An integrated horizontal rotating manipulator

Abstract

The present invention relates to an integrated horizontal rotary manipulator, comprising a drill frame fixed plate, a rack, a gear and a slewing arm, wherein the drill frame fixed plate is fixedly connected to the side of the drill frame of the drilling rig; further comprising a fixed shaft, a fixed support, an upper oil cylinder, a rotating support, a lower oil cylinder and an upper support; the drill frame fixed plate has one and only one, the fixed shaft is connected to the drill frame fixed plate through a fixed support, and the fixed support and the rotating support are both located on the fixed shaft; the fixed support is fixedly connected to the fixed shaft, and the rotating support is movably connected to the fixed shaft; the cylinder body of the upper oil cylinder is hinged to the upper oil cylinder support on the fixed support, and the piston rod of the upper oil cylinder is hinged to the upper oil cylinder connecting seat on the rotating support. The present invention redesigns the connection between the horizontal rotary manipulator and the drill frame and the mechanism corresponding to the flipping action, retaining only one drill frame fixed plate and a force-bearing shaft, and integrating them into an integrated structure, thereby reducing space occupancy and avoiding loss of matching accuracy.

Description

Technical Field

[0001] The invention relates to the field of trenchless drilling rigs, and in particular to an integrated horizontal rotating manipulator. Background Art

[0002] Trenchless construction refers to the use of various rock and soil drilling equipment and technical means to lay, replace and repair various underground pipelines in the case of excavating a very small part of the surface through guiding and directional drilling. It will not hinder traffic, damage green space and vegetation, and will not affect the normal life and work order of shops, hospitals, schools and residents. It solves the interference of traditional excavation construction on residents' lives, damage and adverse effects on traffic, environment and the foundations of surrounding buildings, and therefore has a higher social and economic effect.

[0003] Trenchless drilling usually uses a horizontal directional drilling rig. The working principle of the horizontal directional drilling rig is: during construction, according to the designed arc-shaped drilling trajectory, a drilling rig that can drill from the surface is used to first drill an approximately horizontal guide hole, and then replace the large-diameter reaming drill bit and the working pipeline to be laid with a diameter smaller than the reaming drill bit behind the guide drill bit, and then reverse reaming is performed, and the pipeline to be laid is pulled back into the borehole. When all the drill rods are pulled back, the pipe laying work is also completed.

[0004] In the specific drilling process, the drill frame of the directional drilling rig is tilted at a small angle relative to the ground, and the power head on the drill frame drives the drill bit to rotate and feed, so that the drill bit can perform drilling operations. During the feeding process, as the drilling length increases, drill rods need to be connected one by one. The drill rod connects the power head on the drill frame and the drill bit, and goes underground with the drill bit to transmit power. In the working state, the front of the drill rod is connected to the drill bit and the rear is connected to the power head on the drill frame.

[0005] The loading and unloading operations of the drill rod are realized by the rotating manipulator on the drilling rig. The previous rotating manipulators were all fixedly connected to the drilling frame of the drilling rig. Since the drilling frame is tilted at a small angle relative to the ground in the working state, it is necessary to manually lift the drill rod and then tilt it and place it on the manipulator. This method undoubtedly consumes a lot of manpower and poses safety hazards.

[0006] The existing rotary manipulator can flip from a position parallel to the drill frame to a horizontal position when flipping and loading the drill rod, which is convenient for loading the drill rod, and then clamp the drill rod, lift it, and flip it so that the drill rod is parallel to the drill frame, finally completing the installation of the drill rod.

[0007] However, since it is necessary to realize the flipping from the posture parallel to the drill frame to the horizontal posture, that is, the clamping flipping, a driving device must be provided to provide power for the flipping of the manipulator. The existing rotary manipulator mechanism has two or more drill frame fixing plates welded to the side of the drill frame, and the number of axes subjected to force during the flipping process is two or more.

[0008] The large number of drill frame fixing plates welded to the side of the drill frame will inevitably take up a lot of space, which will cause many inconveniences during trenchless drilling operations and easily interfere with other mechanisms. In addition, after long-term use, the coaxiality of multiple force-bearing axes will deviate from each other, resulting in reduced or even lost matching accuracy. Summary of the invention

[0009] The purpose of the present invention is to provide an integrated horizontal rotating manipulator that can realize the loading, unloading, clamping and flipping of drill rods, and redesign the connection between the horizontal rotating manipulator and the drill rack and the mechanism corresponding to the flipping action, retaining only one drill rack fixing plate and a force-bearing axis, integrating them into an integrated structure, which is more compact, thereby reducing space occupancy and avoiding loss of matching accuracy.

[0010] In order to achieve the above object, the present invention provides the following technical solutions:

[0011] The cam is connected with the upper and lower frames to form a circle, and the cam is connected with the lower and upper frames to form a circle.

[0012] Furthermore, the axis of the fixed shaft is perpendicular to the drilling rig fixing plate; a flat key and a round nut are provided on the side circumferential wall of the fixed shaft; the fixed support includes a shaft sleeve portion, a first through keyway and a support platform; the rotating support includes a shaft seat, a cylinder accommodating chamber, a second through keyway and a top plate.

[0013] Furthermore, the fixed shaft passes through the shaft sleeve portion of the fixed support and the shaft seat of the rotating support; the first through keyway and the second through keyway are consistent in size and are arranged in parallel; the flat key matches the shape of the first through keyway.

[0014] Furthermore, the fixed shaft is fixedly connected to the fixed support via a flat key, the length of the flat key is smaller than the length of the first through keyway; the shaft seats on the rotating support are located at both ends of the shaft sleeve; and the round nut is locked at the end of the fixed shaft.

[0015] Furthermore, the upper oil cylinder support is specifically connected to the support platform of the fixed support, and the axis of the piston rod of the upper oil cylinder is perpendicular to the axis of the fixed shaft.

[0016] Furthermore, the upper oil cylinder connecting seat is located on two shaft seats of the rotating support; the lower oil cylinder is specifically located in the oil cylinder accommodating chamber of the rotating support, and the cylinder body of the lower oil cylinder is specifically hinged to the side wall of the oil cylinder accommodating chamber.

[0017] Furthermore, the upper bracket is fixedly connected to the upper end of the top plate of the rotating support through a guide slot, the flip rod is movably connected to the upper bracket through a bearing, and the gear is located on the inner side of the upper bracket.

[0018] Furthermore, the rack is located on a slide plate, the slide plate is located in a guide slot, and the slide plate is hinged to the end of a piston rod of a lower oil cylinder.

[0019] Furthermore, a first positioning constraint module is provided on both sides of the upper cylinder support; a first positioning constraint module is provided at one end of the upper bracket away from the upper cylinder connecting seat; the first positioning constraint module includes a first positioning boss, a first positioning constraint block and a first positioning adjustment screw; the first positioning boss is located in the groove at the bottom end of the first positioning constraint block, and the first positioning adjustment screw passes through the threaded holes on both sides of the first positioning constraint block and contacts with both sides of the first positioning boss.

[0020] Furthermore, a second positioning constraint module is arranged between the upper cylinder connecting seat and the upper bracket; the second positioning constraint module includes a second positioning boss and a second positioning adjustment screw; the second positioning boss is located on the side of the upper bracket facing the upper cylinder connecting seat, and the second positioning adjustment screw passes through the threaded hole on the upper cylinder connecting seat and contacts with both sides of the second positioning boss.

[0021] The beneficial effects of the present invention are as follows: an integrated horizontal rotating manipulator, through the coordinated use of a drill rig fixing plate, a fixed shaft, a flat key, a fixed support, an upper oil cylinder, a rotating support, a lower oil cylinder, a rack, a swivel arm and a clamp, can realize the loading and unloading and clamping and flipping of a drill rod, and can meet the operation of placing the drill rod horizontally into the manipulator and flipping it to be parallel to the drill rig during the process of placing the drill rod, and finally placing it into the drill rig, and the connection between the horizontal rotating manipulator and the drill rig and the mechanism corresponding to the flipping action are redesigned, only one drill rig fixing plate and a force-bearing shaft are retained, and it is welded to the drill rig at only one place, and there is only one fixed shaft, which is integrated into an integrated structure, which is more compact, thereby reducing space occupancy, avoiding interference, and avoiding loss of matching accuracy, which is beneficial to extending the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The figure is a schematic diagram of the overall structure of an integrated horizontal rotating manipulator of the present invention.

[0023] Figure 2 This is a schematic diagram of the overall structure of an integrated horizontal rotating manipulator of the present invention from another perspective.

[0024] Figure 3 The present invention is a structural schematic diagram of a drill frame fixing plate and a fixing shaft of an integrated horizontal rotary manipulator.

[0025] Figure 4 It is a schematic structural diagram of a fixed support of an integrated horizontal rotating manipulator of the present invention.

[0026] Figure 5 It is a schematic structural diagram of a rotating support of an integrated horizontal rotating manipulator of the present invention.

[0027] Figure 6 The figure is a schematic diagram of the assembly structure of a fixed shaft, a fixed support and a rotating support of an integrated horizontal rotating manipulator of the present invention.

[0028] Figure 7 The figure is a schematic diagram of the assembly of a rotating support and a rack and pinion mechanism of an integrated horizontal rotating manipulator of the present invention.

[0029] Figure 8 It is a schematic diagram of the first positioning constraint modules on both sides of the upper cylinder support of an integrated horizontal rotary manipulator of the present invention.

[0030] Fig. 9 It is a schematic diagram of a first positioning constraint module and a second positioning constraint module on the side of an upper bracket of an integrated horizontal rotating manipulator of the present invention.

[0031] In the figure: 1. drilling rig fixing plate; 2. fixing seat; 3. fixing shaft; 4. flat key; 5. fixing support; 51. shaft sleeve; 52. first through keyway; 53. supporting platform; 6. upper cylinder support; 7. upper cylinder; 8. upper cylinder connecting seat; 9. rotating support; 91. shaft seat; 92. cylinder accommodating chamber; 93. second through keyway; 94. top plate; 10. lower cylinder; 11. guide slide; 12. upper bracket; 13. slide plate; 14. rack; 15. gear; 16. flip rod; 17. extension rod; 18. swivel arm; 19. clamp; 20. first positioning constraint module; 201. first positioning boss; 202. first positioning constraint block; 203. first positioning adjustment screw; 21. round nut; 22. second positioning constraint module; 221. second positioning boss; 222. second positioning adjustment screw. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0033] refer to Figures 1 to 9 , an integrated horizontal rotary manipulator, including a drill frame fixing plate 1, a rack 14, a gear 15 and a slewing arm 18, wherein the drill frame fixing plate 1 is fixedly connected to the side of the drill frame of the drilling rig, specifically by welding, the rack 14 is meshed with the gear 15, the rack 14 is used to drive the gear 15 to rotate, a flip rod 16 is coaxially arranged on the gear 15, the slewing arm 18 is connected to the flip rod 16 through an extended connecting rod 17, the length of the extended connecting rod 17 is adjustable, a clamping hand 19 is arranged at the end of the slewing arm 18, and the clamping hand 19 can be flipped relative to the slewing arm 18, so as to realize the clamping and loosening of the drill rod; it also includes a fixed shaft 3, a fixed support 5, an upper cylinder 7, a rotating support 9, a lower cylinder 10 and an upper bracket 12; the drill frame fixing plate 1 has one and only one, and its size is small, the fixed shaft 3 is connected to the fixing seat 2 It is connected to the drilling rig fixed plate 1, and the fixed support 5 and the rotating support 9 are both located on the fixed shaft 3, thereby forming an integrated compact structure; the fixed support 5 is fixedly connected to the fixed shaft 3, and there is no relative movement between the fixed support 5 and the fixed shaft 3, and the rotating support 9 is movably connected to the fixed shaft 3, and the rotating support 9 and the fixed shaft 3 can rotate relative to each other; the cylinder body of the upper cylinder 7 is hinged to the upper cylinder support 6 on the fixed support 5, and the piston rod of the upper cylinder 7 is hinged to the upper cylinder connecting seat 8 on the rotating support 9, and the upper cylinder 7 is used to drive the rotating support 9 to rotate along the fixed shaft 3, and the lower cylinder 10 is located on the rotating support 9, and the rack 14 is connected to the piston rod of the lower cylinder 10 through the slide plate 13, and the lower cylinder 10 is used to drive the slide plate 13 and the rack 14 to slide along the guide groove 11, thereby driving the gear 15 to rotate.

[0034] The axis of the fixed shaft 3 is perpendicular to the drilling rig fixing plate 1; a flat key 4 and a round nut 21 are provided on the side circumferential wall of the fixed shaft 3; the fixed support 5 includes a shaft sleeve portion 51, a first through keyway 52 and a support platform 53; the rotating support 9 includes a shaft seat 91, a cylinder accommodating chamber 92, a second through keyway 93 and a top plate 94.

[0035] The fixed shaft 3 passes through the shaft sleeve 51 of the fixed support 5 and the shaft seat 91 of the rotating support 9; the first through keyway 52 and the second through keyway 93 are of the same size and are arranged in parallel, and the second through keyway 93 is used to play a role of giving way when the rotating support 9 is assembled on the fixed shaft 3; the flat key 4 matches the shape of the first through keyway 52, and the flat key 4 is engaged with the first through keyway 52.

[0036] The fixed shaft 3 is fixedly connected to the fixed support 5 through a flat key 4, the length of the flat key 4 is smaller than the length of the first through key slot 52, and the flat key 4 is located in the first through key slot 52, thereby realizing the fixed connection between the fixed support 5 and the fixed shaft 3; the shaft seat 91 on the rotating support 9 is located at both ends of the shaft sleeve 51; the round nut 21 is locked at the end of the fixed shaft 3 to play a restraining role.

[0037] The upper oil cylinder support 6 is specifically connected to the support platform 53 of the fixed support 5 , and the axis of the piston rod of the upper oil cylinder 7 is perpendicular to the axis of the fixed shaft 3 .

[0038] The upper cylinder connecting seat 8 is located on the two shaft seats 91 of the rotating support 9. The piston rod of the upper cylinder 7 pushes the upper cylinder connecting seat 8 to realize the rotation of the rotating support 9 relative to the fixed axis 3; the lower cylinder 10 is specifically located in the cylinder accommodating chamber 92 of the rotating support 9, and the cylinder body of the lower cylinder 10 is specifically hinged to the side wall of the cylinder accommodating chamber 92.

[0039] The upper bracket 12 is fixedly connected to the upper end of the top plate 94 of the rotating support 9 through the guide slot 11 , the flip rod 16 is movably connected to the upper bracket 12 through a bearing, and the gear 15 is located on the inner side of the upper bracket 12 .

[0040] The rack 14 is located on the slide plate 13 , and the slide plate 13 is located in the guide slot 11 . The guide slot 11 plays a guiding role. The slide plate 13 is hinged to the end of the piston rod of the lower oil cylinder 10 .

[0041] Both sides of the upper cylinder support 6 are provided with a first positioning constraint module 20, and the first positioning constraint modules 20 on both sides of the upper cylinder support 6 are used to prevent the upper cylinder support 6 from moving relative to the fixed support 5, and have a fine-tuning capability with an adjustment range of ±10mm; the end of the upper bracket 12 away from the upper cylinder connecting seat 8 is provided with a first positioning constraint module 20, and the first positioning constraint module 20 on the upper bracket 12 is used to prevent the upper bracket 12 from moving relative to the guide slide groove 11, and have a fine-tuning capability; the first positioning constraint module 20 includes a first positioning convex Platform 201, a first positioning constraint block 202 and a first positioning adjustment screw 203; the number of the first positioning bosses 201 is three and they are respectively connected to the two sides of the upper cylinder support 6 and the side of the upper bracket 12 away from the upper cylinder connecting seat 8, the first positioning boss 201 is located in the groove at the bottom end of the first positioning constraint block 202, the first positioning adjustment screw 203 passes through the threaded holes on both sides of the first positioning constraint block 202 and contacts with both sides of the first positioning boss 201, the first positioning adjustment screw 203 symmetrically presses the two sides of the first positioning boss 201 to achieve positioning constraint.

[0042] A second positioning constraint module 22 is arranged between the upper cylinder connecting seat 8 and the upper bracket 12. The second positioning constraint module 22 is used to prevent the upper bracket 12 from moving relative to the upper cylinder connecting seat 8, and has the ability of fine-tuning with an adjustment range of ±10mm; the second positioning constraint module 22 includes a second positioning boss 221 and a second positioning adjustment screw 222; the second positioning boss 221 is located on the side of the upper bracket 12 facing the upper cylinder connecting seat 8, the second positioning adjustment screw 203 passes through the threaded hole on the upper cylinder connecting seat 8 and contacts with both sides of the second positioning boss 221, and the second positioning adjustment screw 203 symmetrically presses the two sides of the second positioning boss 221 to achieve positioning constraint.

[0043] The working principle of the present invention is as follows: when it is necessary to load the drill rod, the piston rod of the lower oil cylinder 10 is retracted, driving the slide plate 13 and the rack 14 to slide, thereby driving the gear 15 to rotate, and finally realizing the outward flipping of the slewing arm 18 relative to the drill frame; when flipping to the middle section, the piston rod of the upper oil cylinder 7 is extended, driving the rotating support 9 to rotate along the fixed axis 3, so that the flipping rod 16 is level with the ground, and then the slewing arm 18 continues to flip downward until it reaches the limit position, at which time the drill rod is placed horizontally and the clamping hand 19 clamps the drill rod; then the piston rod of the lower oil cylinder 10 is extended, driving the slide plate 13 and the rack 14 to slide, thereby driving the gear 15 to rotate, and finally realizing the inward flipping of the slewing arm 18 relative to the drill frame; when flipping to the middle section, the piston rod of the upper oil cylinder 7 is retracted, driving the rotating support 9 to rotate along the fixed axis 3, so that the flipping rod 16 is parallel to the drill frame, and then the slewing arm 18 continues to flip inward until it reaches the limit position, at which time the clamping hand 19 is released to realize the operation of loading the drill rod.

[0044] Due to the presence of the flat key 4 and the first through key groove 52, the fixed support 5 is tightly connected to the fixed shaft 3, that is, the fixed support 5 cannot rotate relative to the fixed shaft 3; and the flat key 4 is only located in the first through key groove 52, and the second through key groove 93 on the rotating support 9 is used to facilitate making way during assembly. There is no flat key 4 constraint between the rotating support 9 and the fixed shaft 3, so the rotating support 9 can rotate relative to the fixed shaft 3, thereby realizing the clamping and flipping adjustment action of the drill rod.

[0045] Since the fixed support 5 and the rotating support 9 are both located on the only fixed shaft 3, there is no defect of coaxiality deviation between multiple load-bearing shafts after long-term use, which can ensure the matching accuracy, and the structure is more compact, reducing space occupancy.

[0046] The above embodiments are used to further illustrate the present invention, but the present invention is not limited to these specific embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be understood to be within the protection scope of the present invention.

Claims

1. An integrated horizontal rotary manipulator, comprising a drill frame fixing plate, a rack, a gear and a swivel arm, wherein the drill frame fixing plate is fixedly connected to the side of the drill frame of the drilling rig, the rack is meshed with the gear, a flip rod is coaxially arranged on the gear, the swivel arm is connected to the flip rod through an extended connecting rod, and a gripper is arranged at the end of the swivel arm; the characteristics are: The cam is connected with the upper and lower cylinders by the fixing shaft, and the fixing shaft is connected with the fixing shaft by the fixing shaft. The second through keyway has the same size and is arranged in parallel; the flat key matches the shape of the first through keyway; the fixed shaft is fixedly connected to the fixed support through the flat key, and the length of the flat key is less than the length of the first through keyway; the shaft seats on the rotating support are located at both ends of the shaft sleeve; the round nut is locked at the end of the fixed shaft; the upper cylinder support is connected to the support platform of the fixed support, and the axis of the piston rod of the upper cylinder is perpendicular to the axis of the fixed shaft; the upper cylinder connecting seat is located on the two shaft seats of the rotating support; the lower cylinder is located in the cylinder accommodating chamber of the rotating support, and the cylinder body of the lower cylinder is hinged to the side wall of the cylinder accommodating chamber; the flat key is only located in the first through keyway, and the second through keyway on the rotating support is used to facilitate giving way during assembly. There is no flat key constraint between the rotating support and the fixed shaft, and the rotating support can rotate relative to the fixed shaft; the fixed support and the rotating support are both located on only one fixed shaft.

2. The integrated horizontal rotating manipulator according to claim 1, characterized in that: The upper bracket is fixedly connected to the upper end of the top plate of the rotating support through a guide slot, the flip rod is movably connected to the upper bracket through a bearing, and the gear is located on the inner side of the upper bracket.

3. The integrated horizontal rotating manipulator according to claim 2, characterized in that: The rack is located on the slide plate, the slide plate is located in the guide slide groove, and the slide plate is hinged to the end of the piston rod of the lower oil cylinder.

4. The integrated horizontal rotating manipulator according to claim 3, characterized in that: A first positioning and constraint module is provided on both sides of the upper cylinder support; a first positioning and constraint module is provided at one end of the upper bracket away from the upper cylinder connecting seat; the first positioning and constraint module includes a first positioning boss, a first positioning constraint block and a first positioning adjustment screw; the first positioning boss is located in the groove at the bottom end of the first positioning constraint block, and the first positioning adjustment screw passes through the threaded holes on both sides of the first positioning constraint block and contacts with both sides of the first positioning boss.

5. The integrated horizontal rotating manipulator according to claim 4, characterized in that: A second positioning and constraint module is arranged between the upper cylinder connecting seat and the upper bracket; the second positioning and constraint module includes a second positioning boss and a second positioning adjustment screw; the second positioning boss is located on the side of the upper bracket facing the upper cylinder connecting seat, and the second positioning adjustment screw passes through the threaded hole on the upper cylinder connecting seat and contacts with both sides of the second positioning boss.

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