Trenchless drilling rig swing horizontal rotary manipulator

Abstract

The utility model relates to a non-excavation drilling rig swing-type horizontal rotary manipulator, comprising a mounting seat, a rotating seat, a leveling cylinder, a swing cylinder and a flip arm; an axle seat is arranged on the mounting seat, and the rotating seat is rotationally connected to the axle seat through a rotating shaft; the leveling cylinder is located on the mounting seat, and the leveling cylinder is movably connected to the rotating seat through a gear rack mechanism; the swing cylinder is located on the rotating seat, and the flip arm is located on both sides of the swing cylinder, and the flip arm is connected to the piston rod of the swing cylinder through a synchronous shaft; a drill rod clamp is arranged at the end of the flip arm. The utility model relates to a non-excavation drilling rig swing-type horizontal rotary manipulator, which redesigns the horizontal flipping and internal and external swinging driving structures of the drilling rig manipulator, forms a horizontal flipping drive and bottom support on the bottom of the rotating seat, avoids deformation or failure, and prolongs the service life; and reduces the occupied space of the internal and external swinging driving structure.

Description

Technical Field

[0001] The utility model relates to the field of trenchless drilling rigs, in particular to a swing-type horizontal rotating manipulator of a trenchless drilling rig. Background Art

[0002] Trenchless drilling rigs are widely used in trenchless underground construction, such as drilling, reaming, boring and other specific construction operations. During the construction process of the drilling rig, the drill rod needs to be supplied to the drilling frame of the drilling rig so that the power head of the drilling rig can drive the drill rod into the ground section by section. Or the drill rod pulled out from the ground can be disassembled and recycled section by section.

[0003] Since the drilling direction of the trenchless drilling rig is tilted downward, the drilling frame of the drilling rig will maintain a specific tilt angle during the construction process. The drill rod is horizontal to the ground, and the manipulator is parallel to the drilling frame. When taking and placing the drill rod, there is an angle, which is the tilt angle of the drilling frame relative to the ground, so it is inconvenient.

[0004] In order to solve the above problems, the prior art, such as the Chinese utility model patent with publication number: CN212689963U and patent name “A rod-lifting mechanism for a trenchless drilling rig”, discloses the following technical solution: “A rod-lifting mechanism for a trenchless drilling rig, comprising a fixed seat and a rotating seat, the fixed seat is mounted on the side of the drilling rig mast, the rotating seat is rotatably connected to the fixed seat through a rotating shaft perpendicular to the mast, and a swinging manipulator drill rod grabbing mechanism for loading and unloading drill rods is installed on the rotating seat; the swinging manipulator drill rod grabbing mechanism is provided with a mounting seat mounted on the rotating seat, a swing shaft is installed on the mounting seat, the swing shaft is arranged parallel to the mast, the middle part of the swing shaft is mounted on the mounting seat, two manipulators are symmetrically installed at both ends of the swing shaft, and a swing driving mechanism for driving the swing shaft to swing is provided on the mounting seat; the fixed seat is provided with an oil cylinder for driving the rotating seat to rotate to realize the horizontal grabbing action of the swinging manipulator drill rod grabbing mechanism”.

[0005] The above scheme drives the rotating seat to rotate through the oil cylinder, so that the grippers of the two manipulators swing horizontally to the bottom to grab the drill rod, then swing to the high point, and then rotate to make the drill rod parallel to the mast to load the drill rod, and vice versa to unload the drill rod. It can achieve that during the process of swinging, grabbing and putting down the drill rod, the drill rod is always kept parallel to the ground.

[0006] Although the above scheme can realize the adjustment of the manipulator relative to the drill rig, the cylinder of the above scheme is a single-piston rod type cylinder. In the process of driving the rotating seat to rotate, the hinge between the piston rod of the cylinder and the rotating seat will be subjected to a large force, resulting in a large radial shear force on the piston rod as a whole, causing the piston rod of the cylinder to deform or the seal to fail during long-term operation, resulting in damage.

[0007] In addition, the driving structure for the internal and external swing is relatively complex, occupies a large space, and is not conducive to the actual construction environment. Utility Model Content

[0008] The purposes of this utility model are:

[0009] A swinging horizontal rotating manipulator for a trenchless drilling rig is designed, and the horizontal flipping and inward and outward swinging driving structures of the manipulator are redesigned to form a horizontal flipping drive and bottom support at the bottom of the rotating seat to avoid deformation or failure; and to reduce the occupied space of the inward and outward swinging driving structure.

[0010] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0011] A swinging horizontal rotary manipulator for a trenchless drilling rig comprises a mounting seat, a rotating seat, a leveling oil cylinder, a swinging oil cylinder and a flipping arm; an axle seat is arranged on the mounting seat, and the rotating seat is rotatably connected to the axle seat via a rotating shaft; the leveling oil cylinder is located on the mounting seat, and the leveling oil cylinder is movably connected to the rotating seat via a gear rack mechanism; the swinging oil cylinder is located on the rotating seat, the flipping arm is located on both sides of the swinging oil cylinder, and the flipping arm is connected to the piston rod of the swinging oil cylinder via a synchronous shaft; a drill rod clamp is arranged at the end of the flipping arm.

[0012] Furthermore, the leveling cylinder is a double-piston-rod output double-acting cylinder, and the piston rods of the double-piston-rod output double-acting cylinder are connected to two side plates of the mounting seat.

[0013] Furthermore, the leveling cylinder is located at the bottom of the rotating seat; and the piston rod is perpendicular to the rotating axis.

[0014] Furthermore, the rotating shaft is fixedly connected to the rotating seat, and the rotating shaft is rotatably connected to the shaft seat.

[0015] Furthermore, the gear and rack mechanism includes a gear and a rack; the gear is meshed with the rack; the gear is located at the bottom of the rotating seat, and the rack is located on the cylinder body of the double-piston rod output double-acting cylinder.

[0016] Furthermore, the length direction of the rack is parallel to the central axis of the piston rod of the double-piston-rod output double-acting oil cylinder; the bottom of the rotating seat is arc-shaped, and the gear is adapted to the arc of the bottom of the rotating seat.

[0017] Furthermore, the swing cylinder is connected to the top of the rotating seat through a fixed seat; the rotating shaft of the swing cylinder extends out of both ends of the cylinder body of the swing cylinder, and the synchronization shaft is coaxially connected to the rotating shaft of the swing cylinder.

[0018] Furthermore, the flip arm is perpendicular to the synchronization shaft; the two flip arms and the two synchronization shafts form a U-shaped structure.

[0019] Furthermore, the drill rod clamp is hinged to the clamping groove at the end of the flip arm; and the drill rod clamp is hinged to the piston rod of the clamping cylinder on the flip arm.

[0020] Furthermore, a proximity switch is arranged on the rotating seat, a sensing sheet is arranged on the synchronous shaft, and the sensing end of the proximity switch corresponds to the position of the sensing sheet.

[0021] The beneficial effects of the utility model are:

[0022] A swinging horizontal rotating manipulator for a trenchless drilling rig has a redesigned driving structure for the horizontal flipping and inward and outward swinging of the manipulator. Through the coordinated use of a leveling cylinder, a gear and a rack, the leveling cylinder located on the mounting seat drives the rotating seat on the rotating shaft through a gear and rack mechanism, thereby forming a horizontal flipping drive and bottom support for the bottom of the rotating seat, thereby avoiding deformation or failure of the leveling cylinder and being beneficial to extending the overall service life of the drilling rig; and the driving of the synchronous shaft and the flip arm is realized by the swinging cylinder, thereby reducing the occupied space of the inward and outward swinging driving structure and being beneficial to adapting to the actual construction environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a front view of the overall structure of a swing-type horizontal rotating manipulator of a trenchless drilling rig according to the utility model.

[0024] Figure 2 It is a three-dimensional diagram of the overall structure of a swing-type horizontal rotating manipulator of a trenchless drilling rig according to the utility model.

[0025] Figure 3 It is a stereoscopic diagram from another perspective of the overall structure of a swing-type horizontal rotating manipulator of a trenchless drilling rig according to the utility model.

[0026] Figure 4 The utility model is a partial structural schematic diagram of a swing-type horizontal rotating manipulator of a trenchless drilling rig.

[0027] Figure 5 for Figure 4 Schematic diagram of part of the structure shown.

[0028] The accompanying drawings are marked as follows:

[0029] 1. Mounting seat; 2. Shaft seat; 3. Rotating shaft; 4. Rotating seat; 5. Leveling cylinder; 6. Gear; 7. Rack; 8. Fixed seat; 9. Swinging cylinder; 10. Synchronous shaft; 11. Flip arm; 12. Drill rod clamp. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0031] refer to Figures 1 to 5 A swing-type horizontal rotary manipulator for a trenchless drilling rig comprises a mounting base 1, a rotating base 4, a leveling cylinder 5, a swing cylinder 9 and a flip arm 11; the swing-type horizontal rotary manipulator is used to supply a drill rod horizontally placed on the ground or remove a pulled-out drill rod when the drill frame is tilted during the operation of the trenchless drilling rig. During the supply or removal process, the manipulator will perform a flipping action to achieve the horizontality of the drill rod or to make it parallel to the drill frame.

[0032] The mounting seat 1 is provided with an axle seat 2, and the rotating seat 4 is rotatably connected to the axle seat 2 via the rotating shaft 3; that is, the rotating seat 4 can rotate relative to the axle seat 2 to achieve angle adjustment.

[0033] The leveling cylinder 5 is located on the mounting seat 1 , and is movably connected to the rotating seat 4 via a gear rack mechanism; the leveling cylinder 5 is used to drive the rotating seat 4 to rotate forward or reversely relative to the mounting seat 1 .

[0034] The swing cylinder 9 is located on the rotating seat 4, the flip arm 11 is located on both sides of the swing cylinder 9, and the flip arm 11 is connected to the piston rod of the swing cylinder 9 through the synchronous shaft 10; the swing cylinder 9 is used to drive the flip arm 11 to flip toward the direction close to the drilling rig or away from the drilling rig through the synchronous shaft 10 to realize the pick-up and placement operation of the drill rod.

[0035] A drill rod clamp 12 is provided at the end of the flip arm 11, and the drill rod clamp 12 is used to clamp and fix the drill rod.

[0036] The leveling cylinder 5 is a double-piston-rod output double-acting cylinder, and the piston rod of the double-piston-rod output double-acting cylinder is connected to the two side plates of the mounting seat 1. At this time, the piston rod of the double-piston-rod output double-acting cylinder acts as a connecting rod, forming a stable structure with the side plates at both ends.

[0037] The leveling cylinder 5 is located at the bottom of the rotating seat 4; and the piston rod is perpendicular to the rotating shaft 3, so that the rotating seat 4 can be driven and supported at the same time to avoid failure of the rotating shaft 3 and the shaft seat 2.

[0038] The rotating shaft 3 is fixedly connected to the rotating seat 4 , and the rotating shaft 3 is rotationally connected to the shaft seat 2 , that is, the rotating shaft 3 and the rotating seat 4 rotate synchronously.

[0039] The gear rack mechanism includes a gear 6 and a rack 7; the gear 6 is meshed with the rack 7 to achieve drive; the gear 6 is located at the bottom of the rotating seat 4, and the rack 7 is located on the cylinder body of the double-piston rod output double-acting cylinder; the cylinder body of the double-piston rod output double-acting cylinder slides back and forth along the piston rod, driving the rack 7 to move back and forth, and then driving the gear 6 to rotate forward or reverse.

[0040] The length direction of the rack 7 is parallel to the central axis of the piston rod of the double-piston-rod output double-acting oil cylinder; the bottom of the rotating seat 4 is arc-shaped, and the gear 6 is adapted to the arc of the bottom of the rotating seat 4, thereby realizing the smooth rotation of the rotating seat 4.

[0041] The swing cylinder 9 is connected to the top of the rotating seat 4 through the fixed seat 8, and the swing cylinder 9 rotates together with the rotating seat 4; the rotating shaft of the swing cylinder 9 extends out from both ends of the cylinder body of the swing cylinder 9, and the synchronous shaft 10 is coaxially connected to the rotating shaft of the swing cylinder 9. The swing cylinder 9 can drive the synchronous shaft 10 to flip toward the direction close to the drilling rig or away from the drilling rig.

[0042] The flip arm 11 is perpendicular to the synchronous shaft 10; the two flip arms 11 and the two synchronous shafts 10 form a U-shaped structure, and the flip arm 11 can be flipped toward the direction close to the drill frame or away from the drill frame to achieve the pick-up and placement operation of the drill rod.

[0043] The drill rod clamp 12 is hinged to the clamping groove at the end of the flip arm 11, and the clamping groove is an arc-shaped groove for fixing the drill rod; and the drill rod clamp 12 is hinged to the piston rod of the clamping cylinder on the flip arm 11, and the drill rod clamp 12 can be flipped relative to the clamping groove, thereby fixing or loosening the drill rod.

[0044] A proximity switch is provided on the rotating seat 4, and a sensing sheet is provided on the synchronous shaft 10. The sensing end of the proximity switch corresponds to the position of the sensing sheet. When the synchronous shaft 10 rotates, the sensing sheet rotates together. The proximity switch can detect the sensing sheet, thereby sensing the rotation angle of the synchronous shaft 10 to identify whether the synchronous shaft 10 is rotated in place.

[0045] The leveling cylinder 5, the swing cylinder 9 and the clamping cylinder are all connected to the hydraulic system of the trenchless drilling rig through hydraulic pipes.

[0046] The working principle of the utility model is specifically:

[0047] When a trenchless drilling rig is drilling, the drill frame is tilted at a specific angle relative to the horizontal plane to facilitate driving the drill rod into the ground.

[0048] When it is necessary to install a drill rod, the swing cylinder 9 drives the synchronous shaft 10 to rotate, so that the flip arm 11 flips in a direction away from the drilling frame.

[0049] Subsequently, the leveling cylinder 5 is actuated, the cylinder body slides along the piston rod, and the rack 7 slides with the cylinder body, thereby driving the gear 6 to flip under the meshing action, realizing the flipping of the rotating seat 4, and then realizing the flipping of the swing cylinder 9 and the synchronous shaft 9, so that the synchronous shaft 9 is parallel to the ground.

[0050] When the synchronous shaft 9 is parallel to the ground, the drill rod in a horizontal posture can be conveniently placed into the clamping groove on the flip arm 11. The piston rod of the clamping cylinder extends to drive the drill rod clamping hand 12 to cooperate with the clamping groove to clamp the drill rod.

[0051] Then, the swing cylinder 9 drives the synchronous shaft 10 to rotate, so that the flip arm 11 flips towards the direction close to the drilling rig; the leveling cylinder 5 is actuated, the cylinder body moves in the reverse direction, and the rack 7 drives the gear 6 in the reverse direction, so that the rotating seat 4 and the synchronous shaft 10 are flipped from a horizontal posture to a posture parallel to the drilling rig, and the swing cylinder 9 continues to drive the flipping, so that the drill rod can be placed on the power head.

[0052] The above embodiments are used to further illustrate the present invention, but the present invention is not limited to these specific implementations. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention should be understood to be within the protection scope of the present invention.

Claims

1. A swing-type horizontal rotary manipulator for a trenchless drilling rig, characterized in that: The invention comprises a mounting seat (1), a rotating seat (4), a leveling oil cylinder (5), a swinging oil cylinder (9) and a flipping arm (11); the mounting seat (1) is provided with an axle seat (2), the rotating seat (4) is rotatably connected to the axle seat (2) via a rotating shaft (3); the leveling oil cylinder (5) is located on the mounting seat (1), and the leveling oil cylinder (5) is movably connected to the rotating seat (4) via a gear rack mechanism; the swinging oil cylinder (9) is located on the rotating seat (4), the flipping arm (11) is located on both sides of the swinging oil cylinder (9), and the flipping arm (11) is connected to the piston rod of the swinging oil cylinder (9) via a synchronous shaft (10); a drill rod clamp (12) is provided at the end of the flipping arm (11).

2. The trenchless drilling rig swing-type horizontal rotary manipulator according to claim 1, characterized in that: The leveling oil cylinder (5) is a double-piston rod output double-acting oil cylinder, and the piston rods of the double-piston rod output double-acting oil cylinder are connected to the two side plates of the mounting seat (1).

3. The trenchless drilling rig swing-type horizontal rotary manipulator according to claim 2, characterized in that: The leveling oil cylinder (5) is located at the bottom of the rotating seat (4); and the piston rod is perpendicular to the rotating shaft (3).

4. The trenchless drilling rig swing-type horizontal rotary manipulator according to claim 3, characterized in that: The rotating shaft (3) is fixedly connected to the rotating seat (4), and the rotating shaft (3) is rotationally connected to the shaft seat (2).

5. The trenchless drilling rig swing-type horizontal rotary manipulator according to claim 4, characterized in that: The gear rack mechanism comprises a gear (6) and a rack (7); the gear (6) is meshed with the rack (7); the gear (6) is located at the bottom of the rotating seat (4), and the rack (7) is located on the cylinder body of the double-piston rod output double-acting oil cylinder.

6. The trenchless drilling rig swing-type horizontal rotary manipulator according to claim 5, characterized in that: The length direction of the rack (7) is parallel to the central axis of the piston rod of the double-piston rod output double-acting oil cylinder; the bottom of the rotating seat (4) is arc-shaped, and the gear (6) is adapted to the arc of the bottom of the rotating seat (4).

7. A trenchless drilling rig swing-type horizontal rotary manipulator according to any one of claims 1 to 6, characterized in that: The swing cylinder (9) is connected to the top of the rotating seat (4) via a fixed seat (8); the rotating shaft of the swing cylinder (9) extends out from both ends of the cylinder body of the swing cylinder (9), and the synchronous shaft (10) is coaxially connected to the rotating shaft of the swing cylinder (9).

8. The trenchless drilling rig swing-type horizontal rotary manipulator according to claim 7, characterized in that: The flip arm (11) is perpendicular to the synchronization shaft (10); the two flip arms (11) and the two synchronization shafts (10) form a U-shaped structure.

9. The trenchless drilling rig swing-type horizontal rotary manipulator according to claim 8, characterized in that: The drill rod clamp (12) is hinged to the clamping groove at the end of the flip arm (11); and the drill rod clamp (12) is hinged to the piston rod of the clamping cylinder on the flip arm (11).

10. The trenchless drilling rig swing-type horizontal rotary manipulator according to claim 9, characterized in that: The rotating seat (4) is provided with a proximity switch, the synchronous shaft (10) is provided with a sensing sheet, and the sensing end of the proximity switch corresponds to the position of the sensing sheet.

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