Manipulator for assembling and disassembling drill rod of intelligent drilling machine

Abstract

The utility model discloses a manipulator for assembling and disassembling a drill rod of an intelligent drilling machine. The manipulator comprises a rotary platform, a drill rod box, an auxiliary manipulator and a main manipulator, the auxiliary manipulator comprises 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 column shell, an extension rod, a column cover, a piston and a guide assembly. The guide assembly of the extension rod is arranged in the column shell of the telescopic column, so that the extension rod is prevented from rotating; meanwhile, the displacement sensor is arranged between the extension rod and the guide rod, the extension length of the extension rod can be conveniently detected, and due to the integrated telescopic column design structure, the structure of the telescopic column is simpler, and assembling and overhauling are more convenient and faster.

Description

Technical Field

[0001] The utility model relates to the technical field of drilling equipment, in particular to a manipulator used for loading and unloading drill rods of an intelligent drilling rig. 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 to prevent 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, 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 loading and unloading drill rods of an intelligent drilling rig, wherein a guide assembly of an extension rod is arranged in a column shell of a telescopic column to prevent the extension rod from rotating; at the same time, a displacement sensor is arranged between the extension rod and the guide rod to facilitate detection of the extension length of the extension rod; the integrated telescopic column design structure makes the structure of the telescopic column simpler, and assembly and maintenance are more convenient and quicker.

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

[0006] A manipulator for loading and unloading drill rods of an intelligent drilling rig, 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 includes a column shell, an extension rod slidably arranged in the column shell, a detachable column cover arranged at the upper end of the column shell, a piston sleeved on the end of the extension rod extending into the column shell, and a guide assembly arranged between the column shell and the extension rod to prevent the extension rod from rotating.

[0008] Furthermore, the guide assembly includes a guide seat detachably connected to the lower end of the column shell, a guide rod arranged in the guide seat, and a guide sleeve arranged at the lower end of the extension rod.

[0009] 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;

[0010] 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.

[0011] Furthermore, the manipulator guide rail includes a rail body and a rack that are integrally arranged; the rack is meshed with the gear shaft.

[0012] Furthermore, the telescopic column is also provided with a first displacement sensor for measuring the extension length of the telescopic column; and the manipulator guide rail is provided with a second displacement sensor.

[0013] The beneficial effects of the utility model are:

[0014] A guide assembly for the extension rod is arranged in the column shell of the telescopic column to prevent the extension rod from rotating; at the same time, a displacement sensor is arranged between the extension rod and the guide rod to facilitate the detection of the extension length of the extension rod. The integrated telescopic column design structure makes the structure of the telescopic column simpler, and the assembly and maintenance are more convenient and quicker. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the manipulator of the utility model;

[0016] Figure 2 It is a schematic diagram of the assembly of the manipulator guide rail and the drill rod box of the utility model;

[0017] Figure 3 This is a schematic diagram of the internal structure of the telescopic column of the utility model;

[0018] Figure 4 It is a structural schematic diagram of the guide sleeve of the utility model;

[0019] Figure 5 It is a structural schematic diagram of the mobile mechanism of the utility model. DETAILED DESCRIPTION

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] like Figure 1-5 As shown, a manipulator for loading and unloading drill rods of an intelligent drilling rig 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 beam assembly 5 arranged at the top end of the extension rod of the telescopic column, a fixed cylinder 6 arranged at the lower part of the other end of the beam 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 cylinder 9 arranged between the fixed claw and the movable claw; when implemented, the manipulator guide rail is fixed to the side wall of the drill rod box; the beam assembly comprises a beam fixed to the extension rod of the telescopic column at one end by locking nuts (two) 38, and is provided with a beam assembly cover 1 51, the lower part of the other end of the beam assembly is connected to the fixed cylinder by bolts, and is provided with a beam assembly cover 2 52, a pipeline port and a beam assembly cover 3 53 are also provided at the top of the middle part of the beam assembly, and the beam assembly covers 2 and 3 are provided for the convenience of arranging pipes and lines;

[0026] The telescopic column comprises a column housing 31, an extension rod 32 slidably arranged in the column housing, a column cover 33 detachably arranged at the upper end of the column housing, a piston 34 sleeved on the end of the extension rod extending into the column housing, and a guide assembly arranged between the column housing and the extension rod to prevent the extension rod from rotating;

[0027] By setting a guide assembly of the extension rod in the column shell of the telescopic column, the extension rod is prevented from rotating; at the same time, a displacement sensor is set between the extension rod and the guide rod to facilitate the detection of the extension length of the extension rod. The integrated telescopic column design structure makes the structure of the telescopic column simpler (relative to the telescopic column in the prior art, the inner and outer telescopic cylinders are reduced, and a guide assembly is added to the existing oil cylinder), and the assembly and maintenance are more convenient and quick (the guide rod can be removed separately and the magnetic ring can be inspected).

[0028] In this embodiment, the guide assembly includes a guide seat 35 detachably connected to the lower end of the column housing, a guide rod 36 disposed in the guide seat, and a guide sleeve 37 disposed at the lower end of the extension rod.

[0029] In this embodiment, the slide assembly includes a slide body 21 connected to the telescopic column and sliders 22 arranged on the upper and lower sides of the slide body;

[0030] The moving mechanism 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.

[0031] In this embodiment, the manipulator guide rail includes a rail body and a rack that are integrally arranged; the rack is meshed with the gear shaft.

[0032] In this embodiment, a first displacement sensor 100 for measuring the extension length of the telescopic column is also provided on the telescopic column; during implementation, the first sensor body is fixed at the top end of the extension rod, the first measuring rod is extended into the guide rod, and the first magnetic ring is fixed at the top end of the guide rod. A second displacement sensor 200 is provided on the manipulator guide rail; during implementation, the second sensor body and the second measuring rod are fixed at both ends of the mechanical guide rail through support blocks, and the second magnetic ring is connected to the slider through a magnetic ring sleeve.

[0033] 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 loading and unloading drill pipes of an intelligent drilling rig, 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 includes a column shell, an extension rod slidably arranged in the column shell, a detachable column cover arranged at the upper end of the column shell, a piston sleeved on the end of the extension rod extending into the column shell, and a guide assembly arranged between the column shell and the extension rod to prevent the extension rod from rotating.

2. The manipulator for loading and unloading drill pipes of an intelligent drilling rig according to claim 1 is characterized in that: The guide assembly comprises a guide seat detachably connected to the lower end of the column shell, a guide rod arranged in the guide seat and a guide sleeve arranged at the lower end of the extension rod.

3. The manipulator for loading and unloading drill pipes of an intelligent drilling rig according to claim 1 is 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.

4. The manipulator for loading and unloading drill rods of an intelligent drilling rig according to claim 3 is 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.

5. The manipulator for loading and unloading drill pipes of an intelligent drilling rig according to claim 1 is characterized in that: The telescopic column is also provided with a first displacement sensor for measuring the extension length of the telescopic column; and the manipulator guide rail is provided with a second displacement sensor.

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