A grabbing device based on an exploration rod-shaped component

Abstract

The invention discloses a grasping device based on an exploration rod-shaped component, comprising a lifting seat and a cylindrical body at the bottom, wherein the inner cavity opening of the cylindrical body is provided with a plug, and the plug is provided with a through hole; further comprising a sliding member, a first and a second elbow joint, and a first and a second clamping arm that slide along the inner cavity; the upper end of the sliding member is a protruding shoulder, and the lower end extends out of the cylindrical body, and the outer diameter of the shoulder is greater than the inner diameter of the through hole; the two elbow joints are symmetrically arranged along the vertical center line of the sliding member, and the two clamping arms are symmetrically arranged; the upper ends of the two elbow joints are hinged to the sliding member; the lower ends of the two elbow joints are respectively hinged to the upper ends of the two clamping arms, and the two clamping arms are crossed and hinged at the crossing position to form a shear-type clamping structure; a pressure foot is provided at the clamping ends of the two clamping arms, and the two pressure feet are arranged opposite to each other; the clamping surfaces of the two pressure feet are used for clamping the rod-shaped joint; further comprising a conical member, the inner conical surface of which opens downward, forming a cover structure that is arranged on the periphery of the rod-shaped joint and its clamping end and keeps the connecting end of the rod-shaped joint extending out of the lower end of the conical surface.

Description

Technical Field

[0001] This invention belongs to the field of exploration support technology, specifically relating to a gripping device based on an exploration rod-shaped component. Background Technology

[0002] Currently, the handling of rod-shaped components such as drill tools and drill pipes in the exploration field is mostly done manually. This method suffers from low efficiency and a high risk of personal injury. Although long-handled clamps are used for workpiece handling, their stability and efficiency are still unsatisfactory. Magnetic pick-up or suction cup tools are also employed, but their stability and safety also present certain problems. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the above-mentioned shortcomings of the prior art and provide a gripping device based on an exploration rod-shaped component that can effectively improve production efficiency and reduce personnel injury.

[0004] The technical problem it aims to solve can be addressed through the following technical solutions.

[0005] A gripping device based on an exploration rod-shaped component, characterized in that it includes:

[0006] A lifting platform that can be pulled upwards by a rope, wherein the lower part of the lifting platform has a cylindrical body with a hollow inner cavity, the upper end of the cylindrical body is connected to the lifting platform, and a plug is sealed at the opening of the inner cavity at the lower end of the cylindrical body, the plug having a through hole; and also includes

[0007] A sliding member that can slide up and down along the hollow inner cavity, the upper end of the sliding member being a shoulder protruding from the body, and the lower end extending outside the cylindrical body through the through hole, the outer diameter of the shoulder being larger than the inner diameter of the through hole; and

[0008] A first elbow joint, a second elbow joint, a first clamping arm, and a second clamping arm; the first elbow joint and the second elbow joint are symmetrically arranged along the center line of the vertical position of the sliding member, and the first clamping arm and the second clamping arm are symmetrically arranged along the center line of the vertical position of the sliding member; wherein...

[0009] The upper ends of the first elbow joint and the second elbow joint are positioned at the lower part of the sliding member via a first hinge shaft; the lower end of the first elbow joint is hinged to the upper end of the first clamping arm via a second hinge shaft, and the lower end of the second elbow joint is hinged to the upper end of the second clamping arm via a third hinge shaft; the first clamping arm and the second clamping arm are arranged crosswise, and the crosswise position is hinged to the fourth hinge shaft, forming a shearing clamping structure; the clamping end of the first clamping arm is provided with a first pressure foot, and the clamping end of the second clamping arm is provided with a second pressure foot, which are arranged opposite to each other; the clamping surface of the first pressure foot is arc-shaped, and the clamping surface of the second pressure foot is also arc-shaped; the first and second pressure feet are used to clamp a rod-shaped connector that matches the target gripping component.

[0010] It also includes a conical member with an inner conical surface, the opening of which faces downward. The inner conical surface forms a cover structure that covers the periphery of the rod-shaped connector and its clamping end and keeps the connecting end of the rod-shaped connector extending out of the lower end of the conical surface. There is a clearance space between the first clamping arm and the conical member, and between the second clamping arm and the conical member, to facilitate the appropriate opening of the corresponding clamping arm to replace the clamped rod-shaped connector.

[0011] As a further improvement to this technical solution, the cone angle of the inner cone surface is no greater than 150°.

[0012] In a preferred embodiment of the present invention, the cone angle of the inner cone surface is 45°-120°.

[0013] As a further improvement to this technical solution, the gripping device also includes a support body, which includes an upper support member and a lower support member connected vertically at their left and right ends by connecting rods. The upper support member is sleeved on the sliding member and can move vertically relative to the sliding member. The upper support member forms a limiting component that restricts the depth of the sliding member's insertion into the hollow inner cavity. The support body connects a vertical first rod and a second rod, which are symmetrically arranged relative to the sliding member. A first return spring and a second return spring are respectively sleeved on the first rod and the second rod. The upper ends of the first return spring and the second return spring abut against the support body or its connecting member, and the lower ends of the first return spring and the second return spring abut against the upper end of the conical member or its connecting member.

[0014] As a further improvement to this technical solution, the gripping device also includes a guide member disposed between the fourth hinge shaft and the rod-shaped connector. The guide member has symmetrical first and second guide surfaces on both sides of the first and second clamping arms. From top to bottom, the distance between the first and second guide surfaces and the center line of the vertical position of the sliding member gradually decreases. It also includes a first support arm and a second support arm. The first end of the first support arm is axially connected to the first clamping arm, and the second end is connected to a rolling cam, the rolling surface of which abuts against the first guide surface. The first end of the second support arm is axially connected to the second clamping arm, and the second end is connected to a rolling cam, the rolling surface of which abuts against the second guide surface. The first end of the first support arm is lower than the second end. The first end of the second support arm is lower than the second end.

[0015] In another preferred embodiment of the present invention, the first presser foot is a semi-circular ring; the second presser foot is a semi-circular ring.

[0016] As a further improvement to this technical solution, the upper part of the guide member is connected to the lower support member.

[0017] Furthermore, taking the inner conical surface of the conical member as the first inner conical surface, it also includes a second inner conical surface that naturally transitions with the first inner conical surface; the second inner conical surface is located on the upper part of the first inner conical surface, and it is formed on the inner side surface of the conical member or on the inner cavity surface of the upper connector of the conical member; the taper of the first inner conical surface is not less than the taper of the second inner conical surface, and the taper of the second inner conical surface matches the taper of the upper end of the rod-shaped connector.

[0018] The advantages of the gripping device based on the exploration rod-shaped component using the above technical solution are as follows:

[0019] 1. This device, by incorporating a tapered component, can achieve positioning over a maximum range, effectively resolving the issues of wobbling and inaccurate positioning associated with rod-shaped joints and rod-shaped objects;

[0020] 2. This device uses a purely mechanical mechanism to complete the grabbing and releasing of the bar, ensuring high safety and reliability;

[0021] 3. This device requires no manual intervention during the grabbing and releasing of the pole, which is especially effective when operating on high towers, resulting in high production efficiency and a low risk of personnel injury.

[0022] 4. This device achieves the purpose of restoring itself to the initial state by installing a self-resetting spring. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the gripping device based on the exploration rod-shaped component of the present invention;

[0024] Figure 2 for Figure 1 AA view;

[0025] Figure 3 for Figure 1 Top view;

[0026] Figure 4 This is a three-dimensional structural diagram of the gripping device of the present invention after some components have been removed;

[0027] Figure 5 for Figure 1 The left view;

[0028] Figure 6 This is a partial structural schematic diagram of the tapered component of the present invention;

[0029] Figure 7 This is a three-dimensional structural diagram of the gripping device of the present invention from another angle;

[0030] Figure 8 for Figure 5 Schematic diagram of the structure after removing the conical component and rod-shaped joint;

[0031] Figure 9 This is a schematic diagram of the rod-shaped connector of the present invention;

[0032] Figure 10 This is a partial structural schematic diagram of the gripping device of the present invention;

[0033] In the diagram: 1 – Lifting seat; 13 – Connecting hole; 2 – Up and down moving rod; 21 – Shoulder; 4 – Left clamping arm; 41 – Clamping foot; 5 – Right clamping arm; 51 – Clamping foot; 6 – Center guide; 7 – Cam mechanism; 71, 72 – Support arms; 73, 74 – Cam; 8 – Rod-shaped joint; 81 – Centerline of rod-shaped joint; 82 – Profile surface; 83 – End cone surface; 9 – Conical part; 91 – Clearance; 92 – Inner cone surface; 93 – Positioning block; 94 – Connecting part; 95 – Screw

[0034] 10 – Support body; 110 – Upper support plate; 120 – Lower support plate; 130, 140 – Connecting rods; 150, 160 – Connecting rods

[0035] 11—Self-resetting spring

[0036] 210, 220, 230, 240, 250, 260 — Connecting shaft / connecting pin

[0037] 300 - Center Line

[0038] 400 – Sleeve; 410 – Connecting Hole; 420 – Cavity; 430 – Plug

[0039] 510, 520 — Transition rods Detailed Implementation

[0040] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0041] like Figures 1 to 8 As shown, this invention provides a gripping device based on an exploration rod-shaped component. The main structure and components of this intelligent multi-layer drill pipe storage and retrieval device are as follows:

[0042] The upper end of the lifting seat 1 is connected to a steel wire rope, and the lower end is connected to the vertical moving rod 2 via a sleeve 400. The lifting seat 1 and the sleeve 400 are further connected and positioned by pins via corresponding connecting holes 13 and 410. The sleeve 400 has a cavity 420, and a plug 430 is provided at the lower opening of the sleeve. The vertical moving rod 2 is a sliding member that can slide up and down along the cavity 420, with a protruding shoulder 21 formed on its upper part. The opening of the plug 430 is suitable for the rod body of the vertical moving rod 2 to extend outside the sleeve, and the shoulder's limiting arrangement allows it to break free from the sleeve.

[0043] Along the centerline 300, the lower part of the vertically moving rod's shaft joint is connected via a connecting shaft (connecting pin) 210, positioning the upper parts of transition rods 510 and 520. The lower end of transition rod 510 is hinged to the upper end of right clamping arm 5 via connecting shaft 230; similarly, the lower end of transition rod 520 is hinged to the upper end of left clamping arm 4 via connecting shaft 220. Left clamping arm 4 and right clamping arm 5 are a pair of cross-arranged, cooperating shear clamping structures, their intersection hinged together via connecting shaft (connecting pin) 240.

[0044] Furthermore, the clamping ends of the left and right clamping arms are provided with semi-circular clamping feet 41 and 51, which can be closed to form a clamping ring for clamping the customized rod-shaped connector 8, such as... Figure 2 As shown, the middle section of the rod-shaped connector 8 has a ring-shaped groove that matches the two pressure feet. The two pressure feet can be detachable, using threaded connectors to connect and position them on the corresponding clamping arms. Their material can be flexible to avoid damaging the clamped parts and generating corresponding friction.

[0045] Transition pieces 510 and 520 serve as elbow joints to transmit force from the up and down moving rod 2, thereby pushing or driving the clamping or disengaging between the left and right clamping arms (with the help of the presser foot).

[0046] Furthermore, to ensure controllable and intelligent clamping performance, a central guide 6 and a cam mechanism 7 are provided. The central guide 6 is located below the intersection of the two clamping arms and above the rod-shaped connector 8. Two symmetrical guide surfaces are provided on the left and right sides of the central guide 6, with the distance from the center line decreasing from top to bottom. The cam mechanism 7 includes a pair of support arms 71 and 72. Rollable cams 73 and 74 are provided at the front ends of the two support arms, with the rolling surfaces of the two cams respectively conforming to the two guide surfaces of the central guide 6. The rear ends of the two support arms are hinged to the left and right support arms via connecting shafts 250 and 260, respectively. By controlling the vertical movement of the central guide 6, and utilizing the rolling of the cams on the guide surfaces, the movement of the two support arms 71 and 72 can be further controlled to determine whether the left and right clamping arms are opened or closed. This facilitates control over the clamping state of the two clamping feet on the rod-shaped connector 8, for example, making it easier to replace the rod-shaped connector. The central guide 6 is connected to the lower support plate 120 by screws.

[0047] Additionally, a tapered component 9 matching the rod-shaped connector 8 is provided in the lower part. (The tapered component 9 has a tapered structure with an inner tapered surface 92, the opening of which faces downwards. This inner tapered surface forms a cover structure that covers the rod-shaped connector and its clamping end periphery, keeping the connecting end of the rod-shaped connector protruding from the lower end of the tapered surface.) During the descent, the rod-shaped connector structure 8 can be gradually positioned to the center. Coarse positioning is achieved through the inner tapered surface 92, and accurate positioning is further achieved through the positioning block 93 and connecting piece 94 connected to the upper part of the tapered block. For example, this can be achieved by controlling the taper of the upper end of the rod-shaped connector 8 to match that of the positioning block 93 and connecting piece 94. The positioning block 93 and connecting piece 94 can be connected by screws (see...). Figure 10 The screws 95 in the middle are connected as a whole, or the positioning block 93 can be directly connected to the tapered part 9 (in which case the connecting part 94 is discarded). The purpose is that the tapered part 9 has a large-tapered inner conical surface (referring to the inner conical surface 92) to complete the coarse positioning of the rod-shaped joint. Further, the inner conical surface of the positioning block 93 is controlled to be aligned with the upper conical surface of the rod-shaped joint 8 (see...) Figure 9 Further matching of the end conical surface 83 in the positioning block 93 is used to achieve so-called accurate positioning. In addition, relative to the inner conical surface of the positioning block 93, the inner surface of the connector 94 can be an inner cavity surface that only serves as a transition, or it can be set as a conical surface in conjunction with the inner conical surface of the positioning hole 93.

[0048] A clearance space (i.e., gap 91 in the figure) is provided between the left and right clamping arms and the conical member 9 to allow the corresponding clamping arms to open appropriately to replace the clamped rod-shaped connector. The inner conical surface 92 is symmetrical along the centerline 81 of the rod-shaped connector. A custom-made rod-shaped connector 8 matches the conical member 9 (meaning the rod-shaped connector 8 and the conical member 93 and 94 have the same taper), connecting this device to the standard connector of the drill pipe. On the other hand, the conical member expands the gripping range and also serves as a guide, facilitating gripping. Simultaneously, the opening diameter of the inner conical surface 92 is larger than the diameter of the rod-shaped connector 8. During the descent of the conical member 9, the coarse positioning of 92 guides the rod-shaped connector 8 into the inner cavity or inner conical surface of the upper positioning block 93 and the connecting member 94, completing positioning and gripping.

[0049] Additionally, a support body 10 is provided, including an upper support plate 110 and a lower support plate 120, with their left and right ends connected by connecting rods 130 and 140 respectively. Furthermore, vertical connecting rods 150 and 160 connected to the support body 10 are arranged opposite each other along their center lines (connecting rods 150 and 160 can also be considered part of the support body 10). Self-resetting springs 11 are sleeved on the connecting rods 150 and 160; the upper part of the self-resetting spring 11 abuts against (or connects to) the lower part of the lower support plate 120, and the lower part of the self-resetting spring 11 abuts against and connects to the upper end face of the positioning block 93, which is connected and fixed to the conical member 9 via a connecting member 94. (See [reference needed]). Figure 10 The positioning block 93 is connected to the connecting piece 94 by screws 95, and the self-resetting spring 11 presses on the positioning block 93. The upper support plate 110 is sleeved on the rod body of the vertical moving rod 2.

[0050] The upper support plate 110 is movable up and down relative to the vertical moving rod 2, effectively forming a limiting component that restricts the sliding member's movement within the cavity of the sleeve 400. Due to the action of the self-resetting spring 11, this restriction is a flexible restriction within a certain range, not rigid or fixed, thus facilitating the rod-grabbing and release processes. The self-resetting spring 11 is fixed / connected to the conical member 9 and the support body 10, allowing adjustment of their relative position during rod release.

[0051] Furthermore, the vertically movable rod 2 can give the lifting seat 1 and its sleeve a stroke S for vertical movement, thereby facilitating the connection and disconnection of the rod-shaped joint.

[0052] The specific operation process of this gripping device is as follows:

[0053] Grab process:

[0054] First, fix the rod-shaped connector 8 and connect it to the drill rod. Fix the drill rod to the bracket. Then move the entire device so that its center line is concentric with the center line of the rod-shaped connector. Then use a wire rope to control the lifting seat 1 to slowly lower the entire device. Use the conical part 9 to guide the rod-shaped connector to the center gripping position. Then the lifting seat 1 continues to descend for a stroke of L1 (L1 < S), that is, the lifting seat 1 (referring to the lower part of the sleeve 400) and the support body 10 (referring to the upper support plate 110) do not contact each other.

[0055] The left and right clamping arms open to lock the rod-shaped connector 8, and then the lifting seat 1 is lifted with a wire rope. The pressure feet 41 and 51 of the left and right clamping arms close, which in turn lifts the rod-shaped connector 8, completing the rod grabbing process.

[0056] Release process:

[0057] Lift the rod-shaped connector 8 to the designated position and swing it to the designated position. Then, use a wire rope to slowly lower the lifting seat 1, with a stroke L2 (L2>S). The lower part of the sleeve 400 contacts the support body 10 (referring to the upper support plate 110), and the center piece 6 is connected to the lower support plate 120. The self-resetting spring is compressed. When it is compressed to a certain position, the left and right clamping arms open to complete the rod release process. The self-resetting spring 11 is compressed, which in turn presses the tapered piece 9 downward through the positioning block 93 and the connecting piece 94. The center guide piece 6 descends and is fixed in one position. The two support arms 71 and 72 of the cam mechanism 7 open / spread, driving the left clamping arm 4 and the right clamping arm 5 to open and maintain the open position. Use a wire rope to lift the lifting seat 1 and drive the entire device to lift, completing the rod release process.

[0058] The gripping device based on the exploration rod-shaped component provided by the present invention has the following characteristics:

[0059] 1. The tapered component at the lower end of this device can expand the positioning range. The angle A of the inner conical surface of the tapered component is 0°-150° (excluding 0°), and the preferred angle is A=45°-120°.

[0060] 2. The rod-shaped connector of this device can be circular, but it can also be square, hexagonal, or other shapes; see [link / reference]. Figure 9 The figure refers to the outline surface 82, whose transverse cross-sectional outer contour can be the shape described above. Additionally, Figure 9 The cone surface 83 at the top of the rod-shaped connector is the so-called cone surface that achieves further accurate positioning and engagement with the inner cone surface of the positioning block 93.

[0061] 3. This device is equipped with a self-resetting spring, which facilitates the automatic reset of the device when the rod is released.

[0062] 4. By controlling the length of the descent stroke, the opening angle of the two clamping arms and their state during the subsequent ascent (closed or open) can be further controlled. This function can be performed without any power mechanism, saving energy and allowing for fast and efficient connection / disconnection. For example, L1 < S and L2 > S.

Claims

1. A grabbing device based on an exploration rod-shaped component, characterized in that: include: A lifting seat that can be pulled upward by a rope, wherein a cylindrical body with a hollow inner cavity is provided at the lower part of the lifting seat, the upper end of the cylindrical body is connected to the lifting seat, and a plug is sealed at the inner cavity opening of the lower end of the cylindrical body, and a through hole is provided on the plug; and a sliding member that can slide up and down along the hollow inner cavity, wherein the upper end of the sliding member is a shoulder protruding from the main body, and the lower end extends out of the cylindrical body through the through hole, and the outer diameter of the shoulder is greater than the inner diameter of the through hole; and A first elbow joint, a second elbow joint, a first clamping arm and a second clamping arm; the first elbow joint and the second elbow joint are symmetrically arranged along the center line of the vertical position of the sliding member, and the first clamping arm and the second clamping arm are symmetrically arranged along the center line of the vertical position of the sliding member; wherein, The upper end of the first elbow joint and the upper end of the second elbow joint are positioned at the lower part of the sliding member via the first hinge axis; the lower end of the first elbow joint and the upper end of the first clamping arm are hinged and positioned via the second hinge axis, and the lower end of the second elbow joint and the upper end of the second clamping arm are hinged and positioned via the third hinge axis; the first clamping arm and the second clamping arm are arranged crosswise, and the intersection is hinged and positioned via the fourth hinge axis, and the first clamping arm and the second clamping arm together form a shear-type clamping structure; the clamping end of the first clamping arm is provided with a first presser foot, and the clamping end of the second clamping arm is provided with a second presser foot, and the first presser foot and the second presser foot are arranged oppositely; the clamping surface of the first presser foot is an arc surface, and the clamping surface of the second presser foot is also an arc surface; the first presser foot and the second presser foot are used to clamp a rod-shaped joint that matches the target grasping component; the first presser foot is a semicircular ring; the second presser foot is a semicircular ring; It also includes a conical member with an inner conical surface, the opening of the inner conical surface faces downward, and the inner conical surface forms a cover structure that covers the periphery of the rod-shaped joint and its clamping end and keeps the connecting end of the rod-shaped joint protruding from the lower end of the conical member; an escape space is provided between the first clamping arm and the conical member, and between the second clamping arm and the conical member, so as to facilitate the corresponding clamping arm to open appropriately to replace the clamped rod-shaped joint; The gripping device also includes a support body, which includes an upper support member and a lower support member which are connected up and down by connecting rods at left and right ends respectively, the upper support member is sleeved on the sliding member and can move up and down relative to the sliding member, and the upper support member forms a limiting component that limits the feeding depth of the sliding member into the hollow inner cavity; the support body is connected to a vertical first rod body and a second rod body, and the first rod body and the second rod body are symmetrically arranged relative to the sliding member; the first rod body and the second rod body are respectively sleeved with a first return spring and a second return spring, the upper ends of the first return spring and the second return spring abut against the support body or its connecting member, and the lower ends of the first return spring and the second return spring abut against the upper end of the conical member or its connecting member.

2. The grabbing device based on the exploration rod-shaped component according to claim 1, characterized in that: The cone angle of the inner cone is no greater than 150°.

3. The grabbing device based on the exploration rod-shaped component according to claim 2, characterized in that: The cone angle of the inner cone is 45°-120°.

4. The grabbing device based on the exploration rod-shaped component according to claim 1, characterized in that: It also includes a guide member, which is arranged between the fourth hinge axis and the rod-shaped joint, and the guide member is provided with symmetrical first and second guide surfaces on both sides relative to the first clamping arm and the second clamping arm; from top to bottom, the distance between the first and second guide surfaces relative to the center line of the vertical position of the sliding member gradually decreases; it also includes a first support arm and a second support arm; the first end of the first support arm is axially connected to the first clamping arm, and the second end is connected to a rolling cam, and the rolling surface of the rolling cam is in contact with the first guide surface; the first end of the second support arm is axially connected to the second clamping arm, and the second end is connected to a rolling cam, and the rolling surface of the rolling cam is in contact with the second guide surface; the first end of the first support arm is lower than the second end; the first end of the second support arm is lower than the second end.

5. The grabbing device based on the exploration rod-shaped component according to claim 4, characterized in that: The upper portion of the guide member is connected to the lower support member.

6. The grabbing device based on the exploration rod-shaped component according to claim 1, characterized in that: The inner conical surface of the conical part is taken as the first inner conical surface, and also includes a second inner conical surface that naturally transitions with the first inner conical surface; the second inner conical surface is located on the upper part of the first inner conical surface, and is formed on the inner side surface of the conical part or on the inner cavity surface of the upper connecting part of the conical part; the taper of the first inner conical surface is not less than the taper of the second inner conical surface, and the taper of the second inner conical surface matches the taper of the upper end of the rod-shaped joint.

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