A robotic arm that facilitates reducing the width of the machine body

Abstract

The present invention relates to the field of coal mine drilling rigs, and more specifically, to a manipulator that facilitates shortening the width of a drill rig. The manipulator comprises a slewing reducer, a rotating arm, a flipping mechanism, a clamping mechanism, and a swinging mechanism, which are connected in sequence. The clamping mechanism is connected to the flipping mechanism via a swinging mechanism. The slewing reducer and the flipping mechanism cooperate to transfer a drill rod to be clamped above the drill rig frame and align it parallel or nearly parallel to the frame. The swinging mechanism then drives the clamping mechanism to rotate and swing the drill rod to be clamped into a clamp. By adopting this technical solution, the distance between the active drill rod and the tail of the drill rod to be clamped can be shortened, thereby reducing the width of the drill rig body, allowing the drill rig to better adapt to the working environment of narrow tunnels in coal mines.

Description

Technical Field

[0001] This invention relates to the field of coal mine drilling rigs, and more specifically to a robotic arm that facilitates a reduction in the width of the drilling rig body. Background Technology

[0002] A robotic arm for coal mine drilling rigs is a device that transfers drill rods to be clamped to the drilling rig frame for clamping and transfers drill rods disassembled from the drilling rig frame that are already in the hole; the drill rods to be clamped and the drill rods already in the hole are collectively referred to as drill rods.

[0003] Patent CN111042752A discloses a robotic arm for loading and unloading drill rods, including a rotary unit, a rotary arm, a rotary motor, and a gripper. The rotary motor is connected to the rotary unit and drives the rotary arm to rotate the gripper. The rotary unit controls the increase and decrease of the gripper's tilt angle. The general sequence of the robotic arm transferring the drill rod to be clamped to the drilling rig frame for clamping is as follows: after the gripper clamps the drill rod, the rotary unit controls the gripper's tilt angle to increase, then the rotary motor drives the rotary arm to rotate the gripper, and then the rotary unit controls the gripper's tilt angle to decrease until the drill rod is placed into the drilling rig's holder. Once the drill rod is placed into the drilling rig's holder, it is considered properly positioned. At this point, the gripper contacts a sensor on the frame, causing the rotary unit to stop rotating. After the holder clamps the drill rod, the gripper releases the gripper and the robotic arm resets.

[0004] After the drill rod to be clamped is placed in position, the rotary arm is parallel to the frame, meaning the drill rod to be clamped is parallel to the frame, and the drill rod to be clamped is coaxial with the active drill rod of the drilling rig. Then, the active drill rod moves and rotates, and is threadedly connected to the tail end of the drill rod to be clamped. This is existing technology and will not be elaborated further. However, it should be noted that... Figure 1 As shown, during the process of reducing the tilt angle of the slewing gripper, 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 to ensure that the drill rod to be clamped is placed smoothly, the distance between the drill rod to be clamped and the active drill rod must be increased. That is, after the drill rod to be clamped is placed in the gripper 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. This distance directly increases the width of the drilling rig and cannot adapt well to the working environment of narrow roadways in coal mines. Summary of the Invention

[0005] The present invention aims to provide a robotic arm that can shorten the width of the drilling rig, in order to solve the problem that the large distance between the active drill rod and the drill rod to be clamped leads to an increase in the width of the drilling rig body, which makes it unable to adapt well to the working environment of narrow underground roadways in coal mines.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a robotic arm that facilitates shortening the width of the machine body, 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 the swinging mechanism. After the rotary reducer drives the flipping mechanism to tilt at an angle greater than the frame tilt angle, the flipping mechanism drives the clamping mechanism to flip above the frame. After the rotary reducer drives the flipping mechanism to reduce the tilt 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 advantages of this solution are:

[0008] After the rotary reducer drives the tilting mechanism to increase the tilt angle through the rotating arm, the tilting mechanism drives the clamping mechanism to tilt. 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. 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 tilting mechanism and the rotary reducer work together to drive the clamping mechanism to reset and continue to repeat this process to load and unload the drill rod.

[0009] Compared with existing robotic arms for loading and unloading drill rods, this solution changes the method of placing the drill rod to be clamped in position and then aligning it parallel to the frame. By setting up a swing mechanism, the swing mechanism swings the drill rod to be clamped, which is parallel or nearly parallel to the frame, into the holder. During the process of the drill rod entering the holder, the trajectory of its tail is no longer an arc. The drill rod to be clamped can be placed in position with a very small distance from the active drill rod in the axial direction of the frame. This solves the problem of interference between the tail of the drill rod to be clamped and the active drill rod during the process of placing the drill rod to be clamped into the holder in the existing technology. Furthermore, it solves the problem of a large distance between the tail of the active drill rod and the tail of the drill rod to be clamped after the drill rod is placed in position.

[0010] Compared to existing technologies, this solution reduces the distance between the active drill rod and the tail of the drill rod to be clamped by 80mm after the drill rod to be clamped is placed in place. This 80mm reduction shortens the stroke of the active drill rod, reduces the design difficulty, and also reduces the length of the frame by 80mm in the axial direction, that is, reduces the width of the drilling rig by 80mm. This makes the structure of the drilling rig more compact and better able to adapt to the working environment of narrow roadways in coal mines. At the same time, the frame is less restricted when adjusting the tilt angle.

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

[0012] The technical effect of this solution is that when the swing cylinder extends and retracts, it drives the clamping mechanism to rotate around the slewing frame, thereby swinging the drill rod held by the clamping mechanism into the swing-out clamp; and after the slewing frame contacts the sensor set on the machine frame, the drill rod is parallel or nearly parallel to the machine frame. At this time, the slewing reducer stops, and the swing mechanism drives the drill rod to swing into the swing-out 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 rotary frame through a swing cylinder, and the telescopic mechanism can rotate around the rotary frame to drive the clamping mechanism to rotate.

[0014] The technical effect of this solution is that 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 action of the telescopic mechanism. In this way, the space occupied by the flipping clamping mechanism is smaller, which helps to improve the compactness of the drilling rig and facilitates operation in narrow tunnels.

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

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

[0017] The technical advantages of this solution are as follows: Compared with the existing technology, the hydraulic motor drives the spindle to rotate at a smaller limit angle. That is, after the spindle flips the drill rod above the frame through the telescopic mechanism and the clamping mechanism, the spindle stops rotating. After the tilt angle of the rotary reducer decreases, the rotary frame contacts the sensor set 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 located diagonally above the active drill rod. The swing cylinder extends and drives 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 inside the rotating arm, an inner boss is fixed on the inner wall of the positioning sleeve, and an outer boss is fixed on the outer arm of the main shaft. After the outer boss rotates to the limit position with the main shaft, it abuts against the inner boss.

[0019] The technical advantage of this solution is that by limiting the extreme rotation angle through a mechanical structure, the number of sensing elements required can be reduced.

[0020] Preferably, as an improvement, the telescopic mechanism includes a telescopic 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 rotary frame via a swing cylinder, and the telescopic outer cylinder is rotatably connected to the rotary frame, and the swing cylinder can drive the telescopic outer cylinder to rotate about the main shaft as the axis.

[0021] Preferably, as an improvement, the telescopic mechanism further includes a telescopic positioning component for detecting the extreme positions of the telescopic inner cylinder when it extends or retracts.

[0022] The technical advantages of this solution are as follows: Existing technology determines the completion of the extension and retraction of the telescopic inner cylinder by the pressure of the telescopic cylinder. Increasing the extension and retraction speed requires increasing the hydraulic oil flow. However, in actual use, the inertia, jamming, and hydraulic oil pressure pulsation during the robot's extension or retraction can cause the starting pressure to exceed the judgment pressure, leading to interference between the clamping mechanism and other components and potentially causing a hazard. Therefore, adding a telescopic positioning component allows for a secondary judgment of the extension and retraction action. This not only prevents robot malfunctions but also effectively increases the speed of the extension and retraction, thereby improving operational efficiency.

[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 cylinder, the proximity switch is mounted 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 both ends of the signal rod are provided with notches. When the notches approach the proximity switch, the signal changes.

[0024] The technical effect of this solution is as follows: the signal rod has notches at both ends but no notch in the middle. The notches cooperate with the proximity switch. When the notch approaches the proximity switch, the proximity switch no longer contacts the signal rod, causing the signal to change. This determines whether the signal rod is fully extended or retracted. Since the signal rod extends and retracts with the telescopic inner cylinder, it also determines whether the telescopic inner cylinder is fully extended or retracted.

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

[0026] The technical effect of this solution is that the support block restricts the freedom of movement of the signal rod, ensuring that the guide rod can only extend and retract in 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, and the movable claw is hinged to the clamping cylinder and the fixed seat, and the movable claw can rotate around the fixed seat.

[0028] Preferably, as an improvement, the rotary 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 installed on the frame, the drill rod is parallel to the frame. The side plate closer 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 includes a pin fixedly connected to the telescopic outer cylinder, the pin being coaxial with the main shaft and rotatably connected to the side plate.

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

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

[0032] After the rotary reducer drives the tilting mechanism to increase its tilt angle until it is greater than the tilt angle of the frame, the tilting mechanism drives the clamping mechanism to tilt to the top of the frame. After the rotary reducer drives the tilting mechanism to decrease its tilt angle until the tilting mechanism is parallel to the frame, the swinging mechanism drives the clamping mechanism to swing the drill rod to be clamped into the clamp.

[0033] Preferably, as an improvement, after the rotary reducer drives the tilting mechanism to increase the tilt angle until it is greater than the tilt angle of the frame, the tilting mechanism drives the clamping mechanism to transfer the drill rod to be clamped to the top of the drilling rig frame. After the rotary reducer drives the tilting mechanism to decrease the tilt angle until the tilting 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.

[0034] The technical effect of this solution is as follows: Although the rotary reducer can directly increase the tilt angle of the flipping mechanism to make the drill rod to be clamped parallel or nearly parallel to the frame, the tilt angle may be too large. The rotary reducer driving the tilting mechanism to increase and then decrease the tilt angle can 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 tilt angle and the rotation axis of the rotary reducer is less than the distance between the proximity switch for detecting the parallelism between the drill rod to be clamped and the rotation axis of the rotary reducer, that is, the former's rotation radius is smaller than the latter's rotation radius, under the same rotation arc length error, the smaller rotation radius corresponds to a larger angle error. Therefore, relying solely on the proximity switch for detecting the tilt angle for positioning may cause the tilt angle between the drill rod to be clamped and the frame to be too large within the rotation error arc length range, affecting the subsequent engagement action between the active drill rod and the drill rod to be clamped. Therefore, the rotary reducer driving the tilting mechanism to increase and then decrease the tilt angle can ensure that the drill rod to be clamped is parallel or nearly parallel to the frame.

[0035] Preferably, as an improvement, the angle of the tilting mechanism driven by the rotary reducer is increased and then decreased by 7°–10°.

[0036] Preferably, as an improvement, before the rotary reducer drives the tilting mechanism to increase the tilt angle, the tilting mechanism drives the clamping mechanism to tilt by a certain angle first.

[0037] The technical effect of this solution is that, in order to shorten the width of the machine body, the guide rail used for the movement of the auxiliary manipulator is moved 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 is 150°.

[0039] The technical effect of this solution is that the clamping mechanism clamps the drill rod to be clamped and rotates it 150° 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 near-parallel tilt angle is 0-1°. Attached Figure Description

[0041] Figure 1 This is a schematic diagram illustrating the process of placing the drill pipe into position, as described in the background section of this invention.

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

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

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

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

[0046] Figure 6 This is a schematic diagram of the process of placing the drill pipe into position according to the present invention. Detailed Implementation

[0047] The following detailed description illustrates the specific implementation method:

[0048] The reference numerals in the accompanying drawings include: 1. Rotary reducer; 2. Rotating arm; 3. Hydraulic motor; 4. Main shaft; 5. Positioning sleeve; 6. Inner boss; 7. Outer boss; 8. Telescopic outer cylinder; 9. Telescopic inner cylinder; 10. Protective cover; 11. Signal rod; 12. Proximity switch; 13. Support block; 14. Notch; 15. Clearance part; 16. Connecting part; 17. Clamping cylinder; 18. Fixed seat; 19. Movable claw; 20. Swinging cylinder; 21. Connecting plate; 22. Side plate; 23. Sensor; 24. Clamper; 25. Drill rod to be clamped; 26. Active drill rod; 27. Frame.

[0049] The basic implementation examples are as follows: Figure 1-6 As shown:

[0050] like Figure 2 , 3 The illustrated robotic arm, which facilitates a reduction in body width, includes a rotary reducer 1, a rotating arm 2, a flipping mechanism, a telescopic mechanism, a clamping mechanism, and a swinging mechanism. The lower end of the rotating arm 2 is fixedly connected to the rotary reducer 1 by bolts. An arc-shaped steel plate is fixed to the inner wall of the lower end of the rotating arm 2. A detection module is installed inside the lower end of the rotating arm 2. The detection module passes through the rotating arm 2 and the rotary reducer 1 and is mounted on the frame 27 of the drilling rig. The tilt angle of the detection module is 8° larger than the tilt angle of the frame and changes along with the tilt angle of the frame 27. The signal changes when the arc-shaped steel plate contacts the detection module.

[0051] The tilting 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 fixedly connected to the flange of the main shaft 4. The hydraulic motor 3 drives the main shaft 4 to rotate within the range of 0-240°. Specifically, as shown... Figure 4 As shown, a positioning sleeve 5 is fixed to the inner wall of the rotating arm 2 by bolts. An inner boss 6 is integrally formed on the inner wall of the positioning sleeve 5. An outer boss 7 is fixed to the outer arm of the main shaft 4 by bolts. After the outer boss 7 rotates to the limit position with the main shaft 4, it abuts against the inner boss 6.

[0052] like Figure 2-4 As shown, the telescopic mechanism includes a telescopic cylinder and a telescopic positioning component. The telescopic cylinder includes a telescopic outer cylinder 8 and a telescopic inner cylinder 9 that is slidably connected to the telescopic outer cylinder 8. The positioning component is used to detect the extreme positions of the telescopic inner cylinder 9 when it extends or retracts.

[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. A mounting base perpendicular to the protective cover 10 is welded to the left end of the protective cover 10. The mounting base is connected to... Figure 4 The telescopic outer cylinder 8 shown is bolted to the end. The support block 13 is bolted to the protective cover 10. The proximity switch 12 is mounted 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 inside the protective cover 10. Both ends of the signal rod 11 have 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 a proximity switch 12. The connecting frame includes a clearance part 15 and two connecting parts 16. The clearance part 15 is U-shaped and connected to the right end of the signal rod 11 by a pin. Each of the two connecting parts 16 is welded to one end of the clearance part 15.

[0054] like Figure 3 , 4As shown, the clamping mechanism includes a clamping cylinder 17, a fixed base 18, and a movable claw 19. The fixed base 18 is fixedly connected to the telescopic inner cylinder 9. Two connecting parts 16 are clamped on the fixed base 18 and bolted to the fixed base 18. The movable claw 19 is hinged to the fixed base 18 via a pin. One end of the housing of the clamping cylinder 17 is hinged to the fixed base 18 at the clearance part 15. 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 rotating frame. The rotating frame includes a connecting plate 21 and two L-shaped side plates 22, which are integrally formed with the connecting plate 21. The side plate 22 closest to the main shaft 4 is fixedly connected to the flange of the main shaft 4. The connecting plate 21 is located on the side of the opening formed by the fixed seat 18 and the movable claw 19. The connecting plate 21 has a weight-reducing hole. One end of the housing of the swing cylinder 20 is hinged to the connecting plate 21 at the weight-reducing hole end. 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 rotatably connected to the side plate 22. The connecting plate 21 at the other end of the weight-reducing hole can be connected to... Figure 6 When the sensor 23 on the frame 27 is in contact with the connecting plate 21, 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 is also a proximity switch 12. Then, the swing cylinder 20 drives the telescopic mechanism and the clamping mechanism to swing downward, so that the drill rod 25 to be clamped is placed into the clamp 24 in a state parallel or nearly parallel to the frame 27 and is engaged with the active drill rod 26. Nearly parallel means that the tilt angle is in the range of 0-1°. Of course, after uncoupling, the swing cylinder 20 can also drive the telescopic mechanism and the clamping mechanism to swing upward, so that the drill rod in the hole is placed 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 When the telescopic inner cylinder 9 inside the telescopic outer cylinder 8 extends, it drives the fixed seat 18 and the movable claw 19 to extend. 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 retracts. Figure 3 The state shown is as follows—in the case of Figure 3 Based on the state shown, hydraulic motor 3 drives spindle 4, swing mechanism, telescopic mechanism, clamping mechanism, and drill rod 25 to be clamped to rotate 150° to the vertical plane. Rotary reducer 1 drives the rotation mechanism, swing mechanism, telescopic mechanism, clamping mechanism, and drill rod 25 to increase their tilt angle until the tilt angle of spindle 4 is 7°–10° greater than the tilt angle of frame 27. Hydraulic motor 3 continues to drive spindle 4, swing mechanism, telescopic mechanism, clamping mechanism, and drill rod 25 to rotate 90° until... Figure 2As shown in the diagram—the rotary reducer 1 drives the tilting mechanism, swing mechanism, telescopic mechanism, clamping mechanism, and the drill rod 25 to be clamped to reduce their inclination angle until the connecting plate 21 is aligned with the drill rod 25. Figure 6 The sensor 23 installed on the frame 27 is in contact with the drill rod 25 to be clamped. 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, causing 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, causing the telescopic mechanism and the clamping mechanism to swing downward, thereby causing the drill rod 25 to be clamped. Figure 6 The path shown is inserted into the clamp 24. After it is in place, the drill rod 25 to be clamped, the active drill rod 26, and the drill rod in the hole are on the same axis. The clamping cylinder 17 drives the movable claw 19 to release and execute the reset procedure.

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

[0059] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A robotic arm that facilitates a reduction in body width, comprising a rotary reducer, a rotating arm, a flipping mechanism, and a gripping mechanism connected in sequence; characterized in that: It also includes a swing mechanism. The clamping mechanism is connected to the tilting mechanism through the swing mechanism. The rotary reducer and the tilting mechanism work together to transfer the drill rod to be clamped to the top of the drilling rig frame and parallel or nearly parallel to the frame. Then, the swing mechanism drives the clamping mechanism to rotate and swings the drill rod to be clamped into the clamp. The swing mechanism includes a swing cylinder and a rotary frame. The rotary frame is connected to the overturning mechanism. The clamping mechanism is hinged to the rotary frame through the swing cylinder and can rotate around the rotary frame. When the rotary frame contacts the sensor installed on the frame, the drill rod is parallel or nearly parallel to the frame. 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 rotary frame through a swing cylinder, and the telescopic mechanism can rotate around the rotary frame to drive the clamping mechanism to rotate. The tilting mechanism includes a hydraulic motor connected to the rotating arm and a main shaft connected to the hydraulic motor, with the rotating frame fixedly connected to the main shaft; After the rotary reducer drives the tilting mechanism to increase its tilt angle until it is greater than the tilt angle of the frame, the tilting mechanism drives the clamping mechanism to transfer the drill rod to be clamped to the top of the drilling rig frame. After the rotary reducer drives the tilting mechanism to decrease its tilt angle until the tilting 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.

2. The robotic arm according to claim 1, which facilitates shortening the width of the machine body, is characterized in that: The hydraulic motor drives the spindle to rotate within the range of 0-240°.

3. The robotic arm according to claim 2, which facilitates shortening the width of the machine body, is characterized in that: A positioning sleeve is fixed inside the rotating arm, and 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. After the outer boss rotates to the limit position with the main shaft, it abuts against the inner boss.

4. A robotic arm according to any one of claims 1 or 3 that facilitates shortening the width of the machine body, characterized in that: The telescopic mechanism includes a telescopic cylinder, which includes a telescopic outer cylinder and a telescopic inner cylinder that is slidably connected to the telescopic outer cylinder; the clamping mechanism is connected to the telescopic inner cylinder, and the telescopic outer cylinder is hinged to the rotary frame through a swing cylinder, and the telescopic outer cylinder is rotatably connected to the rotary frame. The swing cylinder can drive the telescopic outer cylinder to rotate around the main shaft.

5. A robotic arm according to claim 4 that facilitates shortening the width of the machine body, characterized in that: The telescopic mechanism also includes a telescopic positioning component, which is used to detect the extreme positions of the telescopic inner cylinder when it extends or retracts.

6. A robotic arm according to claim 5 that facilitates shortening the width of the machine body, 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 cylinder, 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 both ends of the signal rod are provided with notches. When the notches are close to the proximity switch, the signal changes.

7. A robotic arm according to claim 6 that facilitates shortening the width of the machine body, characterized in that: The telescopic positioning assembly also includes a support block, which is fixedly connected to the protective cover, a proximity switch is fixedly connected to the support block, and a signal rod is slidably connected to the support block.

8. A robotic arm according to claim 7 that facilitates shortening the width of the machine body, characterized in that: The clamping mechanism includes a clamping cylinder, a fixed base, and a movable claw. The fixed base is fixedly connected to the telescopic inner cylinder, and the connecting frame is connected to the fixed base. The movable claw is hinged to the clamping cylinder and the fixed base, and the movable claw can rotate around the fixed base.

9. A robotic arm according to claim 8 that facilitates shortening the width of the machine body, characterized in that: The rotary 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 installed on the frame, the drill rod is parallel to the frame. The side plate closer to the flipping mechanism is connected to the flipping mechanism. The clamping mechanism is hinged to the connecting plate through a swing cylinder, and the clamping mechanism can rotate around the side plate.

10. A robotic arm according to claim 9 that facilitates shortening the width of the machine body, characterized in that: The swing mechanism also includes a pin that is fixedly connected to the telescopic outer cylinder. The pin is coaxial with the main shaft and is rotatably connected to the side plate.

11. A robotic arm according to any one of claims 8 or 10, characterized in that: The connecting frame includes a clearance section and two connecting sections. The clearance section is U-shaped and connected to one end of the signal pole. The two connecting sections are each fixed to one end of the clearance section and fixedly connected to the fixed seat. The clamping cylinder is hinged to the fixed seat at one end located at the clearance section.

12. A robotic arm according to claim 11 that facilitates shortening the width of the machine body, characterized in that: The protective cover is fixed with a mounting base perpendicular to the protective cover at the end away from the fixed base, and the protective cover is fixedly connected to the end of the telescopic outer cylinder through the mounting base.

13. A robotic arm according to claim 1 that facilitates shortening the width of the machine body, characterized in that: The tilting angle of the rotary reducer driving the tilting mechanism increases and then decreases by 7°–10°.

14. A robotic arm according to claim 13 that facilitates shortening the width of the machine body, characterized in that: Before the rotary reducer drives the tilting mechanism to increase the tilt angle, the tilting mechanism drives the clamping mechanism to tilt at a certain angle first.

15. A robotic arm according to claim 14 that facilitates shortening the width of the machine body, characterized in that: The flipping mechanism drives the clamping mechanism to flip by 150°.

16. A robotic arm according to any one of claims 1 or 2, characterized in that: The near-parallel tilt angle is 0-1°.

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