Drill rod feeding and discharging robot grabbing mechanism

Abstract

The invention discloses a drilling rod feeding and discharging robot grabbing mechanism, and relates to the field of robot grabbing, the drilling rod feeding and discharging robot grabbing mechanism comprises a base plate, a rotating seat is rotationally embedded in the center of the top of the base plate, a hinge seat is arranged on the rotating seat in a protruding mode, a first supporting rod is hinged to the hinge seat, and a hinge ring is rotationally arranged on one side edge of the first supporting rod; a second supporting rod is hinged to the side, away from the hinge seat, of the first supporting rod, and a connecting rod is arranged at the end, close to the first supporting rod, of the second supporting rod in a protruding mode. A connecting rod is hinged between the hinge ring and the connecting rod, a third supporting rod is rotationally embedded in the end, away from the connecting rod, of the second supporting rod, and a grabbing assembly is installed on the fixing plate. According to the drilling rod grabbing device, drilling rods can be attracted and grabbed through electromagnetic attraction in the working process, auxiliary grabbing treatment can be conducted on the multiple sets of drilling rods at the same time through the two sets of magnetic attraction assemblies symmetrically arranged on the mounting frame, and the overall drilling rod grabbing efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the field of robot grasping, and in particular to a drill rod loading and unloading robot grasping mechanism. Background Art

[0002] Drill tool joints are a component of drill pipe, typically cylindrical in shape, with male and female connectors connected at both ends of the drill pipe body. Drill tool joints are subject to harsh service conditions, enduring a variety of complex loads such as tension, torsion, bending, vibration, and impact. These conditions require high strength and good plasticity. To meet these requirements, drill tool joints typically require further processing, requiring the drill pipe to be moved to a designated workbench.

[0003] Existing drill rod loading and unloading methods mostly rely on manual loading of the rod body. During the production process, long drill rods are difficult to load by one person, requiring two or even more people to load the rods. This is inefficient and wastes manpower, making it difficult to meet production efficiency and capacity requirements. In addition, manual loading of the rod body for a long time can cause fatigue. Therefore, a drill rod loading and unloading robot gripping mechanism is needed to help solve this problem. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide a drill rod loading and unloading robot grasping mechanism to solve the existing drill rod loading and unloading, which is mostly done by manual rod loading. During the loading process, there are drill rods with longer lengths, and it is difficult for one person to meet the loading requirements. It requires two or even more people to cooperate in loading, which is inefficient and wastes manpower. It is difficult to meet production efficiency and production capacity. In addition, there is a technical problem of manual work fatigue caused by long-term loading of the rod body.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a gripping mechanism for a drill rod loading and unloading robot, comprising a base plate, a rotating seat rotatably embedded in the center of the top of the base plate, an articulated seat protruding from the rotating seat, a first support rod hingedly mounted on the articulated seat, a hinge ring rotatably mounted on one side of the first support rod, a second support rod hingedly mounted on a side of the first support rod away from the articulated seat, and a connecting rod protruding from one end of the second support rod close to the first support rod;

[0006] A connecting rod is hingedly installed between the hinge ring and the connecting rod, a third supporting rod is rotatably embedded and installed on one end of the second supporting rod away from the connecting rod, a rotating frame is rotatably hingedly installed on one end of the third supporting rod away from the second supporting rod, a fixing plate is installed on one end of the rotating frame away from the third supporting rod, and a grabbing assembly is installed on the fixing plate.

[0007] The present invention is further configured such that the grabbing assembly includes a mounting frame mounted on a fixed plate, magnetic adsorption assemblies are symmetrically mounted on both ends of the mounting frame, an adjustment cavity is provided on the mounting frame, and an adjustment assembly for driving the position adjustment of the magnetic adsorption assembly is installed in the adjustment cavity.

[0008] The present invention is further configured such that the magnetic adsorption component includes a sliding seat slidably arranged in the adjusting cavity, buffer connectors are installed at the four corners of the sliding seat, an installation box is installed on the buffer connector, and two groups of magnetic adsorption components are symmetrically installed on the installation box, and the two groups of magnetic adsorption components are V-shaped.

[0009] The present invention is further configured such that the buffer connecting member includes a first connecting seat installed on a sliding seat and a second connecting seat installed on an installation box, the second connecting seat is fixed to the sliding seat by a fixing pin, a connecting pin is installed slidingly between the first connecting seat and the second connecting seat, and a buffer spring is installed on the outer edges of the first connecting seat and the second connecting seat.

[0010] The present invention is further configured such that one end of the connecting pin is snap-fitted and mounted on the first connecting seat, and the other end of the connecting pin is snap-fitted and mounted on the second connecting seat.

[0011] The present invention is further configured such that the adjustment assembly includes a bidirectional screw rod that passes transversely through the two adjustment cavities, the bidirectional screw rod is installed on the sliding seat, the bidirectional screw rod and the sliding seat are threadedly engaged, and an embedded disk is fixed at one end of the bidirectional screw rod, and the embedded disk is rotatably embedded and installed on the mounting frame.

[0012] The present invention is further configured such that position sensors are installed at both ends of the mounting frame corresponding to the two magnetic adsorption components, and the position sensor is located between the two magnetic adsorption components.

[0013] The present invention is further configured such that a control box is installed on the second support rod, the control box is electrically connected to the installation box on the magnetic adsorption component through wires, a winding drum is installed on one side of the control box that clamps the grabbing component, and the wires are passed through and installed in the winding drum.

[0014] The present invention is further configured such that a first rotating motor driving the third supporting rod to rotate is installed in the second supporting rod, a second rotating motor is installed on the outer side of the rotating frame, and a base motor driving the rotating seat to rotate is installed at the bottom of the base plate.

[0015] The present invention is further configured such that a first servo motor for driving the hinge ring to rotate and a second servo motor for driving the first support rod to rotate are respectively installed on the outer sides of the hinge seat.

[0016] In summary, the present invention has the following main beneficial effects: the present invention can realize the adsorption and grabbing of drill rods by electromagnetic adsorption during operation through the manipulator installed on the base plate and the magnetic adsorption component on the manipulator, and can simultaneously assist in the grabbing of multiple groups of drill rods through the two sets of magnetic adsorption components symmetrically arranged on the mounting frame, thereby improving the overall efficiency of drill rod grabbing;

[0017] Through the buffer connector provided on the magnetic adsorption component, when the electromagnet presses on the drill rod during operation, the buffer spring is shortened and compressed as a whole, thereby effectively absorbing and buffering the downward force, minimizing damage to the drill rod surface caused by the electromagnet during the downward pressure and adsorption process, ensuring stable transportation of the drill rod while avoiding damage to the drill rod, and further improving the overall practicality of the device;

[0018] By means of the adjustment assembly arranged on the mounting frame, the positions of the two magnetic adsorption assemblies on the same side can be effectively adjusted according to the overall length of the drill rod during operation, thereby ensuring balanced force during the grasping operation, preventing the drill rod from deflecting or sliding, and improving the stability, safety and reliability of the grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 It is a structural diagram of the grabbing assembly of the present invention;

[0021] Figure 3 For the present invention Figure 2 Schematic diagram of the enlarged structure at A in the middle;

[0022] Figure 4 It is a structural schematic diagram of the installation box of the present invention;

[0023] Figure 5 A longitudinal sectional view of the mounting box of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the magnetic adsorption component of the present invention when it is connected to the adjustment screw rod.

[0025] In the figure: 1. base plate; 2. rotating seat; 3. articulated seat; 4. first servo motor; 5. articulated ring; 6. connecting rod; 7. second servo motor; 8. first support rod; 9. connecting rod; 10. second support rod; 11. control box; 111. winding drum; 12. third support rod; 13. rotating frame; 14. grabbing assembly; 15. mounting frame; 16. fixing plate; 17. position sensor; 18. magnetic adsorption assembly; 19. mounting box; 20. electromagnet; 21. buffer connector; 211. first connecting seat; 212. second connecting seat; 213. fixing pin; 214. buffer spring; 215. connecting pin; 22. adjusting assembly; 221. bidirectional screw rod; 222. embedded disk; 223. sliding seat. DETAILED DESCRIPTION

[0026] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be understood as limiting the present invention.

[0027] A drill rod loading and unloading robot grasping mechanism, such as Figure 1-6 As shown, it includes a base plate 1, a rotating seat 2 is rotatably embedded at the top center of the base plate 1, a hinge seat 3 is protrudingly provided on the rotating seat 2, a first support rod 8 is hingedly installed on the hinge seat 3, a hinge ring 5 is rotatably provided on one side of the first support rod 8, a second support rod 10 is hingedly installed on the side of the first support rod 8 away from the hinge seat 3, a control box 11 is installed on the second support rod 10, the control box 11 is electrically connected to the mounting box 19 on the magnetic adsorption component 18 through wires, a winding drum 111 is installed on one side of the control box 11 clamping the grasping component 14, and the wire is passed through and installed in the winding drum 111, a connecting rod 9 is protrudingly provided on one end of the second support rod 10 close to the first support rod 8, a connecting rod 6 is hingedly installed between the hinge ring 5 and the connecting rod 9, a third support rod 12 is rotatably embedded and installed on one end of the second support rod 10 away from the connecting rod 9, and a rotating frame 13 is rotatably and hingedly installed on the end of the third support rod 12 away from the second support rod 10.

[0028] The second support rod 10 is equipped with a first rotating motor that drives the third support rod 12 to rotate, the outer side of the rotating frame 13 is equipped with a second rotating motor, the bottom of the substrate 1 is equipped with a base motor that drives the rotating seat 2 to rotate, and the outer sides of the hinged seat 3 are respectively equipped with a first servo motor 4 that drives the hinge ring 5 to rotate and a second servo motor 7 that drives the first support rod 8 to rotate. During specific operation, the control box 11 is equipped with a PLC controller that drives the first rotating motor, the second rotating motor, the base motor, and the first servo motor 4 and the second servo motor 7. The model of the PLC is S7-200, which can be used but not limited to this model. During specific operation, a conductive slip ring can be used at the rotating connection of the wire.

[0029] A grabbing assembly 14 is installed on the fixed plate 16, and the grabbing assembly 14 includes a mounting frame 15 mounted on the fixed plate 16. Magnetic adsorption assemblies 18 are symmetrically installed at both ends of the mounting frame 15. Through the manipulator installed on the base plate 1 and the magnetic adsorption assembly 18 on the manipulator, the drill rod can be adsorbed and grabbed by electromagnetic adsorption during operation, and through the two groups of magnetic adsorption assemblies 18 symmetrically arranged on the mounting frame 15, multiple groups of drill rods can be assisted in grabbing at the same time, which can improve the overall efficiency of drill rod grabbing.

[0030] Furthermore, position sensors 17 are installed at both ends of the mounting frame 15 corresponding to the two magnetic adsorption components 18. The model of the position sensor 17 is DJWX-52, which can be used but is not limited to this model. The position sensor 17 is located between the two magnetic adsorption components 18. An adjustment cavity is opened on the mounting frame 15, and an adjustment component 22 is installed in the adjustment cavity to drive the position adjustment of the magnetic adsorption component 18. The adjustment component 22 includes a bidirectional screw rod 221 that passes through the two adjustment cavities horizontally. The bidirectional screw rod 221 is installed on the sliding seat 223. The bidirectional screw rod 221 and the sliding seat 223 are threaded together. An embedded disk 222 is fixed at one end of the bidirectional screw rod 221, and the embedded disk 222 is rotatably embedded and installed on the mounting frame 15.

[0031] By means of the adjustment assembly 22 provided on the mounting frame 15, the positions of the two magnetic adsorption assemblies 18 on the same side can be effectively adjusted according to the overall length of the drill rod during operation, thereby ensuring balanced force during the grasping operation, preventing the drill rod from deflecting or sliding, and improving the stability, safety and reliability of the grasping.

[0032] Furthermore, the buffer connector 21 includes a first connecting seat 211 installed on the sliding seat 223 and a second connecting seat 212 installed on the mounting box 19. The second connecting seat 212 is fixed to the sliding seat 223 by a fixing pin 213. A connecting pin 215 is installed and slidably penetrates between the first connecting seat 211 and the second connecting seat 212. One end of the connecting pin 215 is snap-fitted to the first connecting seat 211, and the other end of the connecting pin 215 is snap-fitted to the second connecting seat 212. A buffer spring 214 is sleeved on the outer edges of the first connecting seat 211 and the second connecting seat 212.

[0033] By means of the buffer connector 21 provided on the magnetic adsorption assembly 18, when the electromagnet 20 is pressed on the drill rod during operation, the buffer spring 214 is shortened and compressed as a whole, thereby effectively absorbing and buffering the downward pressure, and minimizing the damage to the drill rod surface caused by the electromagnet 20 during the downward pressure and adsorption process of the electromagnet 20, thereby ensuring that the drill rod can be transported stably while avoiding damage to the drill rod, and further improving the overall practicality of the device.

[0034] Working principle of the present invention:

[0035] When the drill rod needs to be loaded, the base plate 1 is fixed on the corresponding workbench. Before work, the embedding disk 222 is rotated, and the embedding disk 222 drives the bidirectional screw rod 221 to rotate as a whole. The bidirectional screw rod 221 is threadedly engaged with the sliding seat 223, thereby moving the sliding seat 223, and then moving the magnetic adsorption component 18 to the specified position.

[0036] During operation, the first servo motor 4, the second servo motor 7, the first rotating motor, the second rotating motor and the base motor are started. When the magnetic adsorption component 18 reaches the drill rod, the drill rod is assisted by the electromagnet 20 on the magnetic adsorption component 18 for electromagnetic adsorption. During adsorption, the first servo motor 4 is started, and the first servo motor 4 drives the hinge ring 5 to rotate as a whole, thereby pulling the connecting rod 6 as a whole, thereby pulling one end of the second support rod 10, thereby realizing the up and down swinging of the grabbing component 14, the second servo motor 7 drives the first support rod 8 to rotate as a whole, thereby realizing the forward and backward swinging of the grabbing component 14, the first rotating motor drives the third support rod 12 to rotate as a whole, thereby causing the grabbing component 14 to rotate and flip as a whole, the second rotating motor drives the rotating frame 13 to rotate, thereby causing the grabbing component 14 to swing left and right around the third support rod 12, and at the same time, the base motor drives the rotating seat 2 to rotate, thereby driving the rotating seat 2 to rotate as a whole, thereby facilitating the overall movement of the robot to the specified position for extraction.

[0037] During adsorption, the electromagnet 20 is attached to the drill rod. When the electromagnet 20 presses on the drill rod, the buffer spring 214 is shortened and compressed as a whole, thereby effectively absorbing and buffering the downward pressure, and minimizing the damage to the drill rod surface caused by the electromagnet 20 during the downward pressure and adsorption process.

[0038] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiment without creative contribution as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A robot gripping mechanism for loading and unloading drill rods, comprising a base plate (1), characterized in that: A rotating seat (2) is rotatably embedded at the center of the top of the base plate (1), a hinge seat (3) is protrudingly provided on the rotating seat (2), a first support rod (8) is hingedly installed on the hinge seat (3), a hinge ring (5) is rotatably provided on one side of the first support rod (8), a second support rod (10) is hingedly installed on the side of the first support rod (8) away from the hinge seat (3), and a connecting rod (9) is protrudingly provided on one end of the second support rod (10) close to the first support rod (8); A connecting rod (6) is hingedly installed between the hinge ring (5) and the connecting rod (9); a third supporting rod (12) is rotatably embedded and installed at one end of the second supporting rod (10) away from the connecting rod (9); a rotating frame (13) is rotatably hingedly installed at one end of the third supporting rod (12) away from the second supporting rod (10); a fixing plate (16) is installed at one end of the rotating frame (13) away from the third supporting rod (12); and a grabbing assembly (14) is installed on the fixing plate (16).

2. The drill rod loading and unloading robot gripping mechanism according to claim 1, characterized in that: The grabbing assembly (14) comprises a mounting frame (15) mounted on a fixed plate (16), magnetic adsorption assemblies (18) being symmetrically mounted on both ends of the mounting frame (15), an adjustment cavity being provided on the mounting frame (15), and an adjustment assembly (22) for driving the position adjustment of the magnetic adsorption assembly (18) being mounted in the adjustment cavity.

3. The drill rod loading and unloading robot gripping mechanism according to claim 2, characterized in that: The magnetic adsorption component (18) comprises a sliding seat (223) slidably arranged in the adjustment cavity, and buffer connectors (21) are installed at the four corners of the sliding seat (223). A mounting box (19) is installed on the buffer connector (21), and two groups of magnetic adsorption components (18) are symmetrically installed on the mounting box (19), and the two groups of magnetic adsorption components (18) are V-shaped.

4. The drill rod loading and unloading robot gripping mechanism according to claim 3, characterized in that: The buffer connection member (21) comprises a first connection seat (211) mounted on a sliding seat (223) and a second connection seat (212) mounted on a mounting box (19); the second connection seat (212) is fixed to the sliding seat (223) via a fixing pin (213); a connection pin (215) is slidably installed between the first connection seat (211) and the second connection seat (212); and a buffer spring (214) is sleeved and installed at the outer edges of the first connection seat (211) and the second connection seat (212).

5. The drill rod loading and unloading robot gripping mechanism according to claim 4, characterized in that: One end of the connecting pin (215) is snap-fitted and mounted on the first connecting seat (211), and the other end of the connecting pin (215) is snap-fitted and mounted on the second connecting seat (212).

6. The drill rod loading and unloading robot gripping mechanism according to claim 3, characterized in that: The adjustment assembly (22) includes a bidirectional screw rod (221) that transversely passes through the two adjustment cavities. The bidirectional screw rod (221) is installed on the sliding seat (223). The bidirectional screw rod (221) and the sliding seat (223) are threadedly engaged. An embedded disk (222) is fixed to one end of the bidirectional screw rod (221). The embedded disk (222) is rotatably embedded and installed on the mounting frame (15).

7. The drill rod loading and unloading robot gripping mechanism according to claim 3, characterized in that: Position sensors (17) are installed at both ends of the mounting frame (15) corresponding to the two magnetic adsorption components (18), and the position sensor (17) is located between the two magnetic adsorption components (18).

8. The drill rod loading and unloading robot gripping mechanism according to claim 7, characterized in that: A control box (11) is installed on the second support rod (10), and the control box (11) is electrically connected to the installation box (19) on the magnetic adsorption component (18) through an electric wire. A winding drum (111) is installed on one side of the control box (11) that clamps the grasping component (14), and the electric wire is passed through and installed in the winding drum (111).

9. The drill rod loading and unloading robot gripping mechanism according to claim 1, characterized in that: A first rotating motor for driving the third supporting rod (12) to rotate is installed in the second supporting rod (10), a second rotating motor is installed on the outer side of the rotating frame (13), and a base motor for driving the rotating seat (2) to rotate is installed at the bottom of the base plate (1).

10. The drill rod loading and unloading robot gripping mechanism according to claim 9, characterized in that: A first servo motor (4) for driving the hinge ring (5) to rotate and a second servo motor (7) for driving the first support rod (8) to rotate are respectively installed on the outer side of the hinge seat (3).

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