Manipulator beneficial to shortening width of machine body

Abstract

The invention relates to the field of coal mine drilling machines, in particular to a manipulator beneficial to shortening the width of a machine body, which comprises a rotary speed reducer, a rotating arm, an overturning mechanism, a clamping mechanism and a swinging mechanism which are connected in sequence, and after the rotary speed reducer and the turnover mechanism are matched to transfer the drill rod to be clamped to the position above the rack of the drilling machine and are parallel or approximately parallel to the rack, the swing mechanism drives the clamping mechanism to rotate to swing the drill rod to be clamped into the clamp holder. After the technical scheme is adopted, the distance between the driving drill rod and the tail part of the drill rod to be clamped can be reduced, so that the width of the drilling machine body is reduced, and the drilling machine can better adapt to the working environment of a narrow roadway of an underground coal mine.

Description

Technical Field

[0001] The invention relates to the field of coal mine drilling machines, and in particular to a manipulator which is beneficial to shortening the width of a machine body. Background Art

[0002] A manipulator for a coal mine drill rig is a device for transferring a drill rod to be clamped to a drill rig frame for clamping and for transferring a drill rod in a hole removed from the drill rig frame; the drill rod to be clamped and the drill rod in the hole are collectively referred to as drill rods.

[0003] The patent with publication number CN111042752A discloses a manipulator for loading and unloading drill rods, including a rotator, a slewing arm, a slewing motor and a gripper. The slewing motor is connected to the rotator and drives the slewing arm to drive the gripper to flip. The rotator controls the increase and decrease of the inclination angle of the gripper. That is, the manipulator transfers the drill rod to be clamped to the drilling rig frame for clamping in the following approximate order: after the gripper clamps the drill rod to be clamped, the rotator controls the inclination angle of the gripper to increase, and then the slewing motor drives the slewing arm to drive the gripper to flip. Thereafter, the rotator controls the inclination angle of the gripper to decrease until the drill rod to be clamped is placed in the clamp of the drilling rig. The drill rod to be clamped is placed in place when it is placed in the clamp of the drilling rig. At this time, the gripper contacts the sensor arranged on the frame to stop the rotator from rotating. After the clamp clamps the drill rod to be clamped, the gripper releases the gripper and resets.

[0004] After the drill rod to be clamped is placed in place, the slewing arm is parallel to the frame, that is, after the drill rod to be clamped is placed in place, the drill rod to be clamped is parallel to the frame, that is, the drill rod to be clamped is coaxial with the active drill rod of the drilling rig, and then the active drill rod moves and rotates to be threadedly connected with the tail end of the drill rod to be clamped; this is the prior art and will not be described in detail here, but it should be noted that if Figure 1 As shown, in the process of reducing the inclination angle of the rotator-controlled claw, since the running trajectory of the tail of the drill rod to be clamped is an arc, in order to avoid interference between the tail of the drill rod to be clamped and the active drill rod and ensure that the drill rod to be clamped is smoothly placed in place, the distance between the drill rod to be clamped and the active drill rod is increased, that is, after the drill rod to be clamped is placed in the clamp of the drilling rig, there is a large distance k between the active drill rod and the tail of the drill rod to be clamped, which directly increases the body width of the drilling rig and cannot adapt well to the working environment of the narrow tunnels in coal mines. Summary of the invention

[0005] The present invention aims to provide a manipulator that is conducive to shortening the body width, so as to solve the problem that the large distance between the active drill rod and the drill rod to be clamped causes the drill rig body width to increase and cannot better adapt to the narrow tunnel working environment in coal mines.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a manipulator that is conducive to shortening the width of a fuselage, comprising a rotary reducer, a rotating arm, a flipping mechanism, a clamping mechanism and a swinging mechanism connected in sequence, the clamping mechanism is connected to the flipping mechanism through a swinging mechanism, and after the rotary reducer drives the flipping mechanism to have an inclination angle greater than the inclination angle of the frame, the flipping mechanism drives the clamping mechanism to flip to the top of the frame, and after the rotary reducer drives the flipping mechanism to reduce the inclination angle until the flipping mechanism is parallel or nearly parallel to the frame, the swinging mechanism drives the clamping mechanism to swing the drill rod to be clamped into the clamp.

[0007] The technical effects of this solution are:

[0008] After the rotary reducer drives the flipping mechanism to increase its inclination angle through the rotating arm, the flipping mechanism drives the clamping mechanism to flip, and then the swinging mechanism drives the drill rod to be clamped to swing into the clamp in a state parallel or nearly parallel to the frame, and after the swinging mechanism drives the drill rod in the hole to swing out of the clamp in a state parallel to the frame, the flipping mechanism and the rotary reducer cooperate to drive the clamping mechanism to reset and repeat this process to achieve loading and unloading of the drill rod.

[0009] Compared with the existing manipulators for loading and unloading drill rods, this solution changes the way of placing the drill rod to be clamped in place and then making it parallel to the frame. By setting a swing mechanism, the swing mechanism will swing the drill rod to be clamped, which is parallel or nearly parallel to the frame, into the clamper in advance. During the process of entering the clamper, the running trajectory of the tail of the drill rod to be clamped is no longer an arc. The drill rod to be clamped can be placed in place with a very small distance from the active drill rod in the axial direction of the frame, thereby solving the problem of the prior art that the tail of the drill rod to be clamped will interfere with the active drill rod during the process of placing the drill rod to be clamped in the clamper, and further solving the problem that there is a large distance between the active drill rod and the tail of the drill rod to be clamped after the drill rod to be clamped is placed in place.

[0010] Compared with the prior art, after the drill rod to be clamped is placed in place, the distance between the active drill rod and the tail of the drill rod to be clamped is reduced by 80mm. The reduction of 80mm shortens the propulsion stroke of the active drill rod, reduces the design difficulty, and also reduces the length of the frame in the axial direction by 80mm, that is, it is reduced by 80mm in the width direction of the drill rig body, making the structure of the drilling rig more compact and better adaptable to the working environment of narrow tunnels in coal mines. At the same time, the frame is less restricted when adjusting the inclination angle.

[0011] Preferably, as an improvement, the swing mechanism includes a swing cylinder and a rotating frame, the rotating frame is connected to the flipping mechanism, the clamping mechanism is hinged to the rotating frame through the swing cylinder, and the clamping mechanism can rotate around the rotating frame, and when the rotating frame contacts the sensor arranged on the frame, the drill rod and the frame are parallel or nearly parallel.

[0012] The technical effect of this scheme is: when the swing cylinder extends and retracts, it drives the clamping mechanism to rotate around the rotating frame, thereby swinging the drill rod clamped by the clamping mechanism into and out of the clamp; and after the rotating frame contacts the sensor set on the frame, the drill rod is parallel or nearly parallel to the frame, at which time the rotary reducer stops moving, and the swing mechanism drives the drill rod to swing into and out of the clamp.

[0013] Preferably, as an improvement, it also includes a telescopic mechanism, the clamping mechanism is connected to the flipping mechanism through the telescopic mechanism, the telescopic mechanism is hinged to the rotating frame through a swing cylinder, and the telescopic mechanism can rotate around the rotating frame to drive the clamping mechanism to rotate.

[0014] The technical effect of this solution is: by setting up a telescopic mechanism, after the clamping mechanism grabs the drill rod to be clamped, before the flipping mechanism drives the clamping mechanism to flip, the clamping mechanism retracts under the drive of the telescopic mechanism. In this way, the flipping of the clamping mechanism occupies less space, which is beneficial to improving the compactness of the drilling rig and is also convenient for operations in narrow tunnels.

[0015] Preferably, as an improvement, the turning mechanism includes a hydraulic motor connected to the rotating arm and a main shaft connected to the hydraulic motor, and the rotating frame is fixedly connected to the main shaft.

[0016] Preferably, as an improvement, the hydraulic motor drives the main shaft to rotate within the range of 0-240°.

[0017] The technical effect of this solution is: compared with the prior art, the limit angle of the main shaft driven by the hydraulic motor is smaller, that is, the main shaft will no longer rotate after the drill rod is flipped over to the top of the frame through the telescopic mechanism and the clamping mechanism. After the inclination angle of the rotary reducer is reduced, the rotary frame contacts the sensor arranged on the frame and the rotary reducer stops moving. At this time, the drill rod to be clamped is parallel to the active drill rod and is located obliquely above the active drill rod. The swing cylinder can be extended to drive the telescopic mechanism and the clamping mechanism to swing the drill rod to be clamped into the clamp.

[0018] Preferably, as an improvement, a positioning sleeve is fixed in the rotating arm, an inner boss is fixed on the inner wall of the positioning sleeve, an outer boss is fixed on the outer arm of the main shaft, and the outer boss abuts against the inner boss after the main shaft rotates to the extreme position.

[0019] The technical effect of this solution is that the setting of sensor elements can be reduced by limiting the extreme rotation angle through the mechanical structure.

[0020] Preferably, as an improvement, the telescopic mechanism includes a telescopic cylinder, the telescopic cylinder includes a telescopic outer cylinder and a telescopic inner cylinder slidably connected to the telescopic outer cylinder; the clamping mechanism is connected to the telescopic inner cylinder, the telescopic outer cylinder is hinged to the rotating frame through a swing cylinder, and the telescopic outer cylinder is rotatably connected to the rotating frame, and the swing cylinder can drive the telescopic outer cylinder to rotate with the main shaft as the axis.

[0021] Preferably, as an improvement, the telescopic mechanism further comprises a telescopic positioning assembly, and the positioning assembly is used to detect the extreme positions of extension and retraction of the telescopic inner cylinder.

[0022] The technical effect of this solution is: in the prior art, whether the extension and retraction action of the telescopic inner tube is completed is judged by the pressure of the telescopic cylinder. To increase the extension and retraction speed, the flow rate of the hydraulic oil must be increased. In actual use, due to inertia, jamming and hydraulic oil pressure pulsation when the manipulator extends or retracts, the starting pressure exceeds the judgment pressure, so that the next action may cause interference between the clamping mechanism and other components. Therefore, adding a telescopic positioning component to perform a secondary judgment on the extension and retraction action can effectively improve the extension and retraction action speed and improve the operating efficiency on the basis of avoiding misoperation of the manipulator.

[0023] Preferably, as an improvement, the telescopic positioning assembly includes a protective cover, a signal rod, a connecting frame and a proximity switch, the protective cover is fixedly connected to the telescopic outer tube, the proximity switch is installed on the protective cover, the signal rod is slidably connected to the protective cover, one end of the signal rod is connected to the clamping mechanism through the connecting frame, and notches are provided at both ends of the signal rod. When the notch approaches the proximity switch, the signal changes.

[0024] The technical effect of this solution is that the signal rod is provided with notches at both ends but no notch in the middle, and cooperates with the proximity switch through the notch. When the notch is close to the proximity switch, the proximity switch no longer contacts the signal rod and causes the signal to change, thereby determining whether the signal rod is fully extended or retracted. Since the signal rod is extended and retracted with the telescopic inner tube, it is determined whether the telescopic inner tube is fully extended or retracted.

[0025] Preferably, as an improvement, the telescopic positioning assembly further comprises a support block, the support block is fixedly connected to the protective cover, the proximity switch is fixedly connected to the support block, and the signal rod is slidably connected to the support block.

[0026] The technical effect of this solution is that the support block limits the freedom of movement of the signal rod, ensuring that the guide rod can only extend and retract along the axial direction.

[0027] Preferably, as an improvement, the clamping mechanism includes a clamping cylinder, a fixed seat and a movable claw, the fixed seat is fixedly connected to the telescopic inner cylinder, the connecting frame is connected to the fixed seat, the movable claw is hinged to the fixed seat through the clamping cylinder, and the movable claw can rotate around the fixed seat.

[0028] Preferably, as an improvement, the rotating frame includes a connecting plate and two L-shaped side plates, the two side plates are connected by the connecting plate, when the connecting plate contacts a sensor provided on the frame, the drill rod is parallel to the frame, the side plate close to the flipping mechanism is connected to the flipping mechanism, the clamping mechanism is hinged to the connecting plate by a swing cylinder, and the clamping mechanism can rotate around the side plate.

[0029] Preferably, as an improvement, the swing mechanism further comprises a pin shaft fixedly connected to the telescopic outer cylinder, the pin shaft is coaxial with the main shaft and the pin shaft is rotatably connected to the side plate.

[0030] Preferably, as an improvement, the connecting frame includes an avoidance portion and two connecting portions, the avoidance portion is shaped and connected to one end of the signal rod, the two connecting portions are respectively fixed to one end of the avoidance portion and fixedly connected to the fixed seat, and one end of the clamping cylinder is hinged to the fixed seat and is located at the avoidance portion.

[0031] Preferably, as an improvement, a mounting seat perpendicular to the protective cover is fixed to one end of the protective cover away from the fixing seat, and the protective cover is fixedly connected to the end of the telescopic outer cylinder via the mounting seat.

[0032] The rotary reducer drives the flipping mechanism to increase its inclination angle until it is greater than the frame inclination angle, and then the flipping mechanism drives the clamping mechanism to flip to the top of the frame. The rotary reducer drives the flipping mechanism to reduce its inclination angle until the flipping mechanism is parallel to the frame, and then the swing mechanism drives the clamping mechanism to swing the drill rod to be clamped into the clamp.

[0033] Preferably, as an improvement, the rotary reducer drives the flipping mechanism to increase its inclination angle until it is greater than the frame inclination angle, and then the flipping mechanism drives the clamping mechanism to transfer the drill rod to be clamped to the top of the drilling rig frame. The rotary reducer drives the flipping mechanism to reduce its inclination angle until the flipping mechanism is parallel or nearly parallel to the frame, and then the swinging mechanism drives the clamping mechanism to swing the drill rod to be clamped into the clamp.

[0034] The technical effect of this scheme is: although the rotary reducer can directly drive the flipping mechanism to increase the inclination angle until the drill rod to be clamped is parallel or nearly parallel to the frame, the inclination angle may be too large. The rotary reducer drives the flipping mechanism to increase and then decrease the inclination angle to ensure that the drill rod to be clamped is parallel or nearly parallel to the frame; specifically, since the distance between the proximity switch for detecting the inclination angle and the rotation axis of the rotary reducer is smaller than the distance between the proximity switch for detecting the parallelism of the drill rod to be clamped and the frame and the rotation axis of the rotary reducer, that is, the rotation radius of the former is smaller than the rotation radius of the latter. Under the same rotation arc length error, the smaller the rotation radius, the larger the angle error corresponding to the smaller the rotation radius. Therefore, if only the proximity switch for detecting the inclination angle is used for positioning, the inclination angle of the drill rod to be clamped and the frame may be too large within the range of the rotation error arc length, affecting the subsequent connection action of the active drill rod and the drill rod to be clamped. Therefore, the rotary reducer drives the flipping mechanism to increase and then decrease the inclination angle to ensure that the drill rod to be clamped is parallel or nearly parallel to the frame.

[0035] Preferably, as an improvement, the degree to which the inclination angle of the flipping mechanism is increased and then decreased by the rotary reducer is 7°-10°.

[0036] Preferably, as an improvement, before the rotary reducer drives the flipping mechanism to increase the inclination angle, the flipping mechanism drives the clamping mechanism to flip a certain angle first.

[0037] The technical effect of this solution is: in order to shorten the width of the fuselage, the guide rail used for moving the auxiliary manipulator is also transferred to the top of the drill rod box of the drilling rig. Through the design of this solution, the collision between the clamping mechanism and the guide rail above the drill rod box of the drilling rig can be avoided.

[0038] Preferably, as an improvement, the angle at which the flipping mechanism drives the clamping mechanism to flip first is 150°.

[0039] The technical effect of this solution is that the clamping mechanism clamps the drill rod to be clamped and turns it 150 degrees to be perpendicular to the ground, avoiding contact with other components during the process of increasing the inclination angle.

[0040] Preferably, as an improvement, the nearly parallel inclination angle is 0-1°. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the prior art drill pipe being placed in place as described in the background technology of the present invention;

[0042] Figure 2 This is a schematic diagram of the structure of a manipulator installed on a drilling rig according to an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the structure of a manipulator according to an embodiment of the present invention;

[0044] Figure 4 This is a partial structural schematic diagram of a manipulator according to an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of a telescopic positioning assembly according to an embodiment of the present invention;

[0046] Figure 6 It is a schematic diagram of the process of placing the drill rod in place according to the present invention. DETAILED DESCRIPTION

[0047] The following is further described in detail through specific implementation methods:

[0048] The figure marks in the drawings of the specification include: slewing reducer 1, slewing arm 2, hydraulic motor 3, main shaft 4, positioning sleeve 5, inner boss 6, outer boss 7, telescopic outer cylinder 8, telescopic inner cylinder 9, protective cover 10, signal rod 11, proximity switch 12, support block 13, notch 14, avoidance part 15, connecting part 16, clamping cylinder 17, fixing seat 18, movable claw 19, swing cylinder 20, connecting plate 21, side plate 22, sensor 23, clamp 24, drill rod to be clamped 25, active drill rod 26, and frame 27.

[0049] The embodiment is basically as shown in the attached Figure 1-6 As shown:

[0050] like Figure 2 , 3 A manipulator that is beneficial to shortening the width of the fuselage shown in the figure includes a slewing reducer 1, a slewing arm 2, a flipping mechanism, a telescopic mechanism, a clamping mechanism and a swinging mechanism. The lower end of the slewing arm 2 is fixedly connected to the slewing reducer 1 by bolts, and an arc-shaped steel plate is fixed to the inner wall of the lower end of the slewing arm 2. A detection module is installed inside the lower end of the slewing arm 2. The detection module passes through the slewing arm 2 and the slewing reducer 1 and is installed on the frame 27 of the drilling rig. The inclination angle of the detection module is 8° greater than that of the frame, and changes together with the inclination angle of the frame 27. The signal changes when the arc-shaped steel plate contacts the detection module.

[0051] The turning mechanism includes a hydraulic motor 3 and a main shaft 4. The housing of the hydraulic motor 3 and the rotating arm 2 are fixedly connected by bolts. The output shaft of the hydraulic motor 3 is rotatably connected to the rotating arm 2 and is flange-fixedly connected to the main shaft 4. The hydraulic motor 3 drives the main shaft 4 to rotate within the range of 0-240 degrees. Specifically, Figure 4 As shown, a positioning sleeve 5 is fixed by bolts inside the rotating arm 2, an inner boss 6 is integrally formed on the inner wall of the positioning sleeve 5, an outer boss 7 is fixed by bolts on the outer arm of the main shaft 4, and the outer boss 7 abuts against the inner boss 6 after the main shaft 4 rotates to the extreme position.

[0052] like Figure 2-4 As shown, the telescopic mechanism includes a telescopic oil cylinder and a telescopic positioning assembly. The telescopic oil cylinder includes a telescopic outer cylinder 8 and a telescopic inner cylinder 9 slidably connected to the telescopic outer cylinder 8. The positioning assembly is used to detect the extreme positions of the extension and retraction of the telescopic inner cylinder 9.

[0053] like Figure 5 As shown, the telescopic positioning assembly includes a protective cover 10, a signal rod 11, a connecting frame, a proximity switch 12 and a support block 13. The left end of the protective cover 10 is welded with a mounting seat perpendicular to the protective cover 10. The mounting seat is connected to the protective cover 10 as shown in FIG. Figure 4 The end of the telescopic outer cylinder 8 shown is fixedly connected by bolts. The support block 13 is bolted to the protective cover 10, the proximity switch 12 is installed on the support block 13, the signal rod 11 is slidably connected to the support block 13, the left end of the signal rod 11 is located in the protective cover 10, and the left and right ends of the signal rod 11 are both provided with notches 14. When the signal rod 11 moves to the notch 14 and approaches the proximity switch 12, the signal changes; the detection module fixed at the lower end of the rotating arm 2 also uses the proximity switch 12. The connecting frame includes an avoidance portion 15 and two connecting portions 16. The avoidance portion 15 is shaped and connected to the right end of the signal rod 11 by a latch, and the two connecting portions 16 are respectively welded to one end of the avoidance portion 15.

[0054] like Figure 3 , 4As shown, the clamping mechanism includes a clamping cylinder 17, a fixed seat 18 and a movable claw 19. The fixed seat 18 is fixedly connected to the telescopic inner cylinder 9. The two connecting parts 16 are clamped on the fixed seat 18 and are fixedly connected with the fixed seat 18 by bolts. The movable claw 19 is hinged to the fixed seat 18 through a pin shaft. One end of the shell of the clamping cylinder 17 is hinged to the fixed seat 18 at the avoidance portion 15, and one end of the telescopic shaft of the clamping cylinder 17 is hinged to the movable claw 19.

[0055] The swing mechanism includes a swing cylinder 20 and a slewing frame. The slewing frame includes a connecting plate 21 and two L-shaped side plates 22. The two side plates 22 and the connecting plate 21 are integrally formed. The side plate 22 close to the main shaft 4 is fixedly connected to the main shaft 4 flange. The connecting plate 21 is located on the side of the opening formed by the fixed seat 18 and the movable claw 19. A weight-reducing hole is opened on the connecting plate 21. One end of the shell of the swing cylinder 20 is hinged to the connecting plate 21 at one end of the weight-reducing hole. One end of the telescopic shaft of the swing cylinder 20 is hinged to the telescopic outer cylinder 8. A pin is also welded to the outer wall of the telescopic outer cylinder 8. The pin is coaxial with the main shaft 4 and the pin is rotatably connected to the side plate 22. The connecting plate 21 at the other end of the weight-reducing hole can be connected with the Figure 6 The sensor 23 provided on the frame 27 shown in the figure contacts. When the connecting plate 21 contacts the sensor 23, the drill rod 25 to be clamped is located above the frame 27 and is parallel or nearly parallel to the frame 27 and the active drill rod 26. The sensor 23 also uses a proximity switch 12. Then the swing cylinder 20 drives the telescopic mechanism and the clamping mechanism to swing downward to swing the drill rod 25 to be clamped into the clamp 24 in a state parallel or nearly parallel to the frame 27 to connect with the active drill rod 26. Nearly parallel means that the inclination angle is in the range of 0-1°. Of course, after unhooking, the swing cylinder 20 can also drive the telescopic mechanism and the clamping mechanism to swing upward to swing the drill rod in the hole out of the clamp 24 in a state parallel to the frame 27.

[0056] The specific implementation process is as follows:

[0057] like Figure 3 The telescopic inner cylinder 9 in the telescopic outer cylinder 8 in the state shown is extended to drive the fixed seat 18 and the movable claw 19 to extend, and the clamping cylinder 17 drives the movable claw 19 to rotate and cooperate with the fixed seat 18 to clamp the drill rod 25 to be clamped and then retract as shown. Figure 3 The status shown - in Figure 3 On the basis of the state shown, the hydraulic motor 3 drives the main shaft 4, the swing mechanism, the telescopic mechanism, the clamping mechanism and the drill rod 25 to be clamped to flip 150° to the vertical plane - the rotary reducer 1 drives the flipping mechanism, the swing mechanism, the telescopic mechanism, the clamping mechanism and the drill rod 25 to be clamped to increase the inclination angle until the inclination angle of the main shaft 4 is 7°-10° greater than the inclination angle of the frame 27 - the hydraulic motor 3 continues to drive the main shaft 4, the swing mechanism, the telescopic mechanism, the clamping mechanism and the drill rod 25 to be clamped to flip 90° to the state shown in the figure. Figure 2The state shown is that the rotary reducer 1 drives the turning mechanism, the swing mechanism, the telescopic mechanism, the clamping mechanism and the drill rod 25 to be clamped to reduce the inclination angle until the connecting plate 21 and the drill rod 25 are connected. Figure 6 The sensor 23 provided on the frame 27 shown in the figure comes into contact with the drill rod 25 to be clamped, and at this time, the drill rod 25 to be clamped is parallel or nearly parallel to the frame 27 and the active drill rod 26. The telescopic inner cylinder 9 extends to drive the fixed seat 18, the movable claw 19 and the drill rod 25 to be clamped to extend to the top of the frame 27. The swing cylinder 20 extends to drive the telescopic mechanism and the clamping mechanism to swing downward, thereby driving the drill rod 25 to be clamped. Figure 6 The path shown is swung into the clamp 24. After it is in place, the drill rod 25 to be clamped and the active drill rod 26 and the drill rod in the hole are located on the same axis - the clamping cylinder 17 drives the movable claw 19 to release and execute the reset procedure.

[0058] During the downward swinging of the drill rod 25 to be clamped, the distance between its tail and the active drill rod 26 is small, thus overcoming the problem that Figure 1 As shown, after the drill rod 25 to be clamped is placed in place, there is a problem of a large distance k between the active drill rod 26 and the tail of the drill rod 25 to be clamped.

[0059] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A manipulator that is beneficial for shortening the width of a fuselage, comprising a rotary reducer, a rotating arm, a flipping mechanism and a clamping mechanism connected in sequence; characterized in that: It also includes a swing mechanism, the clamping mechanism is connected to the flip mechanism through the swing mechanism, the rotary reducer and the flip mechanism cooperate to transfer the drill rod to be clamped to the top of the drilling rig frame and be parallel or nearly parallel to the frame, and then the swing mechanism drives the clamping mechanism to rotate to swing the drill rod to be clamped into the clamp.

2. A manipulator for shortening the width of a machine body according to claim 1, characterized in that: The swing mechanism includes a swing cylinder and a slewing frame. The slewing frame is connected to the flip mechanism. The clamping mechanism is hinged to the slewing frame through the swing cylinder, and the clamping mechanism can rotate around the slewing frame. When the slewing frame contacts the sensor arranged on the frame, the drill rod is parallel or nearly parallel to the frame.

3. A manipulator for shortening the width of a machine body according to claim 2, characterized in that: It also includes a telescopic mechanism, through which the clamping mechanism is connected to the flipping mechanism, the telescopic mechanism is hinged to the rotating frame through a swing cylinder, and the telescopic mechanism can rotate around the rotating frame to drive the clamping mechanism to rotate.

4. A manipulator for shortening the width of a machine body according to claim 3, characterized in that: The turning mechanism comprises a hydraulic motor connected to the rotating arm and a main shaft connected to the hydraulic motor, and the rotating frame is fixedly connected to the main shaft.

5. A manipulator for shortening the width of a machine body according to claim 4, characterized in that: The hydraulic motor drives the main shaft to rotate within the range of 0-240°.

6. A manipulator for shortening the width of a machine body according to claim 5, characterized in that: A positioning sleeve is fixed in the rotating arm, an inner boss is fixed on the inner wall of the positioning sleeve, an outer boss is fixed on the outer arm of the main shaft, and the outer boss abuts against the inner boss after the main shaft rotates to the limit position.

7. A manipulator for shortening the width of a machine body according to any one of claims 4 or 6, characterized in that: The telescopic mechanism includes a telescopic oil cylinder, which includes a telescopic outer cylinder and a telescopic inner cylinder slidably connected to the telescopic outer cylinder; the clamping mechanism is connected to the telescopic inner cylinder, the telescopic outer cylinder is hinged to the rotating frame through a swinging oil cylinder, and the telescopic outer cylinder is rotationally connected to the rotating frame, and the swinging oil cylinder can drive the telescopic outer cylinder to rotate with the main shaft as the axis.

8. A manipulator for shortening the width of a machine body according to claim 7, characterized in that: The telescopic mechanism also includes a telescopic positioning component, which is used to detect the extreme position of the extension and retraction of the telescopic inner cylinder.

9. A manipulator for shortening the width of a machine body according to claim 8, characterized in that: The telescopic positioning assembly includes a protective cover, a signal rod, a connecting frame and a proximity switch. The protective cover is fixedly connected to the telescopic outer tube, the proximity switch is installed on the protective cover, the signal rod is slidably connected to the protective cover, one end of the signal rod is connected to the clamping mechanism through the connecting frame, and notches are provided at both ends of the signal rod. When the notch approaches the proximity switch, the signal changes.

10. A manipulator for shortening the width of a machine body according to claim 9, characterized in that: The telescopic positioning assembly also includes a support block, the support block is fixedly connected to the protective cover, the proximity switch is fixedly connected to the support block, and the signal rod is slidably connected to the support block.

11. A manipulator for shortening the width of a machine body according to claim 10, characterized in that: The clamping mechanism comprises a clamping oil cylinder, a fixed seat and a movable claw. The fixed seat is fixedly connected to the telescopic inner cylinder, the connecting frame is connected to the fixed seat, the movable claw is hinged to the fixed seat through the clamping oil cylinder, and the movable claw can rotate around the fixed seat.

12. A manipulator for shortening the width of a machine body according to claim 11, characterized in that: The slewing frame includes a connecting plate and two L-shaped side plates, the two side plates are connected by the connecting plate, when the connecting plate contacts the sensor arranged on the frame, the drill rod is parallel to the frame, the side plate close to the flipping mechanism is connected to the flipping mechanism, the clamping mechanism is hinged to the connecting plate by a swing cylinder, and the clamping mechanism can rotate around the side plate.

13. A manipulator for shortening the width of a machine body according to claim 12, characterized in that: The swing mechanism also includes a pin shaft fixedly connected to the telescopic outer cylinder, the pin shaft is coaxial with the main shaft and is rotatably connected to the side plate.

14. A manipulator for shortening the width of a machine body according to any one of claims 11 or 13, characterized in that: The connecting frame includes an avoidance part and two connecting parts. The avoidance part is shaped and connected to one end of the signal rod. The two connecting parts are respectively fixed to one end of the avoidance part and fixedly connected to the fixing seat. One end of the clamping cylinder is hinged to the fixing seat and is located at the avoidance part.

15. A manipulator for shortening the width of a machine body according to claim 14, characterized in that: A mounting seat perpendicular to the protective cover is fixed to one end of the protective cover away from the fixing seat, and the protective cover is fixedly connected to the end of the telescopic outer cylinder through the mounting seat.

16. The robot arm for shortening the width of the machine body according to claim 1, characterized in that: The rotary reducer drives the flipping mechanism to increase its inclination angle until it is greater than the frame inclination angle, and then the flipping mechanism drives the clamping mechanism to transfer the drill rod to be clamped to the top of the drilling rig frame. The rotary reducer drives the flipping mechanism to reduce its inclination angle until the flipping mechanism is parallel or nearly parallel to the frame, and then the swinging mechanism drives the clamping mechanism to swing the drill rod to be clamped into the clamp.

17. A manipulator for shortening the width of a machine body according to claim 16, characterized in that: The degree of the inclination angle of the turning mechanism driven by the slewing reducer to increase and then decrease is 7°-10°.

18. A manipulator for shortening the width of a machine body according to claim 17, characterized in that: Before the rotary reducer drives the flipping mechanism to increase the inclination angle, the flipping mechanism drives the clamping mechanism to flip to a certain angle first.

19. A manipulator for shortening the width of a machine body according to claim 18, characterized in that: The turning mechanism drives the clamping mechanism to turn over at an angle of 150°.

20. A manipulator for shortening the width of a machine body according to any one of claims 1 or 2, characterized in that: The inclination angle close to parallel is 0-1°.

Images