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A double-link drill pipe 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: 2022-01-28
CHINA COAL TECH & ENG GRP CHONGQING RES INST CO LTD
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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 that the drill pipe pick-up manipulator in the prior art cannot take into account the opening height and the drilling inclination angle

Method used

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  • A double-link drill pipe picking manipulator
  • A double-link drill pipe picking manipulator
  • A double-link drill pipe picking manipulator

Examples

Experimental program
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Embodiment

[0038] A kind of double-link drill pipe pick-up manipulator, such as Figure 1 ~ Figure 4 As shown, it includes a first driving device 1 , a rotating arm 2 , a boom 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:

[0039] The first driving device 1: is a hydraulic motor, 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 rotation center of the first driving device 1, thereby realizing the position adjustment of the drill pipe Variety.

[0040] Rotating arm 2: set on one side of the drilling rig frame through a rotator, and can rotate along point O to realize the change of the inclination angle of the drill pipe.

[0041] Boom 3: connected with the rotating shaft of the first driving device 1, it can rotate around the rotation center of the first driving device 1, and the ot...

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Abstract

The invention relates to a double-link drilling rod picking manipulator, belonging to the technical field of coal mine drilling machines, comprising a rotating arm capable of rotating in a vertical plane, the other end of the rotating arm is provided with a boom, and one end of the boom is connected with a driving arm The first driving device that rotates the axis, the other end is hinged with two parallel connecting rods, the other end of the two connecting rods is provided with a mechanical claw whose clamping power is parallel to the boom, and is connected with the connecting rod to make the mechanical claw work Translational second drive. The invention adopts a parallel four-bar linkage mechanism to realize the longitudinal movement and parallel movement of the drill pipe, shortens the radius of the drill pipe turning over to the drilling center, improves the turning stability, and at the same time, the double-link swing also realizes the axial movement of the drill pipe. Moving in the direction, combined with the flip function, can effectively avoid the column space.

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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Patent Type & Authority Patents(China)
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 CO LTD
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