Manipulator for coal mine automatic drilling machine

Abstract

The utility model discloses a manipulator for an automatic drilling machine of a coal mine. The manipulator comprises a manipulator guide rail, a sliding seat assembly, a telescopic column, a moving mechanism, a cross beam assembly, a fixed barrel, a fixed claw, a movable claw and a clamping oil cylinder, the telescopic column comprises a telescopic outer cylinder, a telescopic inner cylinder, a guide cylinder and a telescopic oil cylinder; and a first displacement sensor is arranged between the cross beam assembly and the upper end of the guide cylinder. According to the utility model, the guide cylinder is arranged so as to be conveniently sleeved between the telescopic inner cylinder and the oil cylinder; a magnetic ring fixing seat is conveniently arranged at the top end of the guide cylinder; a first displacement sensor is arranged between the stretching cross beam assembly and the guide cylinder, so that the stretching distance of the telescopic cylinder can be conveniently detected; the ventilation plug is arranged on the telescopic outer cylinder, so that the inner cylinder can slide relative to the outer cylinder conveniently; meanwhile, the first displacement sensor is convenient to overhaul, and compared with an existing oil cylinder, the structure of the telescopic oil cylinder is simplified.

Description

Technical Field

[0001] The utility model relates to the technical field of drilling equipment, in particular to a manipulator used for an automatic drilling rig in a coal mine. Background Art

[0002] The manipulator is one of the core components of the crawler-type fully automatic drilling rig; it is used to automatically transfer drill rods between the drill rod box and the drilling device, realize the automatic loading and unloading of drill rods in the drilling device and the automatic storage and retrieval of drill rods in the drill rod box.

[0003] The manipulator of the prior art has the following problems: first, the telescopic column of the manipulator is assembled by an outer telescopic cylinder, an inner telescopic cylinder and an oil cylinder, and a guide component for preventing rotation needs to be provided between the inner and outer telescopic cylinders; this makes the overall structure more complicated and inconvenient to assemble and maintain; second, there is no vent for balancing the air pressure on the outer telescopic cylinder of the telescopic column, and the sliding resistance between the inner and outer telescopic cylinders is large; third, a displacement sensor is provided between the cylinder barrel of the oil cylinder and the lower end of the piston rod, and the replacement of the displacement sensor is labor-intensive and requires the oil cylinder to be disassembled. Summary of the invention

[0004] In view of this, the purpose of the utility model is to provide a manipulator for an automatic drilling rig in a coal mine, which is convenient for sleeved between a telescopic inner cylinder and an oil cylinder by arranging a guide cylinder; at the same time, it is convenient to arrange a magnetic ring fixing seat at the top of the guide cylinder; by arranging a first displacement sensor between the extension beam assembly and the guide cylinder, it is convenient to detect the extension distance of the telescopic cylinder; by arranging a vent screw on the telescopic outer cylinder, it is convenient for the inner cylinder to slide relative to the outer cylinder; at the same time, it is convenient to inspect and repair the first displacement sensor, and also simplifies the structure of the telescopic oil cylinder (no displacement sensor is needed).

[0005] The utility model is realized by the following technical solutions:

[0006] A manipulator for an automatic drilling machine in a coal mine, comprising a manipulator guide rail, a slide assembly slidably connected to the manipulator guide rail, a telescopic column and a moving mechanism arranged on the slide assembly, a crossbeam assembly arranged at the top end of an extension rod of the telescopic column, a fixed cylinder arranged at the lower part of the other end of the crossbeam assembly, a fixed claw arranged at the lower end of the fixed cylinder, a movable claw rotatably arranged on the fixed claw, and a clamping oil cylinder arranged between the fixed claw and the movable claw;

[0007] The telescopic column comprises a telescopic outer cylinder, a telescopic inner cylinder, a guide cylinder and a telescopic oil cylinder;

[0008] The cylinder body of the telescopic oil cylinder is connected to the lower end of the guide cylinder, and the piston rod is hinged to the crossbeam assembly;

[0009] The inner wall of the telescopic inner cylinder is slidably connected to the outer wall of the guide cylinder, the outer wall is slidably connected to the telescopic outer cylinder, and the upper end is fixedly connected to the crossbeam assembly;

[0010] The lower end of the telescopic outer cylinder is fixedly connected to the lower end of the guide cylinder, and the telescopic outer cylinder is provided with a vent plug connecting the inner cavity of the telescopic outer cylinder with the outside;

[0011] A first displacement sensor is arranged between the cross beam assembly and the upper end of the guide cylinder.

[0012] Further, the crossbeam assembly includes a crossbeam body, a first end cover, a second end cover and a crossbeam cover;

[0013] The cross beam body is provided with an articulated seat connected to the telescopic cylinder;

[0014] The first end cover is provided with a first displacement sensor fixing seat.

[0015] Furthermore, the guide cylinder includes an integrally arranged guide cylinder body, a guide flange arranged at one end of the guide cylinder body, and a first magnetic ring fixing seat on the inner wall of the other end; the cross-sectional profile of the guide cylinder is an inner circle and an outer hexagon; the first detection rod of the first displacement sensor passes through the crossbeam body, the telescopic inner cylinder, and the guide cylinder in sequence and is inserted into the cavity between the guide cylinder and the telescopic cylinder.

[0016] Furthermore, the slide assembly includes a slide body connected to the telescopic column and sliders arranged on upper and lower sides of the slide body;

[0017] The moving mechanism comprises a moving seat body connected to the two sliding blocks, a gear shaft rotatably arranged in the moving seat body, and a moving motor arranged on the moving seat body for driving the gear shaft to rotate.

[0018] Furthermore, the manipulator guide rail includes a rail body and a rack that are integrally arranged; the rack is meshed with the gear shaft.

[0019] Further, the telescopic outer cylinder comprises an outer cylinder body integrally arranged, an outer cylinder flange arranged at one end of the outer cylinder body, and a sealing guide sleeve at the other end; a dust ring is arranged at the upper end of the inner wall of the sealing guide sleeve, and a sealing ring is arranged in the middle; the vent plug is arranged on the outer cylinder flange; the inner wall of the sealing guide sleeve is slidably matched with the outer wall of the telescopic inner cylinder; the inner wall of the outer cylinder body is gap-matched with the outer wall of the telescopic inner cylinder;

[0020] The telescopic inner cylinder comprises an inner cylinder body integrally arranged and an inner cylinder flange arranged at one end of the cylinder body; the cross-sectional profile of the inner cylinder body is an outer circle and an inner hexagon; the inner wall of the inner cylinder body is guided and matched with the outer wall of the guide cylinder.

[0021] Furthermore, the outer wall of the fixed claw is also provided with a drill rod clamping detection mechanism;

[0022] The clamping detection mechanism comprises a detection housing connected to the fixed claw, a positioning rod slidably arranged in the detection housing, a spring arranged between the detection housing and the positioning rod, and an intrinsically safe switch arranged at the top of the detection housing.

[0023] The beneficial effects of the utility model are:

[0024] By arranging the guide cylinder, it is convenient to insert it between the telescopic inner cylinder and the oil cylinder; at the same time, it is convenient to arrange a magnetic ring fixing seat at the top of the guide cylinder; by arranging the first displacement sensor between the extension beam assembly and the guide cylinder, it is convenient to detect the extension distance of the telescopic cylinder; by arranging the vent screw on the telescopic outer cylinder, it is convenient for the inner cylinder to slide relative to the outer cylinder; at the same time, it is convenient to inspect and repair the first displacement sensor, and the structure of the telescopic oil cylinder is simplified (no displacement sensor is needed). BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of the manipulator of the utility model;

[0026] Figure 2 This is a schematic diagram of the internal structure of the telescopic column of the utility model;

[0027] Figure 3 It is a schematic diagram of the assembly of the manipulator guide rail and the drill rod box of the utility model;

[0028] Figure 4 It is a structural schematic diagram of the mobile mechanism of the utility model;

[0029] Figure 5 It is a structural schematic diagram of the clamping detection mechanism of the utility model. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0033] In the above description of the utility model, it should be noted that the terms "one side", "the other side", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0034] In addition, the term "same" does not mean that the parts must be absolutely the same, but slight differences are allowed. The term "vertical" only means that the positional relationship between the parts is more vertical than "parallel", and does not mean that the structure must be completely vertical, but can be slightly tilted.

[0035] like Figure 1-5 As shown, a manipulator for an automatic drilling machine in a coal mine comprises a manipulator guide rail 1, a slide assembly 2 slidably connected to the manipulator guide rail, a telescopic column 3 and a moving mechanism 4 arranged on the slide assembly, a crossbeam assembly 5 arranged at the top end of an extension rod of the telescopic column, a fixed cylinder 6 arranged at the lower part of the other end of the crossbeam assembly, a fixed claw 7 arranged at the lower end of the fixed cylinder, a movable claw 8 rotatably arranged on the fixed claw, and a clamping oil cylinder 9 arranged between the fixed claw and the movable claw;

[0036] The telescopic column 3 comprises a telescopic outer cylinder 31, a telescopic inner cylinder 32, a guide cylinder 33 and a telescopic oil cylinder 34;

[0037] The cylinder body of the telescopic oil cylinder 34 is connected to the lower end of the guide cylinder, and the piston rod is hinged to the crossbeam assembly;

[0038] The inner wall of the telescopic inner cylinder 32 is slidably connected to the outer wall of the guide cylinder, the outer wall is slidably connected to the telescopic outer cylinder, and the upper end is fixedly connected to the crossbeam assembly;

[0039] The lower end of the telescopic outer cylinder 31 is fixedly connected to the lower end of the guide cylinder, and a vent plug is provided on the telescopic outer cylinder to connect the inner cavity of the telescopic outer cylinder with the outside;

[0040] A first displacement sensor 100 is provided between the cross beam assembly 5 and the upper end of the guide cylinder.

[0041] In this embodiment, the crossbeam assembly 5 includes a crossbeam body 51, a first end cover 52, a second end cover 53 and a crossbeam cover 54;

[0042] The crossbeam body is provided with an articulated seat connected to the telescopic oil cylinder, which is convenient for connecting the piston rod of the telescopic oil cylinder;

[0043] The first end cover 52 is provided with a first displacement sensor fixing seat, which is convenient for fixing the sensor body;

[0044] By providing the second end cover and the crossbeam cover, it is convenient to arrange the pipeline in the crossbeam body.

[0045] In this embodiment, the guide cylinder 33 includes an integrally arranged guide cylinder body and a guide flange arranged at one end of the guide cylinder body and a first magnetic ring fixing seat 331 on the inner wall of the other end, which is used to fix the first magnetic ring 101; the cross-sectional profile of the guide cylinder is an inner circle and an outer hexagon; the first detection rod 102 of the first displacement sensor passes through the crossbeam body, the telescopic inner cylinder, the first magnetic ring, and the guide cylinder in sequence and is inserted into the cavity between the guide cylinder and the telescopic cylinder.

[0046] In this embodiment, the slide assembly 2 includes a slide body 21 connected to the telescopic column and sliders 22 arranged on the upper and lower sides of the slide body;

[0047] The moving mechanism 4 includes a moving seat body 41 connected to two sliders, a gear shaft 42 rotatably arranged in the moving seat body, and a moving motor 43 arranged on the moving seat body for driving the gear shaft to rotate; when implemented, the gear shaft includes a shaft body and a gear body that are integrally arranged and rotatably connected to the moving seat body.

[0048] In this embodiment, the manipulator guide rail 1 includes an integral rail body and a rack; the rack is meshed with the gear shaft; during implementation, the manipulator guide rail is fixed on the side wall of the drill rod box 300, and a second displacement sensor 200 is arranged on the manipulator guide rail; the second sensor body and the second measuring rod are fixed at both ends of the mechanical guide rail by support blocks, and the second magnetic ring is connected to the slider through a magnetic ring sleeve.

[0049] In this embodiment, the telescopic outer cylinder 31 includes an outer cylinder body and an outer cylinder flange arranged at one end of the outer cylinder body, and a sealing guide sleeve at the other end; a dust ring 311 is arranged at the upper end of the inner wall of the sealing guide sleeve, and a sealing ring 312 is arranged in the middle; a vent screw is arranged on the outer cylinder flange 35; the inner wall of the sealing guide sleeve is slidably matched with the outer wall of the telescopic inner cylinder; the inner wall of the outer cylinder body and the outer wall of the telescopic inner cylinder are gap-matched; the sealing guide section is slidably matched with the outer wall of the telescopic inner cylinder, and the outer cylinder section is gap-matched, thereby reducing the friction resistance between the inner and outer cylinder bodies and facilitating the relative sliding of the inner and outer cylinder bodies; the vent screw is arranged to facilitate the connection between the outside and the inner cavity of the outer cylinder, thereby reducing the movement resistance of the inner cylinder body; similarly, a plurality of vent screws are arranged on the side wall where the crossbeam assembly is connected to the piston rod of the telescopic oil cylinder;

[0050] The telescopic inner cylinder 32 includes an inner cylinder body and an inner cylinder flange arranged at one end of the cylinder body; the cross-sectional profile of the inner cylinder body is an outer circle and an inner hexagon; the inner wall of the inner cylinder body is guided and matched with the outer wall of the guide cylinder;

[0051] In this embodiment, the outer wall of the fixed claw is also provided with a drill rod clamping detection mechanism 400 for detecting whether the drill rod is clamped;

[0052] The clamping detection mechanism includes a detection housing 401 connected to the fixed claw, a positioning rod 402 slidably arranged in the detection housing, a spring 403 arranged between the detection housing and the positioning rod, and an intrinsically safe switch 404 arranged at the top of the detection housing;

[0053] During implementation, a switch seat 405 for fixing the switch is provided at the top of the detection housing, a limit nut 406 is provided at the lower end to prevent the positioning rod from detaching, a sealing ring 407 is also provided between the upper inner wall of the detection housing and the positioning rod, and a protective cover 408 is also provided at the top of the detection housing to prevent the switch from being damaged.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A manipulator for an automatic drilling rig in a coal mine, characterized in that: It includes a manipulator rail, a slide assembly slidably connected to the manipulator rail, a telescopic column and a moving mechanism arranged on the slide assembly, a crossbeam assembly arranged at the top end of the extension rod of the telescopic column, a fixed cylinder arranged at the lower part of the other end of the crossbeam assembly, a fixed claw arranged at the lower end of the fixed cylinder, a movable claw rotatably arranged on the fixed claw, and a clamping oil cylinder arranged between the fixed claw and the movable claw; The telescopic column comprises a telescopic outer cylinder, a telescopic inner cylinder, a guide cylinder and a telescopic oil cylinder; The cylinder body of the telescopic oil cylinder is connected to the lower end of the guide cylinder, and the piston rod is hinged to the crossbeam assembly; The inner wall of the telescopic inner cylinder is slidably connected to the outer wall of the guide cylinder, the outer wall is slidably connected to the telescopic outer cylinder, and the upper end is fixedly connected to the crossbeam assembly; The lower end of the telescopic outer cylinder is fixedly connected to the lower end of the guide cylinder, and the telescopic outer cylinder is provided with a vent plug connecting the inner cavity of the telescopic outer cylinder with the outside; A first displacement sensor is arranged between the cross beam assembly and the upper end of the guide cylinder.

2. A manipulator for an automatic drilling rig in a coal mine according to claim 1, characterized in that: The crossbeam assembly includes a crossbeam body, a first end cover, a second end cover and a crossbeam cover; The cross beam body is provided with an articulated seat connected to the telescopic cylinder; The first end cover is provided with a first displacement sensor fixing seat.

3. A manipulator for an automatic drilling rig in a coal mine according to claim 2, characterized in that: The guide cylinder includes an integrally arranged guide cylinder body, a guide flange arranged at one end of the guide cylinder body, and a first magnetic ring fixing seat on the inner wall of the other end; the cross-sectional profile of the guide cylinder is an inner circle and an outer hexagon; the first detection rod of the first displacement sensor passes through the crossbeam body, the telescopic inner cylinder, and the guide cylinder in sequence and is inserted into the cavity between the guide cylinder and the telescopic oil cylinder.

4. The manipulator for an automatic drilling rig in a coal mine according to claim 1, characterized in that: The slide assembly comprises a slide body connected to the telescopic column and sliders arranged on the upper and lower sides of the slide body; The moving mechanism comprises a moving seat body connected to the two sliding blocks, a gear shaft rotatably arranged in the moving seat body, and a moving motor arranged on the moving seat body for driving the gear shaft to rotate.

5. A manipulator for an automatic drilling rig in a coal mine according to claim 4, characterized in that: The manipulator guide rail comprises a rail body and a rack which are integrally arranged; the rack is meshed with the gear shaft.

6. The manipulator for an automatic drilling rig in a coal mine according to claim 1, characterized in that: The telescopic outer cylinder comprises an outer cylinder body integrally provided, an outer cylinder flange provided at one end of the outer cylinder body, and a sealing guide sleeve at the other end; a dust ring is provided at the upper end of the inner wall of the sealing guide sleeve, and a sealing ring is provided at the middle; the vent plug is provided on the outer cylinder flange; the inner wall of the sealing guide sleeve is slidably matched with the outer wall of the telescopic inner cylinder; the inner wall of the outer cylinder body is gap-matched with the outer wall of the telescopic inner cylinder; The telescopic inner cylinder comprises an inner cylinder body integrally arranged and an inner cylinder flange arranged at one end of the cylinder body; the cross-sectional profile of the inner cylinder body is an outer circle and an inner hexagon; the inner wall of the inner cylinder body is guided and matched with the outer wall of the guide cylinder.

7. The manipulator for an automatic drilling rig in a coal mine according to claim 1, characterized in that: The outer wall of the fixed claw is also provided with a drill rod clamping detection mechanism; The clamping detection mechanism comprises a detection housing connected to the fixed claw, a positioning rod slidably arranged in the detection housing, a spring arranged between the detection housing and the positioning rod, and an intrinsically safe switch arranged at the top of the detection housing.

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