and parallel movement of a drill rod are achieved, the turning radius of the drill rod towards the drilling center is shortened, the turning stability is improved, meanwhile, axial movement of the drill rod is achieved through double-connecting-rod swinging, and by combining the turning function, the space of a stand column can be effectively avoided.

Description

technical field [0001] The invention belongs to the technical field of coal mine drilling rigs, and relates to a double-link drilling rod picking manipulator. Background technique [0002] With the development of intelligent mining in coal mines, the development of automatic drilling rigs is in the ascendant. The drill pipe picking manipulator is a key component of the automatic drilling rig. Due to the diversity of downhole drilling, such as different hole heights and different hole angles, the downhole space has special characteristics, such as sufficient axial space in the roadway, and horizontal and Insufficient height phase space limits the use of manipulators. Since the drill pipe pick-up manipulator in the prior art cannot take into account both the opening height and the drilling inclination angle, the manipulator cannot effectively and rationally utilize the roadway space. Contents of the invention [0003] In view of this, the purpose of this application is to ...

Claims

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Application Information

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IPC IPC(8): E21B19/14E21B19/10
CPCE21B19/146E21B19/10
Inventor 李学忠陈航辛德忠王清峰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
Owner CHINA COAL TECH ENG GRP CHONGQING RES INST
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