Drill rod grabbing manipulator for vertical shaft drilling machine

Abstract

The drill rod grabbing mechanical arm for the vertical shaft drilling machine comprises a telescopic arm extending in the horizontal direction and a clamping jaw capable of being opened and closed, and the telescopic arm comprises a first arm and a second arm which can be inserted into the first arm in an axial telescopic mode. The clamping jaw comprises a first clamping jaw body fixedly arranged at the end of the first arm and a second clamping jaw body rotationally connected to the first clamping jaw body and / or the first arm, arc-shaped grooves are formed in the side walls of the first clamping jaw body and the second clamping jaw body, the rotating axis of the second clamping jaw body is perpendicular to the horizontal plane, and the clamping jaw is opened and closed through rotation of the second clamping jaw body relative to the first clamping jaw body. When the clamping jaw is opened, the first arc-shaped groove and the second arc-shaped groove are opened so that a drill rod can enter the clamping jaw conveniently, when the clamping jaw is closed, the arc-shaped grooves are in butt joint and communicated to form a holding and clamping hole for clamping the drill rod, a first elastic piece is arranged on the inner wall of the first arc-shaped groove, when the clamping jaw is closed, the first elastic piece is tightly squeezed between the drill rod and the first arc-shaped groove, and when the clamping jaw is loosened, the drill rod is clamped. And the drill rod can be conveniently separated through springback of the first elastic piece.

Description

Technical Field

[0001] The utility model relates to the technical field of shaft drilling rigs, in particular to a drill rod grabbing manipulator for shaft drilling rigs. Background Art

[0002] Vertical shaft drilling rig is an important equipment for excavating vertical shafts and is widely used in vertical shaft construction in coal mines, gold mines, iron mines, lithium mines, infrastructure and other fields.

[0003] During the construction process, the shaft drilling rig needs to disassemble and assemble the drill rod to realize the lifting and lowering of the drill bit. The existing drill rod disassembly and assembly operation is mostly completed by construction personnel. It is necessary to first dump the power head and the drill frame, and then use a crane to lift the drill rod for transportation. The operation is time-consuming and labor-intensive, and there are great safety hazards. To solve this problem, a transportation device specially used for disassembling the drill rod of the shaft drilling rig has appeared on the market. For example, Chinese patent CN215369748U discloses a transportation device for disassembling and assembling the drill rod for the shaft drilling rig, which grabs the drill rod through a grabbing mechanism with a clamping function, and then performs the transportation operation of the drill rod by rotating and moving, which saves time and labor, and the drill rod does not swing during the movement, which can greatly improve the operation safety.

[0004] However, when the drill rod is grabbed, the inner wall of the grabbing mechanism fits tightly with the outer wall of the drill rod. Since there may be mud, water, oil and other attachments on the outer wall of the drill rod, when loosening, the drill rod is difficult to separate from the grabbing mechanism due to the attachments and atmospheric pressure, especially the fixed hook of the grabbing mechanism. Once the drill rod fails to separate from the grabbing mechanism, it is necessary to pause for processing, which makes the entire disassembly and assembly operation of the drill rod not smooth, affecting the disassembly and assembly efficiency. Utility Model Content

[0005] The utility model aims to overcome one or more disadvantages in the prior art and to provide an easily detachable drill rod grabbing manipulator for a shaft drilling rig.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is that a drill rod grabbing manipulator for a vertical shaft drilling rig comprises:

[0007] A telescopic arm, the telescopic arm extending in a horizontal direction, the telescopic arm comprising a first arm and a second arm axially movably sleeved on the first arm;

[0008] A clamping jaw, wherein the clamping jaw comprises a first clamping jaw body and a second clamping jaw body that can be opened and closed, the first clamping jaw body being fixedly arranged at the end of the first arm, the side wall of the first clamping jaw body having a first arc-shaped groove, the second clamping jaw body being rotatably connected to the first clamping jaw body and / or the first arm, the rotation axis of the second clamping jaw body being perpendicular to a horizontal plane, the side wall of the second clamping jaw body having a second arc-shaped groove, and the clamping jaw is opened and closed by the rotation of the second clamping jaw body relative to the first clamping jaw body; when the clamping jaw is opened, the first arc-shaped groove and the second arc-shaped groove are open to allow a drill rod to enter, and when the clamping jaw is closed, the first arc-shaped groove and the second arc-shaped groove are butted and communicated with each other to form a clamping hole for clamping the drill rod;

[0009] A first elastic member is provided on the inner wall of the first arc-shaped groove. When the clamping jaws are closed, the first elastic member is squeezed between the drill rod and the first arc-shaped groove. When the clamping jaws are released, the first elastic member releases its stored elastic potential energy to make the drill rod detach from the first arc-shaped groove.

[0010] Preferably, the arc angles of the first arc-shaped groove and the second arc-shaped groove are both 180°.

[0011] Preferably, the inner wall of the first arc-shaped groove is connected with a first vertical plate, the first vertical plate is a polyurethane plate, and there are a plurality of first vertical plates which are evenly distributed along the extension direction of the first arc-shaped groove.

[0012] Further preferably, the first vertical plate is provided with a first through hole corresponding to the first elastic member, there are multiple first through holes and they are spaced apart in the vertical direction, the first elastic member is passed through the first through hole, and an end of the first elastic member protrudes from the side wall of the first vertical plate away from the first arc-shaped groove.

[0013] Preferably, a second elastic member is provided on the inner wall of the second arc-shaped groove. When the clamping jaws are closed, the second elastic member is squeezed between the drill rod and the second arc-shaped groove. When the clamping jaws are released, the second elastic member releases its stored elastic potential energy to make the drill rod detach from the second arc-shaped groove.

[0014] Further preferably, the inner wall of the second arc-shaped groove is connected with a second vertical plate, the second vertical plate is a polyurethane plate, and there are a plurality of second vertical plates which are evenly distributed along the extension direction of the second arc-shaped groove.

[0015] Further preferably, the second vertical plate is provided with a second through hole corresponding to the second elastic member, there are multiple second through holes and they are spaced apart in the vertical direction, the second elastic member is passed through the second through hole, and an end of the second elastic member protrudes from the side wall of the second vertical plate away from the second arc-shaped groove.

[0016] Preferably, reinforcing plates are provided on both sides of the end of the second arm close to the clamping jaw, and there are at least two reinforcing plates which are spaced apart along the extending direction of the second arm.

[0017] Further preferably, the second arm is welded into a square tube shape by four side plates, the reinforcing plate is in a door frame shape, and the inner side surface of the reinforcing plate is affixed to and welded to the three side surfaces of the second arm.

[0018] Further preferably, the drill rod grabbing robot for the vertical shaft drilling rig also includes a cylinder for driving the second clamping jaw body to rotate relative to the first clamping jaw body, the cylinder body of the cylinder is rotatably connected to the end of the first arm, and the end of the hydraulic rod of the cylinder is rotatably connected to the second clamping jaw body.

[0019] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0020] By arranging the first elastic member on the inner wall of the first arc-shaped groove, when the clamping jaws are closed, the first elastic member is squeezed between the drill rod and the first arc-shaped groove, and when the clamping jaws are loosened, the elastic potential energy stored in the first elastic member can be released, so that the drill rod can be easily separated from the first arc-shaped groove, thereby achieving the technical effect of the drill rod being easily separated from the drill rod grabbing manipulator for the shaft drilling rig, and the manipulator is used to perform the disassembly and assembly of the drill rod, with good smoothness and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a top view schematic diagram of a preferred embodiment of the utility model, at which time, the clamping jaws are in an open state.

[0022] Figure 2 yes Figure 1 Schematic diagram of the middle clamping jaw in the closed state.

[0023] Figure 3 yes Figure 1 A three-dimensional schematic diagram of clamping a drill rod, wherein the clamping jaws are in the process of changing from an open state to a closed state.

[0024] Figure 4 yes Figure 3 A three-dimensional schematic diagram after the drill rod is hidden.

[0025] Figure 5 yes Figure 4 A local enlarged schematic diagram of point A in the middle.

[0026] Among them: 10. telescopic arm; 11. first arm; 12. second arm; 121. reinforcement plate; 20. clamping jaw; 21. first clamping jaw body; 211. first arc groove; 212. first vertical plate; 213. first through hole; 214. first countersunk hole; 22. second clamping jaw body; 221. second arc groove; 222. second vertical plate; 23. clamping hole; 24. first elastic body; 25. second elastic body; 30. oil cylinder; 31. cylinder body; 32. hydraulic rod; 40. lifting mechanism; 41. shaft guide block; 50. drill rod. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art.

[0028] like Figures 1 to 5 As shown, the drill rod grabbing manipulator for a vertical shaft drilling rig provided by the utility model comprises: a telescopic arm 10 and a clamping jaw 20, wherein the telescopic arm 10 extends in a horizontal direction, and the telescopic arm 10 comprises a first arm 11 and a second arm 12 which is axially movably sleeved on the first arm 11; the clamping jaw 20 comprises a first clamping jaw body 21 and a second clamping jaw body 22 which can be opened and closed, the first clamping jaw body 21 is fixedly arranged at the end of the first arm 11, the side wall of the first clamping jaw body 21 has a first arc groove 211, the second clamping jaw body 22 is rotatably connected to the first clamping jaw body 21, the rotation axis of the second clamping jaw body 22 is perpendicular to the horizontal plane, the side wall of the second clamping jaw body 22 has a second arc groove 221, and the clamping jaw 20 is provided with a plurality of clamping jaws. The second jaw body 22 is rotated relative to the first jaw body 21 to open and close the jaws 20; when the jaws 20 are opened, the first arc groove 211 and the second arc groove 221 are open to allow the drill rod 50 to enter; when the jaws 20 are closed, the first arc groove 211 and the second arc groove 221 are connected to each other to form a clamping hole 23 for clamping the drill rod 50; the inner wall of the first arc groove 211 is provided with a first elastic member 24; when the jaws 20 are closed, the first elastic member 24 is squeezed between the outer wall of the drill rod 50 and the inner wall of the first arc groove 211; when the jaws 20 are released, the first elastic member 24 releases its stored elastic potential energy to allow the drill rod 50 to detach from the first arc groove 211.

[0029] The advantage of such a configuration is that when the clamp is loosened, the elastic potential energy stored in the clamp can be released through the first elastic member, so that the drill rod can be easily separated from the first arc groove, thereby achieving the technical effect that the drill rod can be easily separated from the drill rod grabbing manipulator for the shaft drilling rig, and the manipulator is used to disassemble and assemble the drill rod, which is smooth and efficient.

[0030] In order to improve the disengagement effect of the drill rod 50, a second elastic member 25 is further provided on the inner wall of the second arc groove 22. When the jaws 20 are closed, the second elastic member 25 is squeezed between the outer wall of the drill rod 50 and the second arc groove 221. When the jaws 20 are released, the second elastic member 25 releases its stored elastic potential energy, so that the drill rod 50 is disengaged from the second arc groove 221.

[0031] In order to prevent the first arc groove 211 and the second arc groove 221 from hindering the detachment of the drill rod 50 due to their own curvature, in the present embodiment, the curvature of the first arc groove 211 and the second arc groove 221 are both 180°.

[0032] In this embodiment, the first elastic member 24 and the second elastic member 25 are both compression springs. In order to maintain the expansion and contraction direction of the compression spring and prevent the compression spring from being skewed and affecting its service life, further, the inner wall of the first arc-shaped groove 211 is connected to a first vertical plate 212, the first vertical plate 212 is a polyurethane plate, there are multiple first vertical plates 212 and they are evenly distributed along the extension direction of the first arc-shaped groove 211, and the first vertical plate 212 is provided with a first through hole 213 corresponding to the first elastic member 24, and the first through hole 213 has multiple and is spaced apart in the vertical direction. The first elastic member 24 is inserted into the first through hole 213, and the end of the first elastic member 24 protrudes from the side wall of the first vertical plate 212 away from the first arc groove 211. In order to facilitate the fixing of the first vertical plate 212, the first vertical plate 212 is further provided with a first countersunk hole 214. There are a plurality of first countersunk holes 214 and they are spaced apart in the vertical direction. The first countersunk holes 214 and the first through holes 213 are staggered. The first vertical plate 212 is connected to the inner wall of the first arc groove 211 by bolts inserted into the first countersunk holes 214.

[0033] Similarly, the inner wall of the second arc groove 221 is connected to a second vertical plate 222, and the second vertical plate 222 is a polyurethane plate. There are multiple second vertical plates 222 and they are evenly distributed along the extension direction of the second arc groove 221. The second vertical plate 222 is provided with a second through hole (not shown in the figure) corresponding to the second elastic member 25. There are multiple second through holes and they are spaced apart in the vertical direction. The second elastic member 25 is penetrated in the second through hole, and the end of the second elastic member protrudes out of the second vertical plate 222 away from the side wall of the second arc groove 221. To facilitate the fixing of the second vertical plate 222, a second countersunk hole (not shown in the figure) is also provided on the second vertical plate 222. There are multiple second countersunk holes and they are spaced apart in the vertical direction. The second countersunk holes and the second through holes are staggered, and the second vertical plate 222 is connected to the inner wall of the second arc groove 221 by bolts penetrated in the second countersunk holes.

[0034] In this embodiment, the second arm 12 is welded into a square tube shape by four side plates. In order to avoid the weld from being torn and improve the safety of the drill rod grabbing manipulator for the shaft drilling rig during operation, further, reinforcing plates 121 are provided on both sides of the end of the second arm 12 close to the clamping jaw 20. There are at least two reinforcing plates 121 and they are spaced apart along the extension direction of the second arm 12. The reinforcing plates 121 are in the shape of a door frame, and the inner side surface of the reinforcing plate 121 is in contact with and welded to the three side surfaces of the second arm 12.

[0035] In this embodiment, the drill rod grabbing robot for the vertical shaft drilling rig also includes a cylinder 30 for driving the second clamping jaw body 22 to rotate relative to the first clamping jaw body 21. The cylinder body 31 of the cylinder 30 is rotatably connected to the end of the first arm 11, and the end of the hydraulic rod 32 of the cylinder 30 is rotatably connected to the second clamping jaw body 22.

[0036] In actual use, such as Figure 3 and Figure 4 As shown, the middle part of the upper surface of the second arm 12 is connected to the lifting mechanism 40, and the lifting mechanism 40 is also provided with an axis guide block 41, so as to facilitate positioning of the drill rod grabbing manipulator of the shaft drilling rig when rotating, thereby improving the reliability of the equipment.

[0037] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with this technology to understand the content of the utility model and implement it accordingly. They cannot be used to limit the protection scope of the utility model. All equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A drill pipe grabbing manipulator for a vertical shaft drilling rig, comprising: A telescopic arm, the telescopic arm extending in a horizontal direction, the telescopic arm comprising a first arm and a second arm axially movably sleeved on the first arm; A clamping jaw, wherein the clamping jaw comprises a first clamping jaw body and a second clamping jaw body that can be opened and closed, the first clamping jaw body being fixedly arranged at the end of the first arm, the side wall of the first clamping jaw body having a first arc-shaped groove, the second clamping jaw body being rotatably connected to the first clamping jaw body and / or the first arm, the rotation axis of the second clamping jaw body being perpendicular to a horizontal plane, the side wall of the second clamping jaw body having a second arc-shaped groove, and the clamping jaw is opened and closed by the rotation of the second clamping jaw body relative to the first clamping jaw body; when the clamping jaw is opened, the first arc-shaped groove and the second arc-shaped groove are open to allow a drill rod to enter, and when the clamping jaw is closed, the first arc-shaped groove and the second arc-shaped groove are butted and communicated with each other to form a clamping hole for clamping the drill rod; Features: A first elastic member is provided on the inner wall of the first arc-shaped groove. When the clamping jaws are closed, the first elastic member is squeezed between the drill rod and the first arc-shaped groove. When the clamping jaws are released, the first elastic member releases its stored elastic potential energy to make the drill rod detach from the first arc-shaped groove.

2. The drill rod grabbing manipulator for a vertical shaft drilling rig according to claim 1 is characterized in that: The arc angles of the first arc-shaped groove and the second arc-shaped groove are both 180°.

3. The drill rod grabbing manipulator for a vertical shaft drilling rig according to claim 1, characterized in that: The inner wall of the first arc-shaped groove is connected with a first vertical plate, the first vertical plate is a polyurethane plate, and there are a plurality of first vertical plates which are evenly distributed along the extension direction of the first arc-shaped groove.

4. The drill rod grabbing manipulator for a vertical shaft drilling rig according to claim 3 is characterized in that: The first vertical plate is provided with a first through hole corresponding to the first elastic member. There are a plurality of first through holes distributed at intervals in the vertical direction. The first elastic member is inserted into the first through hole. An end of the first elastic member protrudes from a side wall of the first vertical plate away from the first arc groove.

5. The drill rod grabbing manipulator for a vertical shaft drilling rig according to claim 1, characterized in that: A second elastic member is provided on the inner wall of the second arc-shaped groove. When the clamping jaws are closed, the second elastic member is squeezed between the drill rod and the second arc-shaped groove. When the clamping jaws are released, the second elastic member releases its stored elastic potential energy to make the drill rod detach from the second arc-shaped groove.

6. The drill rod grabbing manipulator for a vertical shaft drilling rig according to claim 5, characterized in that: The inner wall of the second arc-shaped groove is connected with a second vertical plate, the second vertical plate is a polyurethane plate, and there are a plurality of second vertical plates which are evenly distributed along the extension direction of the second arc-shaped groove.

7. The drill rod grabbing manipulator for a vertical shaft drilling rig according to claim 6, characterized in that: The second vertical plate is provided with a second through hole corresponding to the second elastic member, and there are a plurality of second through holes which are spaced apart in the vertical direction. The second elastic member is passed through the second through hole, and an end of the second elastic member protrudes from a side wall of the second vertical plate away from the second arc-shaped groove.

8. The drill rod grabbing manipulator for a vertical shaft drilling rig according to claim 1, characterized in that: Reinforcement plates are provided on both sides of the end of the second arm close to the clamping claw, and there are at least two reinforcement plates which are spaced apart and distributed along the extending direction of the second arm.

9. The drill rod grabbing manipulator for a vertical shaft drilling rig according to claim 8, characterized in that: The second arm is welded into a square tube shape by four side plates, the reinforcing plate is in a door frame shape, and the inner side surface of the reinforcing plate is affixed to and welded to the three side surfaces of the second arm.

10. The drill rod grabbing manipulator for a vertical shaft drilling rig according to any one of claims 1 to 9, characterized in that: The drill rod grabbing robot for the vertical shaft drilling rig also includes a cylinder for driving the second clamping jaw body to rotate relative to the first clamping jaw body, the cylinder body of the cylinder is rotatably connected to the end of the first arm, and the end of the hydraulic rod of the cylinder is rotatably connected to the second clamping jaw body.

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