Automatic loading and unloading mechanical arm for drill pipe of core drilling machine

Abstract

The present application relates to the technical field of automatic loading and unloading mechanical arm for drill pipe of core drilling machine, and discloses an automatic loading and unloading mechanical arm for drill pipe of core drilling machine, which comprises a mechanical arm working part, a base is installed at the bottom of the mechanical arm working part, a first connecting plate is installed in the base, a support is connected to the outer end of the first connecting plate, a limiting block is arranged on the outer side of the support, and a placing rack is arranged on the outer side of the limiting block. The present application can realize the storage of the first connecting plate and the support by opening accommodating grooves on both sides of the base, and provides convenience for the storage and transportation of the drill pipe mechanical arm. Meanwhile, through the cooperation of the first connecting plate, the support, the limiting block and the placing rack, the automatic positioning of the drill pipe can be realized, the drill pipe being grabbed can be relatively maintained at the same position, the positioning efficiency of the mechanical arm gripper is improved, the loading and unloading efficiency of the drill pipe is improved, and the working efficiency of the drilling machine is improved.

Description

Technical Field

[0001] This invention relates to the field of automatic loading and unloading robotic arms for core drilling rigs, specifically an automatic loading and unloading robotic arm for core drilling rigs. Background Technology

[0002] A core drilling rig is a type of core drilling equipment. It is mainly used for the general survey and exploration of metallic and non-metallic solid minerals. In addition, it can also be used for engineering geological exploration, hydrogeological survey, general survey and exploration of oil and gas fields, and water well drilling.

[0003] As an important drilling tool in the fields of geological and mineral resource exploration and mining, the efficiency of loading and unloading drill rods directly affects the progress of the entire drilling work. At present, it is possible to realize the function of automatic loading and unloading of drill rods by robotic arms based on PLC control system. In actual work, the system drives the automatic loading and unloading gripper to move the drill rods neatly placed in the initial position to the designated working position according to the instructions, and then the drill rods are installed manually with assistance.

[0004] However, in actual operation of the robotic arm, since different drill rods are stored in different locations, the position of the electromagnetic gripper needs to be repositioned each time it grabs a drill rod. This increases the time spent grabbing the drill rod, reduces the efficiency of loading and unloading the drill rod, and thus affects the progress of the entire drilling work. In addition, the existing robotic arm requires the addition of additional hooks to achieve hoisting and transportation, which increases the amount of manual operation, causes inconvenience to the actual operation of the staff, and slows down the disassembly and assembly progress of the robotic arm. Summary of the Invention

[0005] In view of the shortcomings of existing automatic drill rod loading and unloading robotic arms for core drilling rigs mentioned in the background art, the present invention provides an automatic drill rod loading and unloading robotic arm for core drilling rigs, which has the advantages of high accuracy in drill rod positioning and convenient hoisting, and solves the technical problems of long drill rod positioning time and troublesome hook and ring disassembly and assembly mentioned in the background art.

[0006] The present invention provides the following technical solution: an automatic loading and unloading robotic arm for core drilling rigs, comprising a robotic arm working part, a base installed at the bottom of the robotic arm working part, a first connecting plate installed inside the base, a bracket connected to the outer end of the first connecting plate, a limit block configured on the outer side of the bracket, and a placement frame provided on the outer side of the limit block.

[0007] Preferably, the base has symmetrically provided receiving slots on both sides, and a locking block is connected to the top inside the receiving slot. The outer side of the locking block has an arc-shaped structure to facilitate the locking of the slot.

[0008] Preferably, the first connecting plate is movably connected to the receiving groove via a damping pivot, and the outer end of the first connecting plate is connected to the second connecting plate via the damping pivot. The damping pivot ensures the stability of the first connecting plate when it is opened. The rotation range of the connecting shafts on the first and second connecting plates is 180 degrees, ensuring that the first connecting plate can be retracted and that it is stable when it is opened. The bottom of the inner side of the second connecting plate is connected to a base plate. The first connecting plate as a whole can be retracted into the receiving groove by deflection, which is convenient for storage and provides convenience for the transportation and storage of the robotic arm.

[0009] Preferably, the bracket is connected to the base plate by a spring and a freely retractable rod, and the outer side of the bracket is movably sleeved on the outside of the limiting block. In its natural state, the top surface of the bracket is higher than the top of the limiting block, and at this time, the top of the bracket coincides with the top surface inside the receiving groove. A slot is provided on the other side of the bracket, and the slot can be movably engaged with the outside of the locking block.

[0010] Preferably, the limiting block is connected to the base plate and is located on the outside of the bracket, and the limiting block is movably inserted into the bracket.

[0011] Preferably, the placement frames are symmetrically mounted on both sides of the working part of the robotic arm via torsion springs, and the two placement frames are mounted on the side of the base in the unfolding direction of the first connecting plate. The unfolding direction of the first connecting plate is the main working direction of the robotic arm. In its natural state, the placement frames are vertical, and the tops of both sides of the placement frames are connected by round rods. The placement frames are connected to a support plate at the position outside the limiting block. The support plate is slightly inclined towards the direction below the limiting block to facilitate the automatic replenishment of the drill rod.

[0012] Preferably, the top of the bracket is an obtuse-angled folded plate structure with an angle of 120 degrees, which can accommodate drill rods of different specifications. The opening of the bracket is vertically upward, which facilitates the acceptance of drill rods.

[0013] Preferably, the distance between the bottom of the first connecting plate and the bottom surface of the base after the first connecting plate is unfolded is equal to the thickness of the contact point between the placement frame and the first connecting plate, so that the placement frame can be fixed in position.

[0014] The present invention has the following beneficial effects: 1. This invention enables the storage of the first connecting plate and the bracket by opening receiving slots on both sides of the base, providing convenience for the storage and transportation of the drill rod robotic arm. At the same time, through the cooperation of the first connecting plate, the bracket, the limiting block and the placement frame, the drill rod can be automatically positioned, so that the gripped drill rod can be relatively maintained in the same position, improving the positioning efficiency of the robotic arm gripper, thereby improving the loading and unloading efficiency of the drill rod and achieving the effect of improving the working efficiency of the drilling machine.

[0015] 2. The present invention uses a movable connecting placement frame, which can be easily retracted. The placement frame is set as a symmetrical structure on both sides of the working part of the robotic arm, which can facilitate the retraction of the placement frame. With the cooperation of the base plate, the position of the placement frame can be limited, and the stability of the placement frame can be guaranteed when the robotic arm is working without the need for additional structures.

[0016] 3. The present invention, through the cooperation of the slot and the block, can ensure the stability of the first connecting plate and the bracket when they are stored in the receiving slot, thereby facilitating the transportation and storage of the robotic arm. Attached Figure Description

[0017] Figure 1 A schematic diagram of the overall structure of the invention; Figure 2 This is a bottom-view structural diagram of the present invention; Figure 3 This is a partial top view of the structure of the present invention; Figure 4 This is a partial bottom view of the structure of the present invention; Figure 5 This is a partial cross-sectional structural diagram of the connecting ring groove position in this invention.

[0018] In the diagram: 1. Robotic arm working part; 2. Base; 21. Receiving groove; 211. Locking block; 22. Connecting ring groove; 3. First connecting plate; 31. Second connecting plate; 311. Base plate; 4. Bracket; 41. Locking groove; 5. Limiting block; 6. Placement frame; 61. Support plate. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 1An automatic drill rod loading and unloading robotic arm for a core drilling rig includes a robotic arm working part 1, a base 2 connected to the bottom of the robotic arm working part 1, the base 2 being fixed to the ground by bolts, and an electromagnetic gripper connected to the top of the robotic arm working part 1. The robotic arm working part 1 is controlled by a PLC control system to achieve precise control of the robotic arm and its movement position. The operator can set the gripping task and monitor the operating status through a human-machine interface. The working principle of the automatic drill rod loading and unloading robotic arm is existing technology, which can be directly obtained by those skilled in the art, and therefore will not be described in detail here. The base 2 has symmetrically opened receiving slots 21 on both sides. The inside of the receiving slots 21 is movably connected to a first connecting plate 3 via a rotating shaft. The outer end of the first connecting plate 3 is movably connected to a second connecting plate 31 via a rotating shaft. The bottom of the second connecting plate 31 near the inner side of the robotic arm working part 1 is connected to a base plate 311. By deflection, the first connecting plate 3 can be completely stored in the receiving slots 21, so that the first connecting plate 3 and the bracket 4 will not affect the daily handling and storage of the robotic arm.

[0021] Please see Figure 2 The connecting shafts of the first connecting plate 3 and the second connecting plate 31 are damping shafts, and the deflection range of both the first connecting plate 3 and the second connecting plate 31 is 180 degrees, so that when the first connecting plate 3 is fully extended, it can... Figure 3 As shown, and maintains the corresponding state stably, please refer to [link / reference]. Figure 3 The top of the base plate 311 is connected to a bracket 4 via a spring and a telescopic shaft. A limiting block 5 connected to the base plate 311 is movably inserted into the outside of the bracket 4. In its natural state, the top of the limiting block 5 is lower than the top surface of the bracket 4, and the bracket 4 has an obtuse angle structure with an internal included angle of 120°. The opening of the bracket 4 faces upward, allowing the drill rod to fall onto the bracket 4 along the placement frame 6. At the same time, the elastic force required for the spring at the bottom of the bracket 4 to deform is less than the weight of the lowest specification drill rod, causing the bracket 4 to move downward after the drill rod falls onto it. At this time, the limiting block 5... The relative support 4 moves upward, and the distance between the limiting block 5 and the placement frame 6 allows the next drill rod about to enter the support 4 to be stuck between the placement frame 6 and the limiting block 5, achieving the blocking effect of subsequent drill rods. This facilitates the gripping operation of the electromagnetic gripper on the robotic arm. After the drill rod on the support 4 is gripped, the support 4 returns to its original position, and the next drill rod continues to fall on the support 4, achieving the positioning effect of the relative position of the drill rod. This avoids the problem of the robotic arm gripper needing to reposition itself for subsequent work, improves the accuracy of the drill rod's position positioning, and thus improves the loading and unloading efficiency of the drill rod.

[0022] Please see Figure 4The outer side of the limiting block 5 is equipped with a placement frame 6 installed on the outer side of the base 2. The top of the placement frame 6 is connected to a support plate 61. The inner side of the support plate 61 is connected to the bracket 4, and the top surface of the support plate 61 is slightly inclined downward near the bracket 4, so that the drill rod can move automatically towards the bracket 4. The bottom end of the placement frame 6 is movably connected to the bottom of the base 2 through a torsion spring shaft. The placement frame 6 is in a vertical state in its natural state. The top end of the placement frame 6 is sleeved on the outside of the working part 1 of the robotic arm in the retracted state, which can play a protective role when the robotic arm is transported or stored, and improve the external protection performance of the robotic arm. At the same time, after the placement frame 6 is lowered, the position of the placement frame 6 is fixed by the opening of the first connecting plate 3 and the fixing of the base plate 311 above the placement frame 6, which facilitates manual operation, provides convenience for users, and can also be easily retracted to avoid space occupation problems.

[0023] Please see Figure 5 The robotic arm working part 1 has connecting ring grooves 22 on both sides of the top of the base 2. There are two sets of connecting ring grooves 22 symmetrically distributed. Through the cooperation of the connecting ring grooves 22, the problem of inconvenience in the disassembly and assembly of traditional hooks can be avoided. The bottom surface inside the connecting ring groove 22 is an arc-shaped structure, which can facilitate the passage of the connecting rope. It does not occupy extra space while ensuring the corresponding function, reducing the time spent on the disassembly and assembly of traditional hooks, saving time and effort, and improving the work efficiency during hoisting. The top inside the connecting ring groove 22 is a recessed structure, which can facilitate the positioning of the connecting rope and avoid the problem of the robotic arm tilting during hoisting due to slippage.

[0024] Please see Figure 3-4 A slot 41 is provided on one side of the top of the bracket 4. A locking block 211 is connected to the top of the receiving groove 21. When the first connecting plate 3 and the bracket 4 are retracted into the receiving groove 21, the bracket 4 contacts the locking block 211 and is compressed and shortened, so that the slot 41 can be locked on the outside of the locking block 211, thereby fixing the position of the first connecting plate 3 and the bracket 4. When the first connecting plate 3 needs to be opened, pressing down the bracket 4 will cause the locking block 211 to disengage from the slot 41. Through the cooperation of the locking block 211 and the slot 41, the stability of the first connecting plate 3 and the bracket 4 inside the receiving groove 21 can be guaranteed, avoiding the problem of them coming off during transportation or storage, and facilitating their transportation and storage.

[0025] The working principle of the method of use of this invention is as follows: The robotic arm is hoisted to the corresponding working area. At this time, the working part 1 of the robotic arm is in a retracted state, and the first connecting plate 3 and the bracket 4 are stored in the receiving groove 21. The placement frame 6 is in a vertical state, and the top of the placement frame 6 is above the working part 1 of the robotic arm. During hoisting, the rope is passed through the connecting ring groove 22 to achieve fixation. After the robotic arm moves to the corresponding area, the hoisting rope is removed, and the robotic arm is fixed with bolts, etc. After connecting the corresponding lines, the placement frame 6 is first pressed down until its bottom contacts the ground, then the first connecting plate 3 is opened, the bracket 4 is pressed down, and the first connecting plate 3 and the bracket 4 are brought out from the receiving groove 21, so that the first connecting plate 3 is above the placement frame 6, thus fixing the position of the placement frame 6. The operator sets the grasping task and monitors the running status through the human-machine interface, and places the drill rod on the placement frame 6. This allows the drill rod to roll along the support plate 61 and move towards the bracket 4. When the drill rod lands on the bracket 4, its gravity causes the bracket 4 to move downwards. At this time, subsequent drill rods are stuck between the limit block 5 and the support plate 61 and cannot move. The system drives the gripper on the working part 1 of the robotic arm to grab the drill rod from the bracket 4 and transfer it to the working position according to the instruction. After the drill rod on the bracket 4 leaves, it returns to its initial height, and the drill rod on the support plate 61 continues to enter the bracket 4, realizing the automatic replenishment effect of the drill rod. After the drill rod is installed, the gripper returns to its original position and waits for subsequent instructions. When the robotic arm is stored normally, the working part 1 of the robotic arm returns to its initial retracted state, the first connecting plate 3 and the bracket 4 are put into the receiving slot 21, and the slot 41 is locked on the locking block 211. The placement frame 6 returns to its vertical state, and the top connecting rod of the placement frame 6 is located above the working part 1 of the robotic arm, so that the placement frame 6 can play a certain combination effect against external forces.

[0026] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0027] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic drill rod loading and unloading robotic arm for a core drilling rig, comprising a robotic arm working part (1), wherein a base (2) is mounted on the bottom of the robotic arm working part (1), characterized in that: The base (2) has symmetrically provided receiving grooves (21) on both sides. The base (2) has a first connecting plate (3) installed inside, and the first connecting plate (3) is movably connected to the receiving groove (21) through a damping shaft. The outer end of the first connecting plate (3) is connected to a second connecting plate (31) through a damping shaft. The bottom of the inner side of the second connecting plate (31) is connected to a base plate (311). The outer end of the first connecting plate (3) is connected to a bracket (4), and the bracket (4) is connected to the base plate (311) through a spring and a freely extendable rod. The bracket (4) has a limit block (5) on its outer side, and a placement rack (6) is provided on the outer side of the limit block (5).

2. The automatic drill rod loading and unloading robotic arm for a core drilling rig according to claim 1, characterized in that: The top of the receiving groove (21) is connected to a card block (211), and the outside of the card block (211) is an arc-shaped structure.

3. The automatic drill rod loading and unloading robotic arm for a core drilling rig according to claim 2, characterized in that: The rotation range of the connecting shafts on the first connecting plate (3) and the second connecting plate (31) is 180 degrees. The first connecting plate (3) as a whole can be retracted into the receiving groove (21) by deflection.

4. The automatic drill rod loading and unloading robotic arm for a core drilling rig according to claim 3, characterized in that: The outer side of the bracket (4) is movably sleeved on the outside of the limiting block (5). In its natural state, the top surface of the bracket (4) is higher than the top of the limiting block (5), and at this time, the top of the bracket (4) coincides with the top surface inside the receiving groove (21). A slot (41) is provided on the other side of the bracket (4), and the slot (41) can be movably locked on the outside of the locking block (211).

5. The automatic drill rod loading and unloading robotic arm for a core drilling rig according to claim 3, characterized in that: The limiting block (5) is connected to the base plate (311) and the limiting block (5) is located on the outside of the bracket (4). The limiting block (5) is movably inserted into the bracket (4).

6. The automatic drill rod loading and unloading robotic arm for a core drilling rig according to claim 1, characterized in that: The placement frame (6) is symmetrically installed on both sides of the working part (1) of the robotic arm via a torsion spring, and the two placement frames (6) are installed on the side of the base (2) in the unfolding direction of the first connecting plate (3). In its natural state, the placement frame (6) is vertical, and the top of both sides of the placement frame (6) is connected by a round rod. The placement frame (6) is connected to a support plate (61) at the position outside the limiting block (5), and the support plate (61) is inclined in the direction below the limiting block (5).

7. The automatic drill rod loading and unloading robotic arm for a core drilling rig according to claim 4, characterized in that: The top of the bracket (4) is an obtuse angled folded plate structure with an angle of 120 degrees, and the opening of the bracket (4) is vertically upward.

8. The automatic drill rod loading and unloading robotic arm for a core drilling rig according to claim 6, characterized in that: The distance between the bottom of the first connecting plate (3) and the bottom surface of the base (2) after the first connecting plate (3) is unfolded is equal to the thickness of the contact position between the placement rack (6) and the first connecting plate (3).

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