Servo mechanical gripper grabbing device of automatic drilling machine

Abstract

The invention relates to the technical field of drill rod clamps, and provides an automatic drilling machine servo mechanical gripper grabbing device which is arranged at the tail end of a mechanical arm and used for grabbing a drill rod and comprises a connecting disc, and one end of the connecting disc is arranged at the tail end of the mechanical arm; one end of each screw is in threaded connection with the connecting disc; the frame body is provided with a mounting disc which is sleeved on the screw, so that the frame body is arranged in a swinging mode relative to the connecting disc. By means of the technical scheme, the problem that in the prior art, an automatic drilling machine cannot adjust the angle of a grabbing device in time according to the angle of a drill rod to be clamped is solved.

Description

Technical Field

[0001] The invention relates to the technical field of drill rod clamps, and in particular to an automatic drilling rig servo mechanical claw grasping device. Background Art

[0002] In the field of modern drilling engineering, the application of automatic drilling rigs is becoming more and more widespread, playing a key role in improving drilling efficiency and accuracy. Traditional automatic drilling rig grabbing devices often have certain limitations in design. Many grabbing devices are connected to the robotic arm in a relatively fixed way, lacking flexibility and unable to adapt to the various angles and position changes of the drill rod in a complex working environment. For example, at some drilling construction sites, due to complex geological conditions or construction operations, the drill rod to be clamped may not be in an ideal vertical or horizontal state, but may have a certain tilt angle or irregular posture.

[0003] In this case, conventional grabbing devices may not be able to accurately align and grab the drill pipe, resulting in inefficient operation or even grab failure. This not only affects the progress of the drilling work, but may also cause unnecessary wear and damage to the drill pipe and equipment due to repeated attempts to grab. Summary of the invention

[0004] The present invention provides an automatic drilling rig servo mechanical claw grasping device, which solves the problem in the related art that the automatic drilling rig cannot timely adjust the angle of the grasping device according to the angle of the drill rod to be clamped.

[0005] The technical solution of the present invention is as follows: An automatic drilling rig servo mechanical claw grasping device, arranged at the end of a mechanical arm, for grasping a drill rod, comprising: A connecting plate, one end of which is arranged at the end of the mechanical arm; Screws, the number of which is several and arranged along the circumference of the axis of the connecting plate, and one end of the screw is threadedly arranged with the connecting plate; The frame body has a mounting plate, and the mounting plate is sleeved on a plurality of the screws so that the frame body can be swingably arranged relative to the connecting plate.

[0006] Optionally, it also includes: A sphere, the two sides of which are respectively in contact with the connecting plate and the mounting plate, and the sphere is used to support and guide the swing of the connecting plate and the frame. Optionally, it also includes: A spring, wherein the spring is in a plurality of numbers and is sleeved on the screw. Two ends of the spring act on the screw and the mounting plate respectively to provide a force for restoring the frame after the frame is swung.

[0007] Optionally, it also includes: A rotating frame, the rotating frame is rotatably arranged on the frame body; An upper grabbing piece, one end of which is rotatably disposed on the frame; A lower grabbing piece, one end of which is arranged on the rotating frame, and a grabbing space is formed between the other end of the lower grabbing piece and the other end of the upper grabbing piece for grabbing the drill rod.

[0008] Optionally, the upper grab piece and the rotating frame are rotatably arranged at one end of the frame body and both have gears and mesh with each other. After the upper grab piece rotates, the lower grab piece is driven to rotate synchronously, so that the grabbing space is expanded or reduced. The frame body also includes: A first telescopic member, one end of which is hingedly arranged on the frame, and an extended end of the first telescopic member is hingedly arranged on the upper grasping piece. After the first telescopic member is extended, it drives the upper grasping piece to rotate, so that the grasping space is reduced.

[0009] Optionally, it also includes: Pedestal; A lifting platform, the lifting platform is arranged to be lifted relative to the base; A mechanical arm, the mechanical arm is movably arranged on one side of the lifting platform; A drill rod magazine, which is used to accommodate the drill rods and is arranged on the lifting platform. The direction of movement of the robotic arm is configured to move closer to or farther away from the drill rod magazine after movement. The drill rod magazine has an entry opening. After the robotic arm moves, the robotic arm passes through the entry opening to enter the drill rod magazine, and the movement range of the robotic arm is configured so that the movement of the robotic arm enables the robotic arm to grab all the drill rods in the drill rod magazine.

[0010] Optionally, the drill rod library comprises: A bottom plate, the bottom plate is arranged on the lifting platform; A first side plate and a second side plate, wherein the first side plate and the second side plate are respectively arranged on both sides of the bottom plate, and a spacing space is formed between the first side plate and the second side plate, and the spacing space is used to accommodate the drill rods in a matrix arrangement, and the axial direction of the drill rods is along the longitudinal direction, and the spacing space is used for the robot arm to enter and pass through, and the spacing space has the entry opening.

[0011] Optionally, both the first side plate and the second side plate have a material trough, the length direction of the material trough is along the vertical direction, and a plurality of the material troughs are arranged in sequence along the horizontal direction.

[0012] Optionally, it also includes: A lifting guide, the lifting guide is arranged on the base, and the lifting platform is lifted and slidably arranged on the lifting guide; A lifting drive, the lifting drive is arranged on the base, connected to the lifting platform and used to drive the lifting platform to move up and down, and the lifting drive is an explosion-proof oil cylinder; A first mobile drive, the first mobile drive is arranged on the base, and is used to drive the robot arm to move. The first mobile drive is arranged below the bottom plate, and the first mobile drive is an explosion-proof ball screw pair.

[0013] Optionally, it also includes: A swing drive is provided at the output end of the first mobile drive and is used to drive the mechanical arm to swing. After the mechanical arm swings, it swings into the drill rod library. The swing drive is an explosion-proof servo motor.

[0014] The working principle and beneficial effects of the present invention are: In the present invention, in order to solve the problem in the related art that the automatic drilling rig cannot adjust the angle of the grasping device in time according to the angle of the drill rod to be clamped, an automatic drilling rig servo mechanical claw grasping device is designed. One end of the connecting disk is firmly mounted on the end of the mechanical arm, and one end of a plurality of screws is threadedly connected to the connecting disk. The mounting disk of the frame is sleeved on the screws so that the frame can swing freely relative to the connecting disk. For example, in actual automatic drilling rig operations, when the mechanical arm grasps the drill rod, if there is a deviation in the position of the drill rod or external force interference, the frame can adapt to this situation by swinging relative to the connecting disk to ensure the flexibility of the grasping action.

[0015] The advantage is that this connection method builds the basic structure of the automatic drilling rig servo robot arm claw grasping device, which allows the frame to have a certain degree of swing freedom and can initially adapt to different working conditions during the process of grasping the drill rod, avoiding grasping failure or structural damage due to slight deviations in the drill rod position or external force impact, providing a basic guarantee for subsequent precise grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0017] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of another angle of the present invention; Figure 3 It is a schematic diagram of the overall structure of the present invention.

[0018] In the figure: 1, frame, 101, mounting plate, 2, first telescopic member, 3, rotating frame, 4, gear, 6, spring, 7, screw, 8, connecting plate, 9, sphere, 10, upper grab plate, 11, lower grab plate, 12, mechanical arm, 13, drill rod, 14, base, 15, lifting platform, 16, drill rod library, 1601, entry opening, 1602, bottom plate, 1603, first side plate, 1604, second side plate, 1605, spacing space, 1606, material trough, 17, lifting guide, 18, lifting drive, 19, first moving drive, 20, swing drive. DETAILED DESCRIPTION In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0019] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically shown, or only one of them is marked. In this article, "one" not only means "only one", but also means "more than one", and "several" includes "two" and "more than two".

[0020] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0022] Reference Figure 1~Figure 3 , which is the first embodiment of the present invention, proposes an automatic drilling rig servo manipulator gripping device, which is arranged at the end of a mechanical arm 12 and is used to grab a drill rod 13, including a connecting disk 8, one end of which is arranged at the end of the mechanical arm 12; a number of screws 7 are arranged along the circumference of the axis of the connecting disk 8, and one end of the screws 7 is threadedly arranged with the connecting disk 8; the frame 1 has a mounting disk 101, and the mounting disk 101 is sleeved on a number of screws 7, so that the frame 1 is swingably arranged relative to the connecting disk 8.

[0023] In this embodiment, in order to solve the problem in the related art that the automatic drilling rig cannot adjust the angle of the grasping device in time according to the angle of the drill rod to be clamped, an automatic drilling rig servo mechanical claw grasping device is designed. One end of the connecting disk 8 is firmly mounted on the end of the mechanical arm 12, and one end of a plurality of screws 7 is threadedly connected to the connecting disk 8. The mounting disk 101 of the frame 1 is sleeved on the screws 7, so that the frame 1 can swing freely relative to the connecting disk 8. For example, in the actual automatic drilling operation, when the mechanical arm grasps the drill rod, if there is a deviation in the position of the drill rod or external force interference, the frame 1 can adapt to this situation by swinging relative to the connecting disk 8 to ensure the flexibility of the grasping action.

[0024] The advantage is that this connection method constructs the basic structure of the automatic drilling rig servo mechanical arm claw grasping device, so that the frame 1 has a certain degree of swing freedom, and can initially adapt to different working conditions during the grasping of the drill rod 13, avoiding grasping failure or structural damage due to slight deviation in the position of the drill rod 13 or external force impact, providing a basic guarantee for subsequent precise grasping.

[0025] Furthermore, it also includes a sphere 9, two sides of which are respectively in contact with the connecting plate 8 and the mounting plate 101, and the sphere 9 is used to support and guide the swing of the connecting plate 8 and the frame 1.

[0026] In this embodiment, a sphere 9 is arranged between the connection plate 8 and the mounting plate 101, and the two sides of the sphere 9 are tightly against the connection plate 8 and the mounting plate 101, respectively. When the frame 1 is subjected to an external force and has a tendency to swing, the sphere 9 limits its swing trajectory to ensure that the frame 1 can only swing within a predetermined range. For example, in underground gas extraction operations in coal mines, when the mechanical arm 12 approaches the drill rod 13, it may be slightly disturbed by collisions with the surrounding environment or other equipment. The sphere 9 can ensure that the frame 1 will not swing excessively and lose control, so that the grabbing action can still be carried out in an orderly manner.

[0027] The advantage is that the setting of the ball 9 provides precise trajectory restriction for the swing of the frame 1, enhancing the stability and reliability of the entire grasping device. In the complex and changeable underground coal mine operating environment, it can effectively reduce grasping errors caused by unexpected factors, improve the grasping success rate, and ensure the continuity and efficiency of the operation.

[0028] Furthermore, it also includes a spring 6, a plurality of springs 6, which are sleeved on the screw 7, and two ends of the spring 6 act on the screw 7 and the mounting plate 101 respectively, so as to provide a force for the frame 1 to return to its original position after being swung.

[0029] In this embodiment, a plurality of springs 6 are sleeved on the screws 7, and the two ends thereof are in close contact with the screws 7 and the mounting plate 101, respectively. Under normal conditions, the springs 6 are in a certain state of compression, exerting a certain force on the mounting plate 101. When the frame 1 swings due to an external force, the springs 6 are further compressed or stretched, storing elastic potential energy. Once the external force disappears, the springs 6 release the elastic potential energy, pushing the frame 1 to return to its original position. For example, in a water exploration and release operation, if a reaction force is generated during the insertion of the drill rod 13 to cause the frame 1 to swing, the springs 6 can quickly reset the frame 1 after the reaction force disappears, preparing for the next grabbing or other operations.

[0030] The advantage is that the spring 6 provides the frame 1 with a force to reset after swinging, so that the grabbing device has the function of automatically returning to its original position. This can not only ensure the stability and consistency of the grabbing device in multiple grabbing operations, but also reduce the mechanical wear caused by frequent position adjustment, extend the service life of the grabbing device, and improve the operating efficiency and reliability of the entire automatic drilling rig.

[0031] Furthermore, it also includes a rotating frame 3, which is rotatably set on the frame body 1, and one end of the upper grabbing piece 10 is rotatably set on the frame body 1; one end of the lower grabbing piece 11 is set on the rotating frame 3, and a grabbing space is formed between the other end of the lower grabbing piece 11 and the other end of the upper grabbing piece 10 for grabbing the drill rod 13.

[0032] In this embodiment, the rotating frame 3 is rotatably mounted on the frame body 1 through a suitable bearing or sleeve structure, one end of the upper grab piece 10 is also rotatably mounted on the frame body 1, one end of the lower grab piece 11 is fixed on the rotating frame 3, and a grabbing space is formed between the other ends of the upper grab piece 10 and the lower grab piece 11. When grabbing the drill rod 13, the rotating frame 3, the upper grab piece 10 and the lower grab piece 11 work together. For example, in the pressure relief hole operation, when the drill rod 13 is sent to the grabbing position, the upper grab piece 10 and the lower grab piece 11, under the action of the corresponding driving mechanism, adjust the size of the grabbing space through the cooperation of the rotating frame 3 to adapt to drill rods 13 of different diameters and achieve a firm grab.

[0033] The advantage is that the combined design of the rotating frame 3, the upper grabbing piece 10 and the lower grabbing piece 11 constructs a flexible and effective grabbing structure, which can meet the grabbing requirements of drill rods 13 of various specifications. This structure improves the versatility and adaptability of the automatic drilling rig servo mechanical arm claw, reduces the frequency of replacing the grabbing device due to changes in drill rod specifications, reduces equipment costs and operation time, and improves the flexibility and efficiency of the overall operation.

[0034] Furthermore, the upper grabbing piece 10 and the rotating frame 3 are rotatably arranged at one end of the frame body 1 and both have gears 4, and are meshed with each other. After the upper grabbing piece 10 rotates, it drives the lower grabbing piece 11 to rotate synchronously, so that the grabbing space is expanded or reduced. The frame body 1 also includes a first telescopic member 2, one end of the first telescopic member 2 is hingedly arranged on the frame body 1, and the extended end of the first telescopic member 2 is hingedly arranged on the upper grabbing piece 10. After the first telescopic member 2 is extended, it drives the upper grabbing piece 10 to rotate, so that the grabbing space is reduced.

[0035] In this embodiment, the upper grabbing piece 10 and the rotating frame 3 are rotatably arranged at one end of the frame body 1 and are both equipped with mutually meshing gears 4. When one end of the first telescopic member 2 is hinged on the frame body 1, and the extended end is hinged on the upper grabbing piece 10 and extended, the upper grabbing piece 10 rotates around its rotation axis, and due to the meshing action of the gear 4, the lower grabbing piece 11 is driven to rotate synchronously, so that the grasping space is reduced. For example, in high-precision drilling operations, according to the precise diameter requirements of the drill rod 13, the first telescopic member 2 is accurately extended to a certain length, and the rotation angles of the upper grabbing piece 10 and the lower grabbing piece 11 are accurately controlled through gear transmission to achieve accurate grasping of the drill rod 13, ensuring the position accuracy and stability of the drill rod during the grasping process.

[0036] The advantage is that the upper grabbing piece 10 and the lower grabbing piece 11 use the action principle of gear transmission to achieve precise adjustment of the grabbing space and improve the grabbing accuracy of the claws of the mechanical arm 12. Combined with the precise control of the first telescopic member 2, it can meet the high-precision requirements of the intelligent drilling vehicle in coal mines for grabbing the drill rod 13 in operations such as gas extraction, water exploration and pressure relief holes, reduce drilling deviations caused by inaccurate grabbing, improve drilling quality and operating efficiency, and also reduce the risk of accidents caused by grabbing errors.

[0037] Furthermore, it also includes a base 14, and a lifting platform 15 is lifted and lowered relative to the base 14; the robotic arm 12 is movably arranged on one side of the lifting platform 15; the drill rod library 16 is used to accommodate drill rods 13, and is arranged on the lifting platform 15. The movement direction of the robotic arm 12 is configured to move closer to or away from the drill rod library 16 after moving. The drill rod library 16 has an entry opening 1601. After the robotic arm 12 moves, the robotic arm 12 passes through the entry opening 1601 and enters into the drill rod library 16, and the movement range of the robotic arm 12 is configured so that the robotic arm 12 moves so that the robotic arm 12 can grab all the drill rods 13 in the drill rod library 16.

[0038] In this embodiment, considering that in the prior art, the mechanical transfer arm of the drill rod warehouse 16 for the fully automatic drilling vehicle is fixed on the side, the internal space of the drill rod warehouse 16 is not utilized, and the occupied width is relatively large, it is designed that the mechanical transfer arm of the drill rod warehouse 16 is located in the middle of the drill rod warehouse 16, and when taking and placing the drill rod 13, it enters from the entry opening 1601 in the middle of the drill rod warehouse 16 for taking and placing, reasonably utilizing the drill rod 16 warehouse space, and reducing the overall width of the drill rod warehouse 16 by more than 250mm. The mechanical arm 12 adopts an elastic connection, which can eliminate processing and assembly errors and reduce the equipment failure rate.

[0039] In this embodiment, the fully automatic servo-controlled drill rod transfer device is intended to overcome the problems of limited capacity, short automatic disassembly and assembly drilling distance, and high labor intensity in the existing fully automatic drilling vehicle drill rod warehouse. The device is mainly composed of a base 14, a lifting platform 15, a mechanical arm 12, and a drill rod warehouse 16. The base 14 serves as the basic support part of the entire device. Its design principle is to provide a stable and horizontal installation platform to ensure that the device remains stable during operation without shaking or tilting. Its technical effect is to provide a solid foundation for other components, ensure the stability and reliability of the entire device, so that subsequent operations can be carried out accurately and smoothly.

[0040] In this embodiment, the lifting platform 15 can be lifted and lowered relative to the base 14. The design principle is to achieve precise movement of the lifting platform 15 in the vertical direction through a built-in lifting drive mechanism, such as a hydraulic system or an electric screw mechanism. This design is to adapt to work scenes and operational requirements at different heights. For example, when grabbing a drill rod located at a high place, the lifting platform 15 can rise so that the mechanical arm 12 can reach the corresponding position; when storing the drill rod in a lower position, the lifting platform 15 can be lowered for easy operation. The technical effect is that the operational flexibility and scope of application of the device are greatly increased, and it can cope with various complex working environments and drill rod processing requirements at different heights.

[0041] In this embodiment, the mechanical arm 12 is arranged on one side of the lifting platform 15 and adopts an elastic connection method. The design principle is to use elastic elements, such as springs or elastic rubber parts, to provide a certain elastic buffer at the connection between the mechanical arm 12 and the lifting platform 15. This is to take into account that some dimensional errors and installation deviations will inevitably exist during the processing and assembly process. The elastic connection can absorb and compensate for these errors, so that the mechanical arm 12 can adaptively adjust the position and strength when grabbing the drill rod, avoiding inaccurate grabbing or damage to the drill rod caused by rigid connection. The technical effect is to significantly reduce the incidence of equipment failures caused by processing and assembly errors, improve the accuracy and stability of the mechanical arm 12 grabbing the drill rod, and extend the service life of the mechanical arm 12.

[0042] In this embodiment, the drill rod warehouse 16 is used to accommodate the drill rods 5 and is installed on the lifting platform 15. The moving direction 1 of the mechanical arm 12 is designed to be able to approach or move away from the drill rod warehouse 16. The moving principle of the mechanical arm 12 is to achieve precise linear movement through a track and a driving device, such as a combination of a motor and a lead screw, or a linear motor. When it is necessary to grab or store the drill rod, the mechanical arm 12 moves toward the drill rod warehouse 16 to shorten the distance between the two and improve the operating efficiency; when no operation is required, the mechanical arm 12 can be moved away to make room for other operations. The drill rod warehouse 16 is also provided with an entry opening 1601, the design principle of which is to allow the mechanical arm 12 to enter the drill rod warehouse 16 without obstacles to perform grabbing and storage actions. The size and position of the opening are carefully designed to ensure that the mechanical arm 12 can smoothly enter and reach any position in the drill rod warehouse 16, and the storage of the drill rod 5 only needs to be restricted at both ends. After the drill rod warehouse 16 takes out some of the drill rods 5, the space left is just used to accommodate the mechanical arm 12 to take the rear drill rods 5. The technical effect is that the space utilization rate is greatly improved, so that the capacity of the drill rod library 16 is increased and more drill rods can be accommodated. At the same time, the mechanical arm 12 can move and grab all the drill rods 5 in the drill rod library 16, increasing the number of drill rods that can be accommodated in the drill rod library 16 and effectively extending the automatic disassembly and drilling distance.

[0043] In this embodiment, through the stable support of the base 14, the flexible lifting of the lifting platform 15, the mobile and precise grabbing of the mechanical arm 12, and the reasonable design of the drill rod library 16, the entire device achieves optimal utilization of space and reduces the overall width of the drill rod library by more than 250mm. This not only improves the compactness and work efficiency of the equipment, but also enhances its adaptability to different working conditions. It significantly reduces the need for manual intervention, greatly reduces labor intensity, successfully solves many problems existing in the prior art, and provides strong support for the efficient operation of the fully automatic drilling vehicle.

[0044] Furthermore, the drill rod storage 16 includes a base plate 1602, which is arranged on the lifting platform 15; the first side plate 1603 and the second side plate 1604 are respectively arranged on both sides of the base plate 1602, and a partition space 1605 is formed between the first side plate 1603 and the second side plate 1604, and the partition space 1605 is used to accommodate drill rods 13 arranged in a matrix, the axial direction of the drill rods 13 is along the longitudinal direction, and the partition space 1605 is used for the robot arm 12 to enter and pass through, and the partition space 1605 has an entry opening 1601.

[0045] In this embodiment, the structural design of the drill rod warehouse 16 further optimizes the accommodation and transportation of drill rods. The drill rod warehouse 16 includes a bottom plate 401, a first side plate 1603 and a second side plate 1604. The bottom plate 401 is arranged on the lifting platform 15, so that the bottom plate 401 can move smoothly vertically following the lifting platform 15. Such a design enables the drill rod warehouse 16 to be raised and lowered as needed, and the technical effect is to improve the convenience and efficiency of operation, so that the mechanical arm 12 can effectively take the drill rod 4 in the drill rod warehouse 16, increase the number of drill rods accommodated in the drill rod warehouse 16, and effectively extend the automatic disassembly and drilling distance.

[0046] In this embodiment, the first side plate 1603 and the second side plate 1604 are respectively arranged on both sides of the bottom plate 401, and a spacing space 1605 is formed therebetween. The spacing space 1605 is used to accommodate the drill rods 5 in a matrix arrangement, and the axial direction of the drill rods 5 is placed in the longitudinal direction. The design principle of this matrix arrangement is to make full use of the space, realize the orderly storage of the drill rods, and facilitate the accurate grasping of the robot arm 12. The technical effect is to increase the storage quantity of the drill rods, improve the space utilization rate, and at the same time ensure the stability and regularity of the drill rod storage.

[0047] In this embodiment, the spacing space 1605 is used for the mechanical arm 12 to enter and pass through after moving, and has an entry opening 1601. The design principle of the entry opening 1601 is to provide an entry channel for the mechanical arm 12 so that it can smoothly reach the drill rod storage position for grabbing operations. The technical effect is to ensure that the mechanical arm 12 can enter the drill rod storage 16 without obstacles, accurately grab the drill rod, and improve the efficiency and accuracy of drill rod transportation. The number of drill rods accommodated in the drill rod storage 16 is increased, and the automatic disassembly and assembly drilling distance is effectively extended.

[0048] In this embodiment, through the spacing space 1605 formed by the side panels and the reasonable entrance opening 1601, the drill rod magazine 16 can accommodate and provide drill rods more efficiently and stably, and work in coordination with other components to further enhance the performance of the fully automatic servo-controlled drill rod transfer device, increase the number of drill rods accommodated by the drill rod magazine 16, and effectively extend the automatic disassembly and assembly drilling distance.

[0049] Furthermore, both the first side plate 1603 and the second side plate 1604 have a material trough 1606 , the length direction of the material trough 1606 is along the vertical direction, and a plurality of material troughs 1606 are arranged in sequence along the horizontal direction.

[0050] In this embodiment, the design of the trough 1606 on the first side plate 1603 and the second side plate 1604 further enhances the function of the drill rod storage 16. The trough 1606 is provided on the first side plate 1603 and the second side plate 1604. The length direction of the trough 1606 is vertical, and a plurality of troughs are arranged in sequence in the horizontal direction. The design principle of the trough 1606 is to provide stable support and limit for the drill rod. The vertical length direction can adapt to the longitudinal placement of the drill rod, and the horizontal arrangement increases the number of drill rods that can be accommodated and the regularity of the layout.

[0051] In this embodiment, the stability of the drill rod in the spacing space 1605 is significantly improved, the shaking and displacement of the drill rod during movement or operation are reduced, and collision and confusion between the drill rods are avoided. At the same time, the orderly arranged material troughs 1606 help the mechanical arm 12 to locate and grab the drill rod more accurately and quickly, thereby improving the operation efficiency and accuracy. The design of the material trough 1606 cooperates with other structures of the drill rod warehouse 16, further optimizing the storage and transportation process of the drill rod, and improving the reliability and work efficiency of the fully automatic servo-controlled drill rod transportation device.

[0052] Furthermore, it also includes a lifting guide 17, which is arranged on the base 14, and the lifting platform 15 is lifted and slidably arranged on the lifting guide 17; a lifting drive 18 is arranged on the base 14, connected to the lifting platform 15 and used to drive the lifting platform 15 to move, and the lifting drive 18 is an explosion-proof cylinder; a first mobile drive 19 is arranged on the base 14, and is used to drive the robot arm 12 to move, and the first mobile drive 19 is arranged below the bottom plate 1602, and the first mobile drive 19 is an explosion-proof ball screw pair.

[0053] In this embodiment, the first mobile drive 19 uses a ball screw to achieve lateral movement, and the control accuracy reaches 0.1mm. In addition, the explosion-proof ball screw is driven by a servo motor, and the built-in encoder is not easy to get wet, has high stability, and can also replace the external pull-wire sensor detection, while solving the technical problems of high damage rate and high replacement frequency of external pull-wire sensor detection in the humid use environment underground.

[0054] In this embodiment, considering that the existing fully automatic drilling rig drill rod storage is composed of 1 hydraulic motor and more than 2 hydraulic cylinders, there are at least 6 oil pipes connecting the hydraulic actuator to the valve group, and there is a risk of oil leakage. It is designed to retain only 1 hydraulic cylinder, that is, a large power is required to drive the overall lifting drive 18 using a cylinder, which greatly reduces the risk of oil leakage, and the risk of oil leakage is reduced by more than 67%.

[0055] In the prior art, the mechanical arm of the drill rod warehouse of the fully automatic drilling vehicle only has the function of transferring the drill rods from the drill rod warehouse to the pallets. The action is single and requires the cooperation of the mechanical arm on the pallet and the host to complete the transfer of the drill rods. The required actions are 18 steps and the action efficiency is slow. In this embodiment, the drill rod warehouse 16 innovatively adopts a servo mechanical arm structure as a mechanical arm. Using one mechanical arm through compound actions, the transfer of the drill rods can be completed, and the transfer efficiency is greatly improved.

[0056] In this embodiment, the structure and drive system of the fully automatic servo-controlled drill pipe transfer device are further optimized and improved. The lifting guide 17 is set on the base 14, and the lifting platform 15 is set on the lifting guide 17. The design principle of the lifting guide 17 is to provide precise guidance and restriction for the lifting action of the lifting platform 15, ensuring the stability and linearity of the lifting process. Its technical effect is to reduce the shaking and deviation of the lifting platform 15 during the lifting process, and improve the position accuracy and movement stability.

[0057] In this embodiment, the lifting drive 18 is arranged on the base 14, and is connected to the lifting platform 15 by a cylinder and drives it to lift. The design principle is to use the strong thrust and stability of the cylinder to provide sufficient power for the lifting platform 15. Considering that the existing drive system of the drill rod library for the fully automatic drilling vehicle has many oil pipe connections and a high risk of oil leakage, this design only retains one hydraulic cylinder, which greatly reduces the risk of oil leakage. The technical effect is to significantly improve the reliability and stability of the system, reduce maintenance costs and failures caused by oil leakage.

[0058] In this embodiment, the first mobile drive 19 is arranged on the lifting platform 15, located below the bottom plate 401, and uses a ball screw pair to drive the drill rod library 16 to move. The design principle of the ball screw is to convert rotational motion into precise linear motion, and achieve high-precision position control through servo motor drive and built-in encoder. Its technical effect is to achieve a control accuracy of 0.1mm, while solving the problem of easy damage and high replacement frequency of external pull rope sensor detection in the humid environment underground, and improving the adaptability and stability of the system.

[0059] In this embodiment, the robot arm innovatively adopts a servo robot arm structure. Its design principle is to enable a robot arm to complete multiple actions through complex action programming and precise control, thereby realizing efficient transportation of drill rods. Compared with the robot arm with single action and complicated steps in the prior art, the robot arm in this embodiment reduces the action steps and improves the transportation efficiency. The technical effect is to greatly shorten the time of drill rod transportation, improve work efficiency, and reduce the overall action time and complexity of the equipment.

[0060] In this embodiment, through the optimized design and innovation of the above-mentioned components, the fully automatic servo-controlled drill rod transfer device in this embodiment has been significantly improved in terms of accuracy, stability, reliability and efficiency, effectively solving various problems existing in the prior art and meeting the drill rod transfer needs under complex working conditions.

[0061] Furthermore, it also includes a swing drive 20, which is arranged at the output end of the first mobile drive 19 and is used to drive the mechanical arm 12 to swing. The mechanical arm 12 swings and then swings into the drill rod storage 16. The swing drive 20 is an explosion-proof servo motor.

[0062] In this embodiment, the swing setting of the mechanical arm 12 and the corresponding driving mode further improve the performance of the drill rod transfer device. The mechanical arm 12 adopts a swing setting, and its swing axis is parallel to the axis of the drill rod 5 in the drill rod library 16. This design principle is to enable the mechanical arm 12 to enter the drill rod library 16 more flexibly for grabbing operations. By swinging parallel to the axial direction of the drill rod, the space occupied by the mechanical arm 12 during the action process can be reduced, and the compactness and efficiency of the operation can be improved. The swing drive 20 uses a servo motor to drive the mechanical arm 12 to swing. The design principle of the servo motor is that it can provide precise speed and position control to ensure that the swing angle and speed of the mechanical arm 12 are accurate. Its technical effect is to achieve high-precision control of the swing of the mechanical arm 12, so that the mechanical arm 12 can be accurately swung to the specified position in the drill rod library 16, and the accuracy and reliability of grabbing the drill rod are improved. Through the swing setting of the mechanical arm 12 and the precise drive of the servo motor, the operational flexibility and accuracy of the drill rod transfer device are further optimized, the working efficiency and stability of the device are improved, and the needs of drill rod transfer can be better met.

[0063] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An automatic drilling rig servo mechanical claw grasping device, arranged at the end of a mechanical arm (12), used for grasping a drill rod (13), characterized in that: include: A connecting plate (8), one end of the connecting plate (8) being arranged at the end of the mechanical arm (12); Screws (7), the screws (7) being a plurality of in number and arranged along the circumference of the axis of the connecting plate (8), one end of the screws (7) being threadedly arranged with the connecting plate (8); A frame body (1), the frame body (1) having a mounting plate (101), the mounting plate (101) being sleeved on a plurality of the screws (7) so that the frame body (1) is swingably arranged relative to the connecting plate (8).

2. The automatic drilling rig servo mechanical claw grasping device according to claim 1 is characterized in that: Also includes: A sphere (9), wherein two sides of the sphere (9) are respectively in contact with the connection plate (8) and the mounting plate (101), and the sphere (9) is used to support and guide the swing of the connection plate (8) and the frame (1).

3. The automatic drilling rig servo mechanical claw grasping device according to claim 1, characterized in that: Also includes A spring (6), wherein the spring (6) is provided in a plurality of numbers, the spring (6) being sleeved on the screw (7), and the two ends of the spring (6) acting on the screw (7) and the mounting plate (101) respectively, so as to provide a force for restoring the frame (1) after swinging.

4. The automatic drilling rig servo mechanical claw grasping device according to claim 1, characterized in that: Also includes: A rotating frame (3), the rotating frame (3) being rotatably arranged on the frame body (1); An upper gripping piece (10), one end of the upper gripping piece (10) being rotatably disposed on the frame (1); A lower grabbing piece (11), one end of the lower grabbing piece (11) being arranged on the rotating frame (3), and a grabbing space being formed between the other end of the lower grabbing piece (11) and the other end of the upper grabbing piece (10) for grabbing the drill rod (13).

5. The automatic drilling rig servo mechanical claw grasping device according to claim 4, characterized in that: The upper grabbing piece (10) and the rotating frame (3) are rotatably arranged at one end of the frame body (1) and both have gears (4) and are meshed with each other. After the upper grabbing piece (10) rotates, it drives the lower grabbing piece (11) to rotate synchronously, so that the grabbing space is expanded or reduced. The frame body (1) also includes: A first telescopic member (2), one end of the first telescopic member (2) is hingedly arranged on the frame (1), and an extended end of the first telescopic member (2) is hingedly arranged on the upper gripping piece (10); after the first telescopic member (2) is extended, it drives the upper gripping piece (10) to rotate, thereby reducing the gripping space.

6. The automatic drilling rig servo mechanical claw grasping device according to claim 1, characterized in that: Also includes: Base (14); A lifting platform (15), wherein the lifting platform (15) is arranged to be lifted relative to the base (14); A mechanical arm (12), the mechanical arm (12) being movably arranged on one side of the lifting platform (15); A drill rod magazine (16), the drill rod magazine (16) is used to accommodate the drill rods (13), and is arranged on the lifting platform (15). The direction of movement of the mechanical arm (12) is configured to move closer to or farther from the drill rod magazine (16) after movement. The drill rod magazine (16) has an entry opening (1601). After the mechanical arm (12) moves, the mechanical arm (12) passes through the entry opening (1601) and enters the drill rod magazine (16). The movement range of the mechanical arm (12) is configured so that the mechanical arm (12) moves so that the mechanical arm (12) can grab all the drill rods (13) in the drill rod magazine (16).

7. The automatic drilling rig servo mechanical claw grasping device according to claim 6, characterized in that: The drill rod magazine (16) comprises: A bottom plate (1602), the bottom plate (1602) being arranged on the lifting platform (15); A first side plate (1603) and a second side plate (1604), the first side plate (1603) and the second side plate (1604) are respectively arranged on both sides of the bottom plate (1602), and a spacing space (1605) is formed between the first side plate (1603) and the second side plate (1604), the spacing space (1605) is used to accommodate the drill rods (13) in a matrix arrangement, the axial direction of the drill rods (13) is along the longitudinal direction, and the spacing space (1605) is used for the robot arm (12) to enter and pass through, and the spacing space (1605) has the entry opening (1601).

8. The automatic drilling rig servo mechanical claw grasping device according to claim 7, characterized in that: The first side plate (1603) and the second side plate (1604) are both provided with a material trough (1606), the length direction of the material trough (1606) is along the vertical direction, and a plurality of the material troughs (1606) are arranged in sequence along the horizontal direction.

9. The automatic drilling rig servo mechanical claw grasping device according to claim 8, characterized in that: Also includes: A lifting guide (17), wherein the lifting guide (17) is arranged on the base (14), and the lifting platform (15) is lifted and slidably arranged on the lifting guide (17); A lifting drive (18), the lifting drive (18) being arranged on the base (14), connected to the lifting platform (15) and used to drive the lifting platform (15) to move up and down, the lifting drive (18) being an explosion-proof oil cylinder; A first mobile drive (19), the first mobile drive (19) is arranged on the base (14) and is used to drive the mechanical arm (12) to move, the first mobile drive (19) is arranged below the bottom plate (1602), and the first mobile drive (19) is an explosion-proof ball screw pair.

10. The automatic drilling rig servo mechanical claw grasping device according to claim 9, characterized in that: Also includes: A swing drive (20), the swing drive (20) being arranged at the output end of the first mobile drive (19) and being used to drive the mechanical arm (12) to swing, the mechanical arm (12) swinging back into the drill rod magazine (16), the swing drive (20) being an explosion-proof servo motor.

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