Suspension type punching robot with supporting mechanism

Abstract

The utility model discloses a suspension type punching robot with a supporting mechanism, which is applied to the field of punching equipment and is characterized in that a first motor rotates to drive a worm to rotate, the worm rotates to drive a second rotating shaft to drive a gear to rotate, and the gear rotates to drive a gear ring to drive a first rotating shaft to rotate; the first rotating shaft rotates to enable the supporting plate to drive the punching head to rotate, the direction of the punching head is changed, the purpose of conveniently adjusting the punching direction can be achieved, the workload is reduced, the practicability is improved, and use is convenient. The fixing rod is separated from the fixing pin by moving the pull block, the fixing pin is taken down, then the punching head is taken down and replaced, a new punching head is installed in the connector, the fixing pin is inserted into the connector and penetrates through the punching head, the pull block is loosened, the fixing rod penetrates through the fixing pin under the action of the first spring, the punching head is fixed, and replacement is completed. Therefore, the purpose of conveniently replacing the punching head is achieved, the workload is reduced, and the replacement efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of punching equipment, in particular to a suspended punching robot with a supporting mechanism. Background Art

[0002] At present, a Chinese utility model with announcement number CN220248007U discloses a suspended punching robot with a supporting mechanism, including a main frame, supporting mechanisms are arranged on both sides of the main frame, the supporting mechanism includes an intermediate plate and a floating plate, the floating plate is arranged on the side of the intermediate plate away from the main frame, the floating plate is hinged to the intermediate plate at the middle position, and the two ends of the side wall of the floating plate away from the intermediate plate are provided with supporting claws, a supporting wheel is arranged above or below the supporting claw, an elastic member is arranged between the supporting wheel and the floating plate, the vertical projection of the supporting wheel under the drive of the elastic member is outside the vertical projection of the supporting claw, and a driving mechanism for pushing the two intermediate plates to the two sides of the main frame in the opposite direction is arranged on the main frame. The utility model provides a suspended punching robot with a supporting mechanism, which adopts the elastic member to cooperate with the supporting wheel, so that when the punching robot is lifted and lowered in the shaft, the shaking amplitude of the punching robot is reduced, and the position of the punching robot is fixed by cooperating with the supporting claw and the side wall of the shaft, so as to ensure the accuracy of the punching on the side wall of the shaft.

[0003] The existing drilling robots are not convenient for adjusting the drilling direction. Generally, before entering the well, the drilling robot needs to position the direction of the drilling head, and then put the robot into the well for drilling. If drilling in different directions is required, the robot needs to be taken out of the well, and then the direction is adjusted, and then the robot is put into the well for drilling. The adjustment process is more troublesome, which increases the workload and reduces the drilling efficiency. It is also not convenient to replace the drilling head. Generally, the drilling head is fixed by bolts. When replacing, tools are needed to disassemble and assemble it. The disassembly and assembly process is more cumbersome, which increases the workload and reduces the work efficiency. In order to solve the above-mentioned problems, we propose a suspended drilling robot with a support mechanism. Utility Model Content

[0004] The utility model aims to provide a suspended punching robot with a supporting mechanism, which has the advantages of being convenient for adjusting the punching direction and convenient for adjusting the punching direction.

[0005] The above-mentioned technical objective of the utility model is achieved through the following technical scheme: a suspended drilling robot with a supporting mechanism comprises a fixed frame, characterized in that the top and bottom of the fixed frame are respectively provided with a supporting mechanism and an anti-collision mechanism, the bottom of the fixed frame is rotatably connected with a first rotating shaft, the surface of the first rotating shaft is rotatably sleeved with a fixed shell, and the top of the fixed shell is bolted to the bottom of the fixed frame, the surface of the first rotating shaft is fixedly sleeved with a gear ring, the surface of the gear ring is meshed with a gear, a second rotating shaft is fixedly sleeved at the axis of the gear, and the two ends of the second rotating shaft are respectively rotatably connected to the bottom of the fixed frame and the inner wall of the fixed shell, the surface of the second rotating shaft is fixedly sleeved with a worm wheel, the surface of the worm wheel is meshed with a worm, and one end of the worm is meshed with the fixed The inner wall of the shell is rotatably sleeved, and the other end of the worm is connected to the first motor through a coupling, and the first motor is bolted to the surface of the fixed shell, the bottom of the first rotating shaft is bolted to a support plate, the bottom of the support plate is bolted to an electric guide rail, and a sliding seat is installed on the surface of the electric guide rail, and the bottom of the sliding seat is bolted to a first electric push rod, and the output end of the first electric push rod is bolted to a sliding block, and the bottom of the sliding block is bolted to a second motor, and the output end of the second motor is fixedly sleeved with a connecting head, and the inner wall of the connecting head is slidably sleeved with a punching head, and the inner walls of the connecting head and the punching head are penetrated by fixing pins, and the inner wall of the connecting head is slidably sleeved with a fixing rod, and the fixing rod is slidably sleeved with the inner wall of the fixing pin, and the surface of the fixing rod is sleeved with a first spring.

[0006] By adopting the above technical scheme, the worm drives the worm wheel to rotate through the rotation of the first motor, and the rotation of the worm wheel drives the second rotating shaft to rotate the gear, and the rotation of the gear causes the gear ring to drive the first rotating shaft to rotate, and the rotation of the first rotating shaft causes the support plate to drive the punching head to rotate, so that the direction of the punching head is changed, which can achieve the purpose of facilitating the adjustment of the punching direction, reduce the workload, improve the practicality, and facilitate use. The fixing rod is disengaged from the fixing pin by moving the pull block, the fixing pin is removed, and then the punching head is removed and replaced, and a new punching head is installed into the connecting head, the fixing pin is inserted into the connecting head and passes through the punching head, the pull block is released, and the fixing rod passes through the fixing pin under the action of the first spring to fix the punching head and complete the replacement, thereby achieving the purpose of facilitating the replacement of the punching head, reducing the workload and improving the efficiency of replacement.

[0007] The utility model is further configured as follows: the support mechanism comprises a second electric push rod, the bottom of the second electric push rod is bolted to the top of the fixing frame, and the output end of the second electric push rod is bolted to a support head.

[0008] By adopting the above technical solution, the device is supported and fixed by setting a supporting mechanism, thereby ensuring the stability and quality of the punching.

[0009] The utility model is further configured as follows: the anti-collision mechanism includes a fixed cylinder, the top of the fixed cylinder is bolted to the bottom of the fixed frame, a telescopic rod is slidably sleeved inside the fixed cylinder, a second spring is arranged between the telescopic rod and the inner wall of the fixed cylinder, and one end of the telescopic rod is bolted to a guide wheel.

[0010] By adopting the above technical solution and arranging an anti-collision mechanism, the robot can be prevented from colliding with the well wall when being placed in and taken out.

[0011] The utility model is further configured as follows: a sliding groove is provided at the bottom of the sliding seat, a sliding block is slidably connected inside the sliding groove, and the bottom of the sliding block is bolted to the top of the sliding block.

[0012] By adopting the above technical solution, the sliding block and the sliding groove are provided to prevent the sliding block from deflecting and ensure stability.

[0013] The utility model is further configured as follows: a lifting rope is bolted to the top of the fixing frame, and a lifting ring is bolted to the other end of the lifting rope.

[0014] By adopting the above technical solution, lifting is facilitated by setting lifting ropes and lifting rings.

[0015] The utility model is further configured as follows: one end of the fixing rod is bolted with a pulling block.

[0016] By adopting the above technical solution and arranging the pulling block, it is convenient to move the fixing rod.

[0017] The utility model is further configured as follows: the surfaces of the fixed shell and the sliding block are both bolted with a protective shell, and the first motor and the second motor are both located inside the protective shell.

[0018] By adopting the above technical solution, the first motor and the second motor are protected by providing a protective shell.

[0019] In summary, the utility model has the following beneficial effects:

[0020] 1. The utility model achieves the purpose of facilitating the adjustment of the punching direction by rotating the first motor to drive the worm to rotate, the worm to rotate to drive the second shaft to rotate the gear, the gear to rotate to drive the first shaft to rotate, the first shaft to rotate to drive the support plate to drive the punching head to rotate, and the direction of the punching head to change, thereby reducing the workload, improving practicality, and facilitating use;

[0021] 2. The utility model moves the pulling block to disengage the fixing rod from the fixing pin, removes the fixing pin, then removes and replaces the punching head, installs the new punching head into the connecting head, inserts the fixing pin into the connecting head and passes through the punching head, releases the pulling block, and the fixing rod passes through the fixing pin under the action of the first spring to fix the punching head, completing the replacement, thereby achieving the purpose of facilitating the replacement of the punching head, reducing the workload and improving the efficiency of replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional diagram of the structure of the utility model;

[0023] Figure 2 It is a cross-sectional view of the structure of the utility model;

[0024] Figure 3 It is a bottom-up cross-sectional view of the local structure of the utility model;

[0025] Figure 4 This utility model Figure 2 A magnified view of the structure in the middle.

[0026] 1. The first rotating shaft; 2. The second rotating shaft; 3. The second rotating shaft; 4. The second rotating shaft; 5. The first fixed shell; 6. The gear ring; 7. The gear; 8. The second rotating shaft; 9. The worm gear; 10. The worm; 11. The first motor; 12. The supporting plate; 13. The electric guide rail; 14. The sliding seat; 15. The first electric push rod; 16. The sliding block; 17. The connecting head; 18. The punching head; 19. The fixing pin; 20. The fixing rod; 21. The first spring; 22. The second electric push rod; 23. The supporting head; 24. The fixing cylinder; 25. The telescopic rod; 26. The second spring; 27. The guide wheel; 28. The slide groove; 29. ​​The sliding block; 30. The lifting rope; 31. The lifting ring; 32. The pulling block; 33. The protective shell; 34. The second motor. DETAILED DESCRIPTION

[0027] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0028] Embodiment 1:

[0029] refer to Figure 1 , Figure 2 and Figure 3A suspended drilling robot with a supporting mechanism comprises a fixed frame 1, a supporting mechanism 2 and an anti-collision mechanism 3 are respectively arranged on the top and bottom of the fixed frame 1, a first rotating shaft 4 is rotatably connected to the bottom of the fixed frame 1, a fixed shell 5 is rotatably sleeved on the surface of the first rotating shaft 4, and the top of the fixed shell 5 is bolted to the bottom of the fixed frame 1, a gear ring 6 is fixedly sleeved on the surface of the first rotating shaft 4, a gear 7 is meshed on the surface of the gear ring 6, a second rotating shaft 8 is fixedly sleeved at the axis of the gear 7, and both ends of the second rotating shaft 8 are rotatably connected to the bottom of the fixed frame 1 and the inner wall of the fixed shell 5, a worm gear 9 is fixedly sleeved on the surface of the second rotating shaft 8, and the worm gear A worm 10 is meshed on the surface of 9, and one end of the worm 10 is rotatably sleeved with the inner wall of the fixed shell 5, and the other end of the worm 10 is connected to a first motor 11 through a coupling, and the first motor 11 is bolted to the surface of the fixed shell 5. The worm 10 drives the worm wheel 9 to rotate by rotating the first motor 11, and the worm wheel 9 drives the second shaft 8 to rotate the gear 7 by rotating, and the gear 7 drives the first shaft 4 to rotate by rotating the gear ring 6, and the first shaft 4 drives the support plate 12 to rotate the punching head 18, so that the direction of the punching head 18 is changed, which can achieve the purpose of facilitating the adjustment of the punching direction, reducing the workload, improving the practicality, and facilitating use.

[0030] refer to Figure 1 and Figure 2 The supporting mechanism includes a second electric push rod 22, the bottom of the second electric push rod 22 is bolted to the top of the fixing frame 1, and the output end of the second electric push rod 22 is bolted to a supporting head 23. By setting the supporting mechanism, the device is supported and fixed to ensure the stability and quality of the punching.

[0031] refer to Figure 1 and Figure 2 The anti-collision mechanism 3 includes a fixed cylinder 24, the top of the fixed cylinder 24 is bolted to the bottom of the fixed frame 1, a telescopic rod 25 is slidably sleeved inside the fixed cylinder 24, a second spring 26 is arranged between the telescopic rod 25 and the inner wall of the fixed cylinder 24, and a guide wheel 27 is bolted to one end of the telescopic rod 25. By setting the anti-collision mechanism 3, the robot can be prevented from colliding with the well wall when being placed in and taken out.

[0032] refer to Figure 1 A lifting rope 30 is bolted to the top of the fixing frame 1, and a lifting ring 31 is bolted to the other end of the lifting rope 30. The lifting rope 30 and the lifting ring 31 are provided to facilitate lifting.

[0033] refer to Figure 2 and Figure 3 The surfaces of the fixed shell 5 and the sliding block 16 are both bolted with a protective shell 33, and the first motor 11 and the second motor 34 are both located inside the protective shell 33. By providing the protective shell 33, the first motor 11 and the second motor 34 are protected.

[0034] Embodiment 2:

[0035] refer to Figure 2 and Figure 4 The bottom of the first rotating shaft 4 is bolted with a support plate 12, the bottom of the support plate 12 is bolted with an electric guide rail 13, the surface of the electric guide rail 13 is installed with a sliding seat 14, the bottom of the sliding seat 14 is bolted with a first electric push rod 15, the output end of the first electric push rod 15 is bolted with a sliding block 16, the bottom of the sliding block 16 is bolted with a second motor 34, the output end of the second motor 34 is fixedly sleeved with a connector 17, the inner wall of the connector 17 is slidably sleeved with a punching head 18, the inner walls of the connector 17 and the punching head 18 are penetrated with a fixing pin 19, the inner wall of the connector 17 is slidably sleeved with a fixing rod 20, and The fixing rod 20 is slidably connected to the inner wall of the fixing pin 19, and a first spring 21 is sleeved on the surface of the fixing rod 20. The fixing rod 20 is disengaged from the fixing pin 19 by moving the pull block 32, and the fixing pin 19 is removed. Then, the punching head 18 is removed and replaced, and a new punching head 18 is installed into the connecting head 17, and the fixing pin 19 is inserted into the connecting head 17 and passes through the punching head 18. The pull block 32 is released, and the fixing rod 20 passes through the fixing pin 19 under the action of the first spring 21 to fix the punching head 18 and complete the replacement, thereby achieving the purpose of facilitating the replacement of the punching head 18, reducing the workload and improving the efficiency of replacement.

[0036] refer to Figure 2 A slide groove 28 is provided at the bottom of the sliding seat 14, and a slider 29 is slidably connected inside the slide groove 28, and the bottom of the slider 29 is bolted to the top of the sliding block 16. By providing the slider 29 and the slide groove 28, the sliding block 16 is prevented from deflecting and stability is ensured.

[0037] refer to Figure 4 One end of the fixing rod 20 is bolted with a pull block 32 , and the setting of the pull block 32 facilitates the movement of the fixing rod 20 .

[0038] The use process is briefly described as follows: the first motor 11 rotates to drive the worm 10 to rotate, the worm 10 rotates to drive the worm wheel 9 to rotate, the worm wheel 9 rotates to drive the second shaft 8 to rotate, the second shaft 8 rotates to drive the gear 7 to rotate, the gear 7 rotates to drive the gear ring 6 to rotate, the gear ring 6 rotates to drive the first shaft 4 to rotate, the first shaft 4 rotates to make the support plate 12 drive the punching head 18 to rotate, so that the direction of the punching head 18 changes, which can achieve the purpose of facilitating the adjustment of the punching direction; move the pull block 32, the pull block 32 moves to drive the fixing rod 20 to move, so that the fixing rod 20 is disengaged from the fixing pin 19, the fixing pin 19 is removed, and then the punching head 18 is removed and replaced, and a new punching head 18 is installed into the connecting head 17, the fixing pin 19 is inserted into the connecting head 17 and passes through the punching head 18, the pull block 32 is released, and the fixing rod 20 passes through the fixing pin 19 under the action of the first spring 21 to fix the punching head 18, and the replacement is completed, thereby achieving the purpose of facilitating the replacement of the punching head 18.

[0039] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A suspended drilling robot with a supporting mechanism, comprising a fixed frame (1), characterized in that: The top and bottom of the fixing frame (1) are respectively provided with a supporting mechanism (2) and an anti-collision mechanism (3); the bottom of the fixing frame (1) is rotatably connected to a first rotating shaft (4); a fixing shell (5) is rotatably sleeved on the surface of the first rotating shaft (4); the top of the fixing shell (5) is bolted to the bottom of the fixing frame (1); a toothed ring (6) is fixedly sleeved on the surface of the first rotating shaft (4); a gear (7) is meshed on the surface of the toothed ring (6); a gear (7) is fixedly sleeved at the axis of the gear (7); A second rotating shaft (8) is provided, and the two ends of the second rotating shaft (8) are rotatably connected to the bottom of the fixed frame (1) and the inner wall of the fixed shell (5) respectively; a worm wheel (9) is fixedly sleeved on the surface of the second rotating shaft (8); a worm (10) is meshed on the surface of the worm wheel (9); one end of the worm (10) is rotatably sleeved on the inner wall of the fixed shell (5); the other end of the worm (10) is connected to a first motor (11) via a coupling; and the first motor (11) is bolted to the surface of the fixed shell (5).

2. A suspended drilling robot with a supporting mechanism according to claim 1, characterized in that: The bottom of the first rotating shaft (4) is bolted with a support plate (12), the bottom of the support plate (12) is bolted with an electric guide rail (13), the surface of the electric guide rail (13) is installed with a sliding seat (14), the bottom of the sliding seat (14) is bolted with a first electric push rod (15), the output end of the first electric push rod (15) is bolted with a sliding block (16), the bottom of the sliding block (16) is bolted with a second motor (34), the output end of the second motor (34) is fixedly sleeved with a connector (17), the inner wall of the connector (17) is slidably sleeved with a punching head (18), the inner walls of the connector (17) and the punching head (18) are penetrated with a fixing pin (19), the inner wall of the connector (17) is slidably sleeved with a fixing rod (20), and the fixing rod (20) is slidably sleeved with the inner wall of the fixing pin (19), and the surface of the fixing rod (20) is sleeved with a first spring (21).

3. A suspended drilling robot with a supporting mechanism according to claim 1, characterized in that: The support mechanism (2) comprises a second electric push rod (22), the bottom of the second electric push rod (22) is bolted to the top of the fixing frame (1), and the output end of the second electric push rod (22) is bolted to a support head (23).

4. The suspended drilling robot with a supporting mechanism according to claim 1, characterized in that: The anti-collision mechanism (3) comprises a fixed cylinder (24), the top of the fixed cylinder (24) is bolted to the bottom of the fixed frame (1), a telescopic rod (25) is slidably sleeved inside the fixed cylinder (24), a second spring (26) is arranged between the telescopic rod (25) and the inner wall of the fixed cylinder (24), and one end of the telescopic rod (25) is bolted to a guide wheel (27).

5. The suspended drilling robot with a supporting mechanism according to claim 2, characterized in that: A sliding groove (28) is provided at the bottom of the sliding seat (14), a sliding block (29) is slidably connected inside the sliding groove (28), and the bottom of the sliding block (29) is bolted to the top of the sliding block (16).

6. The suspended drilling robot with a supporting mechanism according to claim 1, characterized in that: A lifting rope (30) is bolted to the top of the fixing frame (1), and a lifting ring (31) is bolted to the other end of the lifting rope (30).

7. The suspended drilling robot with a supporting mechanism according to claim 2, characterized in that: One end of the fixing rod (20) is bolted with a pulling block (32).

8. The suspended drilling robot with a supporting mechanism according to claim 2, characterized in that: The surfaces of the fixed shell (5) and the sliding block (16) are both bolted with a protective shell (33), and the first motor (11) and the second motor (34) are both located inside the protective shell (33).

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