A universal shaft type tilting and adjustable flipping manipulator structure

Abstract

The present invention relates to a structure of a universal shaft type tilt-adjustable and flip manipulator, which includes a robotic arm mechanism. The robotic arm mechanism includes a transmission shaft, a clamping arm, and a gripper. The clamping arm is connected to both ends of the transmission shaft, and the gripper is hinged to the clamping arm. It also includes a flip drive mechanism and an inclination adjustment mechanism. Both the flip drive mechanism and the inclination adjustment mechanism are connected to the side surface of the drill rig. The flip drive mechanism is connected to one end of the transmission shaft through a universal shaft. The inclination adjustment mechanism is connected to the other end of the transmission shaft through a universal shaft. The structure of the universal shaft type tilt-adjustable and flip manipulator of the present invention can realize the mutual conversion between the posture of the transmission shaft being parallel to the drill rig and parallel to the ground, which facilitates the operation of loading drill pipes onto the manipulator and unloading drill pipes from the manipulator. It is suitable for long-stroke drill rigs. When clamping long drill pipes, it ensures that the center of gravity of the drill pipe falls inside the two robotic arms, guaranteeing the balance of the drill pipe's force.

Description

Technical Field

[0001] The present invention relates to the field of trenchless drilling rigs, and particularly to a structure of a universal shaft type tilt-adjustable and flip manipulator. Background Art

[0002] Trenchless drilling usually uses a horizontal directional drilling rig. The working principle of the horizontal directional drilling rig is as follows: during construction, according to the designed arc drilling trajectory, a drilling rig that can drill from the ground surface is used to first drill an approximately horizontal pilot hole, and then a reaming bit with a large diameter and a pipeline to be laid with a diameter smaller than the reaming bit are installed behind the pilot bit, and then reverse reaming is carried out while pulling the pipeline to be laid back into the drill hole. When all the drill pipes are pulled back, the pipe laying work is completed at the same time.

[0003] During the specific drilling process, the drill frame of the directional drilling rig is arranged at a small angle with respect to the ground, and the power head on the drill frame drives the drill bit to rotate and feed, so that the drill bit performs the drilling operation. During the feeding process, as the drilling length increases, drill pipes need to be connected one by one. The drill pipe connects the power head on the drill frame and the drill bit, enters the ground with the drill bit, and is used to transmit power. In the working state, the front part of the drill pipe is connected to the drill bit and the rear part is connected to the power head on the drill frame.

[0004] The loading and unloading operation of the drill pipe is realized by the flip manipulator on the drilling rig. For the previous flip manipulators, their transmission shafts are all parallel to the drill frame of the drilling rig. Since the drill frame is arranged at a small angle with respect to the ground in the working state, the manipulator is also in an inclined state, and the drill pipe is also in a state of being lower in the front and higher in the rear during loading and unloading. Therefore, it is necessary for workers to lift the drill pipe and then place it on the manipulator obliquely. This method will undoubtedly increase the labor intensity of workers.

[0005] The existing rotary manipulator can rotate from a posture parallel to the drill frame to a posture parallel to the ground when flipping and loading / unloading the drill pipe, which is convenient for feeding the drill pipe, and then clamp the drill pipe and lift it, and perform flipping to make the drill pipe parallel to the drill frame, and finally complete the installation of the drill pipe.

[0006] However, the above-mentioned existing rotary manipulators are all installed on the side of the drill frame in the range from the front end of the drilling rig's walking track to the gripper; for the long drill pipes used in long-stroke drilling rigs, during the clamping and flipping process, it will cause the center of gravity of the drill pipe to fall outside the two mechanical arms, the force balance of the drill pipe is not good, and there is a risk of deformation of the drill pipe. Summary of the Invention

[0007] The object of the present invention is to provide a gimbal shaft type tilt-adjustable and flip manipulator structure, which can realize the mutual conversion between the postures of the transmission shaft being parallel to the drill rig and parallel to the ground, facilitating the operation of loading drill pipes onto the manipulator and unloading drill pipes from the manipulator, reducing the labor intensity, and the flip drive mechanism and the tilt adjustment mechanism are respectively located at both ends of the transmission shaft, which is suitable not only for short-stroke drill rigs but also for long-stroke drill rigs. When clamping long drill pipes, it ensures that the center of gravity of the drill pipe falls inside the two manipulator arms, guaranteeing the balance of the drill pipe force.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] A gimbal shaft type tilt-adjustable and flip manipulator structure includes a manipulator arm mechanism. The manipulator arm mechanism includes a transmission shaft, clamping arms, and grippers. The clamping arms are connected to both ends of the transmission shaft, the grippers are hinged to the clamping arms, a clamping oil cylinder is arranged on the clamping arms, and the piston rod of the clamping oil cylinder is hinged to the grippers; it also includes a flip drive mechanism and a tilt adjustment mechanism; both the flip drive mechanism and the tilt adjustment mechanism are connected to the side of the drill rig of the drill; the flip drive mechanism is connected to one end of the transmission shaft through a gimbal shaft; the tilt adjustment mechanism is connected to the other end of the transmission shaft through a gimbal shaft.

[0010] Further, the flip drive mechanism includes a first fixed seat, a sliding seat, and a flip shaft; the first fixed seat is detachably connected to the side of the drill rig; a flip drive oil cylinder is arranged inside the first fixed seat; the sliding seat is movably arranged inside the first fixed seat, and the sliding seat is connected to the piston rod of the flip drive oil cylinder.

[0011] Further, a rack is arranged on the sliding seat; the flip shaft is movably connected to the bearing seat at the top of the first fixed seat through a bearing, a gear is coaxially arranged on the flip shaft, and the gear meshes with the rack; the flip shaft is connected to one end of the transmission shaft through a gimbal shaft.

[0012] Further, the tilt adjustment mechanism includes a second fixed seat, a tilt adjustment oil cylinder, and a bearing box; the second fixed seat is detachably connected to the side of the drill rig; a connecting frame is arranged on the second fixed seat; the tilt adjustment oil cylinder is located on the connecting frame, and the bearing box is connected to the piston rod of the tilt adjustment oil cylinder through a connecting rod.

[0013] Further, the bearing box is in a T shape, guide posts are arranged on the connecting frame, and the guide posts penetrate through both sides of the bearing box; the end of the transmission shaft away from the flip drive mechanism is movably connected to the bearing box through a bearing.

[0014] Further, the gimbal shaft is specifically a telescopic cross shaft universal coupling.

[0015] The beneficial effects of the present invention are as follows: A universal shaft type tilt-adjustable flipping manipulator structure, through the combined use of a robotic arm mechanism, a flipping drive mechanism, a tilt adjustment mechanism, and a universal shaft, can achieve the mutual conversion between the postures where the transmission shaft is parallel to the drill rig and parallel to the ground, facilitating the operations of loading drill pipes onto the manipulator and unloading drill pipes from the manipulator, thereby reducing the labor intensity. Moreover, the flipping drive mechanism and the tilt adjustment mechanism are respectively located at both ends of the transmission shaft, which is suitable not only for short-stroke drill rigs but also for long-stroke drill rigs. When clamping a long drill pipe, it ensures that the center of gravity of the drill pipe falls inside the two robotic arms, guaranteeing the balance of the force on the drill pipe, and thus avoiding the deformation of the long drill pipe due to unbalanced force. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. is a schematic structural diagram of a universal shaft type tilt-adjustable flipping manipulator structure of the present invention when clamping a drill pipe at a low position and the drill pipe is parallel to the ground.

[0017] Figure 2 is Figure 1 an isometric perspective schematic diagram of the structure shown.

[0018] Figure 3 FIG. is a schematic structural diagram of a universal shaft type tilt-adjustable flipping manipulator structure of the present invention when clamping a drill pipe at a low position and the drill pipe is parallel to the drill rig.

[0019] Figure 4 is Figure 3 an isometric perspective schematic diagram of the structure shown.

[0020] Figure 5 FIG. is a schematic structural diagram of a universal shaft type tilt-adjustable flipping manipulator structure of the present invention when clamping a drill pipe at a high position and the drill pipe is parallel to the drill rig.

[0021] Figure 6 is Figure 5 an isometric perspective schematic diagram of the structure shown.

[0022] Figure 7 FIG. is a schematic diagram of the flipping drive mechanism of a universal shaft type tilt-adjustable flipping manipulator structure of the present invention.

[0023] Figure 8 FIG. is a schematic diagram of the tilt adjustment mechanism of a universal shaft type tilt-adjustable flipping manipulator structure of the present invention.

[0024] Figure 9 FIG. is a partial structural schematic diagram of the robotic arm mechanism of a universal shaft type tilt-adjustable flipping manipulator structure of the present invention.

[0025] In the figure: 1, drill rig; 2, drill rig crawler; 3, robotic arm mechanism; 31, transmission shaft; 32, clamping arm; 33, gripper; 34, clamping oil cylinder; 4, flipping drive mechanism; 41, first fixed seat; 42, flipping drive oil cylinder; 43, sliding seat; 44, rack; 45, gear; 46, flipping shaft; 47, bearing seat; 5, inclination adjustment mechanism; 51, second fixed seat; 52, connecting frame; 53, inclination adjustment oil cylinder; 54, connecting rod; 55, bearing housing; 56, guide post; 6, universal shaft; 7, drill pipe. Detailed implementation mode

[0026] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the following further elaborates on the present invention 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.

[0027] Refer to Figures 1 to 9 , a universal shaft type inclination adjustable flipping manipulator structure, including a robotic arm mechanism 3, the robotic arm mechanism 3 includes a transmission shaft 31, a clamping arm 32 and a gripper 33, the clamping arm 32 is connected to both ends of the transmission shaft 31, the gripper 33 is hinged to the clamping arm 32, a clamping oil cylinder 34 is arranged on the clamping arm 32, and the piston rod of the clamping oil cylinder 34 is hinged to the gripper 33. The clamping oil cylinder 34 is used to drive the gripper 33 to clamp or release the drill pipe 7; it also includes a flipping drive mechanism 4 and an inclination adjustment mechanism 5. The flipping drive mechanism 4 is used to realize the up and down flipping of the robotic arm mechanism 3, and the inclination adjustment mechanism 5 is used to realize the inclination adjustment of the robotic arm mechanism 3 relative to the horizontal plane; both the flipping drive mechanism 4 and the inclination adjustment mechanism 5 are connected to the side of the drill rig 1 of the drill rig 7; the flipping drive mechanism 4 is connected to one end of the transmission shaft 31 through a universal shaft 6; the inclination adjustment mechanism 5 is connected to the other end of the transmission shaft 31 through a universal shaft 6. The universal shaft 6 is used for the movable connection and transmission between the transmission shaft 31 and the flipping drive mechanism 4 and the inclination adjustment mechanism 5.

[0028] The flipping drive mechanism 42 includes a first fixed seat 41, a sliding seat 43 and a flipping shaft 46; the first fixed seat 41 is detachably connected to the side of the drill rig 1; a flipping drive oil cylinder 42 is arranged inside the first fixed seat 41; the sliding seat 43 is movably arranged inside the first fixed seat 41, and the sliding seat 43 is connected to the piston rod of the flipping drive oil cylinder 42. The flipping drive oil cylinder 42 is used to drive the sliding seat 43 to slide relative to the first fixed seat 41.

[0029] A rack 44 is provided on the sliding seat 43; the turning shaft 46 is movably connected to a bearing seat 47 at the top of the first fixed seat 41 through a bearing. A gear 45 is coaxially provided on the turning shaft 46. The gear 45 meshes with the rack 44. The rack 44 slides together with the sliding seat 43 to drive the gear 45 to rotate, thereby realizing the rotation of the turning shaft 46; the turning shaft 46 is connected to one end of the transmission shaft 31 through a universal shaft 6, and the turning shaft 46 can drive the transmission shaft 31 to rotate through the universal shaft 6.

[0030] The inclination adjustment mechanism 5 includes a second fixed seat 51, an inclination adjustment oil cylinder 53 and a bearing box 55; the second fixed seat 51 is detachably connected to the side of the drill rig 1; a connecting frame 52 is provided on the second fixed seat 51; the inclination adjustment oil cylinder 53 is located on the connecting frame 52. The bearing box 55 is connected to the piston rod of the inclination adjustment oil cylinder 53 through a connecting rod 54. The inclination adjustment oil cylinder 53 drives the bearing box 55 to move up and down through the connecting rod 54.

[0031] The bearing box 55 is in a T shape. Guide posts 56 are provided on the connecting frame 52. The guide posts 56 penetrate through both sides of the bearing box 55. The guide posts 56 are used to guide the up and down movement of the bearing box 55; one end of the transmission shaft 31 away from the flipping drive mechanism 42 is movably connected to the bearing box 55 through a bearing. The bearing is located inside the bearing box 55, and the bearing plays a role in connection and power transmission interruption.

[0032] The universal shaft 6 is specifically a telescopic cross shaft universal coupling, which can deflect the transmission shaft 31 relative to the turning shaft 46 and the bearing box 55 by a certain angle, and transmit rotational power in the case of a deflection angle, and at the same time allow a certain degree of axial telescopic amount; the telescopic cross shaft universal coupling is an existing mature technology.

[0033] The working principle of the present invention is as follows: when it is necessary to supply the drill pipe 7 to the drill rig 1 of the drilling rig, at this time, the robotic arm mechanism 3 is in a low position. The drill pipe 7 is placed into the gripper 33 at the end of the clamping arm 32, and the clamping oil cylinder 34 drives the gripper 33 to clamp the drill pipe 7. At this time, the attitude of the drill pipe 7 is parallel to the ground, as Figure 1 and Figure 2 shown.

[0034] Subsequently, the piston rod of the inclination adjustment oil cylinder 53 of the inclination adjustment mechanism 5 extends upward, drives the bearing box 55 to slide upward along the guide post 56 through the connecting rod 54. The bearing box 55 moves one end of the transmission shaft 31 upward, and the universal shaft 6 between the transmission shaft 31 and the bearing box 55 deflects. The transmission shaft 31 generates an inclination relative to the horizontal plane until the drill pipe 7 is parallel to the straight line where the drill rig 1 is located, as Figure 3 and Figure 4 shown.

[0035] Then, the piston rod of the tilting drive oil cylinder 42 of the tilting drive mechanism 4 extends outwards, driving the sliding seat 43 to slide outwards relative to the first fixed seat 41, so that the rack 44 drives the gear 45 and the tilting shaft 46 to rotate, and then drives the transmission shaft 31 to rotate through the universal shaft 6, causing the clamping arm 32 to tilt upwards, so that the clamping arm 32 is in a high position. At this time, the drill pipe 7 is still parallel to the straight line where the drill rig 1 is located, as Figure 5 and Figure 6 shown; at this time, the clamping oil cylinder 34 can drive the clamp 33 to loosen the drill pipe 7, so that the drill pipe 7 can fall to the designated position on the drill rig 1, completing the automatic drill pipe loading operation.

[0036] In the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] The above embodiments are used to further illustrate the present invention, but do not limit the present invention to these specific embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention shall be understood to be within the protection scope of the present invention.

Claims

1. A structure of a universal shaft type tilt-adjustable and flip manipulator, comprising a robotic arm mechanism (3). The robotic arm mechanism (3) includes a transmission shaft (31), a clamping arm (32), and a gripper (33). The clamping arm (32) is connected to both ends of the transmission shaft (31). The gripper (33) is hinged to the clamping arm (32). A clamping oil cylinder (34) is provided on the clamping arm (32), and the piston rod of the clamping oil cylinder (34) is hinged to the gripper (33). It is characterized in that: It further includes a flip drive mechanism (4) and an inclination adjustment mechanism (5). Both the flip drive mechanism (4) and the inclination adjustment mechanism (5) are connected to the side of the drill tower (1) of the drill rig (7). The flip drive mechanism (4) is connected to one end of the transmission shaft (31) through a universal shaft (6). The inclination adjustment mechanism (5) is connected to the other end of the transmission shaft (31) through a universal shaft (6). The flip drive mechanism (4) includes a first fixed seat (41), a sliding seat (43), and a flip shaft (46). The first fixed seat (41) is detachably connected to the side of the drill tower (1). A flip drive oil cylinder (42) is provided inside the first fixed seat (41). The sliding seat (43) is movably arranged inside the first fixed seat (41), and the sliding seat (43) is connected to the piston rod of the flip drive oil cylinder (42). A rack (44) is provided on the sliding seat (43). The flip shaft (46) is movably connected to the bearing seat (47) at the top of the first fixed seat (41) through a bearing. A gear (45) is coaxially arranged on the flip shaft (46), and the gear (45) meshes with the rack (44). The flip shaft (46) is connected to one end of the transmission shaft (31) through a universal shaft (6). The inclination adjustment mechanism (5) includes a second fixed seat (51), an inclination adjustment oil cylinder (53), and a bearing box (55). The second fixed seat (51) is detachably connected to the side of the drill tower (1). A connecting frame (52) is provided on the second fixed seat (51). The inclination adjustment oil cylinder (53) is located on the connecting frame (52), and the bearing box (55) is connected to the piston rod of the inclination adjustment oil cylinder (53) through a connecting rod (54). The flip shaft (46) drives the transmission shaft (31) to rotate through the universal shaft (6).

2. A structure of a universal shaft type tilt-adjustable and flip manipulator according to claim 1, It is characterized in that: The bearing box (55) is in a T shape. Guide posts (56) are provided on the connecting frame (52), and the guide posts (56) penetrate through both sides of the bearing box (55). One end of the transmission shaft (31) far from the flip drive mechanism (42) is movably connected to the bearing box (55) through a bearing.

3. A structure of a universal shaft type tilt-adjustable and flip manipulator according to claim 2, It is characterized in that: The universal shaft (6) is specifically a telescopic cross shaft universal coupling.

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