Manipulator and raise boring machine

Abstract

The utility model discloses a mechanical arm and a raise boring machine, the mechanical arm comprises a base provided with a limiting platform, and the limiting platform is provided with two limiting stop pins arranged at intervals; the middle structure is hinged to the base, and the middle structure comprises a mounting seat; the clamping assembly is provided with a first position and a second position, and the middle structure is used for driving the clamping assembly to be switched between the first position and the second position; the clamping assembly comprises a limiting shaft and a clamping structure, the clamping structure is used for clamping the drill rod, and the limiting shaft is used for connecting the clamping structure and the mounting base; the limiting shaft is provided with a collision block protruding in the radial direction and a clamping assembly located at the second position, and the collision block is located between the two limiting stop pins. The first telescopic structure is used for driving the clamping structure to rotate, and the clamping structure rotates to drive the limiting shaft to rotate around the axis of the limiting shaft. The mechanical arm can be suitable for severe environments of mine fields, the fault rate of drill rod transferring is reduced, and therefore the rod connecting and dismounting efficiency of a drilling machine is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mining machinery, in particular to a manipulator and a raise boring machine. Background Art

[0002] During the construction operation of a raise boring machine, a manipulator is required to clamp a drill pipe from a drill pipe library and transfer it to the main machine for rod connection. During the rod connection process, it is necessary to ensure that the end position of the manipulator transfer is coaxial with the head of the main machine. Therefore, it is necessary to ensure that the end position of the manipulator transfer is accurate enough. Currently, the method for positioning the end position of the manipulator transfer mainly relies on sensors for positioning. However, sensors are prone to failure in the harsh environment of mines, which may lead to the manipulator being unable to transfer drill pipes or the end position of the transferred drill pipe being non - concentric with the head of the main machine, requiring manual further adjustment, thus affecting the rod connection and unloading efficiency of the raise boring machine. Content of the Utility Model

[0003] The utility model aims to at least solve one of the technical problems existing in the prior art. For this purpose, the utility model provides a manipulator that can adapt to the harsh environment of mines, reduce the failure rate of drill pipe transfer, and thus improve the rod connection and unloading efficiency of the raise boring machine.

[0004] The utility model also provides a raise boring machine with the above - mentioned manipulator.

[0005] The manipulator according to the first - aspect embodiment of the utility model includes:

[0006] A base, provided with a limit platform, and the limit platform is provided with two spaced - apart limit pins;

[0007] An intermediate structure, hinged to the base, and the intermediate structure includes a mounting seat;

[0008] A clamping assembly, having a first position and a second position, and the intermediate structure is used to drive the clamping assembly to switch between the first position and the second position; the clamping assembly includes a limit shaft and a clamping structure, the clamping structure is used to clamp the drill pipe, and the limit shaft is used to connect the clamping structure and the mounting seat; the limit shaft is provided with a radially protruding bump, and in the clamping assembly in the second position, the bump is located between the two limit pins;

[0009] A first telescopic structure, used to drive the clamping structure to rotate, and the rotation of the clamping structure will drive the limit shaft to rotate around its own axis.

[0010] The manipulator according to the embodiment of the utility model has at least the following beneficial effects:

[0011] By arranging a collision block on the central axis of the clamping assembly and arranging two spaced limit stop pins on the base, the limit of the rotation angle of the clamping assembly is realized through the contact between the two limit stop pins and the collision block. Without additional electromechanical equipment and sensors, the pure mechanical structure of the collision block and the limit stop pins is simple and has a low manufacturing cost, and can be applied to the harsh environment of the mine field, thereby improving the accuracy of drill pipe transfer and the efficiency of rod connection and disconnection of the drilling rig, and reducing the maintenance cost of the equipment.

[0012] According to some embodiments of the present invention, the mounting seat is provided with a through hole, and the limit shaft is rotatably disposed through the through hole around its own axis; the clamping structure is connected to the limit shaft through a fastener.

[0013] According to some embodiments of the present invention, the mounting seat includes a mounting tube, and the through hole axially penetrates the mounting tube; the clamping structure includes a first clamping arm and a second clamping arm arranged at intervals, and the mounting tube is arranged between the first clamping arm and the second clamping arm.

[0014] According to some embodiments of the present invention, the mounting seat further includes a support rod, the support rod is arranged below the mounting tube, and the second clamping arm is arranged between the mounting tube and the support rod.

[0015] According to some embodiments of the present invention, the limit shaft includes a first rod body and a second rod body, and the first rod body is connected to the second rod body through a fastener; the second rod body is arranged below the support rod and abuts against the support rod, the collision block is arranged on the second rod body; the first rod body is connected to the first clamping arm.

[0016] According to some embodiments of the present invention, the intermediate structure further includes a second telescopic structure, and both ends of the second telescopic structure are respectively hinged to the base and the mounting seat; the mounting seat further includes a connecting rod, and the connecting rod is hinged to the base; the second telescopic structure is used to drive the connecting rod to rotate around its hinge point with the base, so as to realize the switching of the clamping assembly between the first position and the second position.

[0017] According to some embodiments of the present invention, the length extension direction of the connecting rod is parallel to the length extension direction of the second telescopic structure.

[0018] According to some embodiments of the present invention, the base is provided with a first hinge shaft and a second hinge shaft, and the first hinge shaft is arranged above the second hinge shaft; the connecting rod is connected to the first hinge shaft, and the second telescopic structure is connected to the second hinge shaft.

[0019] According to some embodiments of the present invention, both ends of the first telescopic structure are respectively hinged to the mounting seat and the clamping structure.

[0020] The raise boring machine according to the second aspect embodiment of the present utility model includes the above-mentioned manipulator. Since the raise boring machine includes the above-mentioned manipulator, it at least has all the beneficial effects of the manipulator, which will not be elaborated here.

[0021] The additional aspects and advantages of the present utility model will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present utility model. Description of the Drawings

[0022] The following further describes the present utility model in conjunction with the drawings and embodiments, where:

[0023] Figure 1 It is a schematic structural diagram of the manipulator according to the first aspect embodiment of the present utility model;

[0024] Figure 2 It is an assembly schematic diagram of the manipulator according to the first aspect embodiment of the present utility model;

[0025] Figure 3 It is a cross-sectional view of the manipulator according to the first aspect embodiment of the present utility model;

[0026] Figure 4 It is a schematic structural diagram of the raise boring machine according to the second aspect embodiment of the present utility model.

[0027] Reference Numerals in the Drawings:

[0028] Base 100, Limit Platform 110, Limit Stop Pin 111, First Hinge Shaft 120, Second Hinge Shaft 130;

[0029] Intermediate Structure 200, Mounting Seat 210, Mounting Tube 211, Support Rod 212, Connecting Rod 213, Second Telescopic Structure 220;

[0030] Clamping Assembly 300, Limit Shaft 310, First Rod Body 311, Second Rod Body 312, Bump Block 313, Clamping Structure 320, First Clamping Arm 321, Second Clamping Arm 322;

[0031] First Telescopic Structure 400;

[0032] Operation Platform 500, Main Machine Head 510. Detailed Embodiments

[0033] The following details the embodiments of the present utility model. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation of the present utility model.

[0034] In the description of the present utility model, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, etc., it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0035] In the description of the present utility model, "a plurality" refers to more than two. If the first and second are described only for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence relationship of the indicated technical features.

[0036] In the description of the present utility model, unless otherwise clearly defined, terms such as "arrangement", "installation", "connection", etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above terms in the present utility model in combination with the specific content of the technical solution.

[0037] Referring to Figures 1 to 3 , the manipulator according to the first aspect embodiment of the present utility model includes a base 100, an intermediate structure 200, and a clamping assembly 300. The base 100 and the clamping assembly 300 are connected through the intermediate structure 200. The base 100 is fixedly arranged. The clamping assembly 300 has a first position and a second position. The intermediate structure 200 is used to drive the clamping assembly 300 to switch between the first position and the second position.

[0038] Referring to Figure 1 , Figure 2 As shown in

[0039] In the embodiment of the present utility model, the process of the manipulator grasping a drill pipe from a drill pipe library and transferring it to a drilling rig is as follows:

[0040] 1. When the clamping assembly 300 is in the first position, it grasps the drill pipe from the drill pipe library;

[0041] 2. The intermediate structure 200 drives the clamping assembly 300 to switch from the first position to the second position;

[0042] 3. The clamping assembly 300 rotates relative to the intermediate structure 200 to transfer the drill pipe to the drilling rig.

[0043] During the process of transferring the drill pipe to the drilling rig in step 3, it is necessary to ensure that the end position of the rotation of the clamping assembly 300 is accurate to ensure that the drill pipe is coaxial with the main engine head 510 of the drilling rig. At present, the method of using sensors is generally adopted to determine the end position of the clamping assembly 300 when transferring to the drill pipe. However, since the manipulator in this embodiment is mainly used in the harsh environment of mines, the sensors are prone to failure or damage, which in turn leads to the drill pipe transferred by the manipulator not being coaxial with the main engine head 510 of the drilling rig, and manual further adjustment is required, thus affecting the efficiency of the drill pipe connection and disconnection of the drilling rig. In order to improve the accuracy when the manipulator transfers the drill pipe to the main engine head 510, the mechanical limit structure method is adopted in this embodiment to limit the rotation end of the clamping assembly 300, thereby avoiding the problem of sensor failure, and at the same time, the mechanical limit structure is more suitable for the harsh environment of mines. The manipulator of this embodiment will be described in detail below with reference to the accompanying drawings.

[0044] In the embodiment of the present utility model, referring to Figure 1 , Figure 2 As shown, the mounting seat 210 is provided with a through hole, and the limiting shaft 310 is rotatably inserted through the through hole around its own axis; the clamping structure 320 is connected to the limiting shaft 310 through a fastener. Specifically, the mounting seat 210 includes a mounting tube 211, and the through hole axially penetrates the mounting tube 211; the clamping structure 320 includes a first clamping arm 321 and a second clamping arm 322 arranged at intervals, the mounting tube 211 is arranged between the first clamping arm 321 and the second clamping arm 322, the first clamping arm 321 is provided with a first through hole penetrating the first clamping arm 321, the second clamping arm 322 is provided with a second through hole penetrating the second clamping arm 322, the first through hole and the second through hole are concentrically arranged, and the diameters of the first through hole and the second through hole are equal; the diameters of the first through hole, the second through hole, and the through hole are equal.

[0045] Further, in the embodiment of the present utility model, the mounting seat 210 further includes a support rod 212, the support rod 212 is arranged below the mounting tube 211, and the second clamping arm 322 is arranged between the mounting tube 211 and the support rod 212; the support rod 212 is provided with a third through hole penetrating the support rod 212, and the diameter of the third through hole is equal to that of the second through hole. The limiting shaft 310 includes a first rod body 311 and a second rod body 312, and the first rod body 311 and the second rod body 312 are connected through a fastener. Referring to Figure 3 As shown, the fastener can adopt structures such as bolts; the second rod body 312 is arranged below the support rod 212 and abuts against the support rod 212, and a collision block 313 is arranged on the second rod body 312; the first rod body 311 is connected to the first clamping arm 321. Specifically, referring to Figures 1 to 3As shown, the diameter of the first rod body 311 is smaller than that of the second rod body 312, and the upper part of the second rod body 312 abuts against the support rod 212; a radially protruding convex ring is provided at the top of the first rod body 311, and the convex ring is connected to the first clamping arm 321 through fasteners such as bolts. The bottom of the first rod body 311 passes through the third through hole of the support rod 212, and the bottom of the first rod body 311 is connected to the second rod body 312 through fasteners. The support rod 212 is used to support the second clamping arm 322, so as to prevent the entire weight of the clamping assembly 300 and the drill pipe from being borne by the installation pipe 211. The setting of the support rod 212 can reduce the deformation of the installation pipe 211 and thus improve the service life of the equipment; the limiting shaft 310 is designed as the first rod body 311 and the second rod body 312. On the one hand, it is convenient for the installation of the limiting shaft 310. On the other hand, since the second rod body 312 abuts against the support rod 212, the axial movement of the limiting shaft 310 can be restricted, thereby improving the stability of the manipulator in this embodiment.

[0046] In an embodiment of the present invention, the manipulator further includes a first telescopic structure 400. The two ends of the first telescopic structure 400 are respectively connected to the clamping structure 320 and the mounting base 210. The telescopic movement of the movable end of the first telescopic structure 400 can drive the clamping structure 320 to rotate. Since the limiting shaft 310 is connected to the clamping structure 320 through fasteners, the rotation of the clamping structure 320 will drive the limiting shaft 310 to rotate around its own axis. The first telescopic structure 400 can adopt structures such as telescopic cylinders and telescopic oil cylinders.

[0047] In an embodiment of the present utility model, the base 100 is provided with a limiting platform 110, and the limiting platform 110 is provided with two spaced limiting pins 111; the limiting shaft 310 is provided with a radially protruding collision block 313. When the clamping assembly 300 is in the second position, the collision block 313 is located between the two limiting pins 111. When the clamping assembly 300 is in the second position and then the first telescopic structure 400 drives the limiting shaft 310 to rotate, the two limiting pins 111 can contact the collision block 313 to limit the rotation angle and the rotation end point of the limiting shaft 310, that is, to limit the rotation angle and the rotation end point position of the clamping structure 320; when the limiting shaft 310 rotates to contact one of the limiting pins 111, the clamping structure 320 just transfers the drill pipe to a position coaxial with the main machine head 510 below the main machine head 510. By arranging the collision block 313 on the central axis of the clamping assembly 300 and arranging two spaced limiting pins 111 on the base 100, the rotation angle of the clamping assembly 300 is limited by the contact between the two limiting pins 111 and the collision block 313. Without additional electromechanical equipment and sensors, the pure mechanical structure of the collision block 313 and the limiting pins 111 is simple, the manufacturing cost is low, and it can be applied to the harsh environment of the mine field, thereby improving the accuracy of drill pipe transfer and the efficiency of rod connection and disconnection of the drilling rig, and reducing the equipment maintenance cost.

[0048] In an embodiment of the present utility model, the intermediate structure 200 is hinged to the base 100; specifically, the mounting seat 210 further includes a connecting rod 213 and a second telescopic structure 220. The connecting rod 213 is hinged to the base 100, and both ends of the second telescopic structure 220 are respectively hinged to the base 100 and the mounting seat 210; the second telescopic structure 220 is used to drive the connecting rod 213 to rotate around its hinge point with the base 100, thereby realizing the switching of the clamping assembly 300 between the first position and the second position. Specifically, referring to Figure 1 、 Figure 2 As shown, the support rod 212 is connected to the connecting rod 213, such as by welding or through fasteners; the base 100 is provided with a first hinge shaft 120 and a second hinge shaft 130. The first hinge shaft 120 is arranged above the second hinge shaft 130. Specifically, the first hinge shaft 120 is arranged obliquely above the second hinge shaft 130; the connecting rod 213 is connected to the first hinge shaft 120, and the second telescopic structure 220 is connected to the second hinge shaft 130.

[0049] Further, in the embodiment of the present utility model, when the clamping assembly 300 of this embodiment is in the first position, the length extension directions of the second telescopic structure 220 and the connecting rod 213 are both in the horizontal direction. When the clamping assembly 300 is in the second position, the length extension directions of the second telescopic structure 220 and the connecting rod 213 are both in the vertical direction. In order to avoid interference of the second telescopic structure 220 with the rotation of the connecting rod 213, the first hinge shaft 120 must be arranged diagonally above the second hinge shaft 130. Further, the length extension direction of the connecting rod 213 is parallel to the length extension direction of the second telescopic structure 220.

[0050] Referring Figure 4 As shown, the raise boring machine of the second aspect embodiment of the present utility model includes the above-mentioned manipulator; the raise boring machine further includes an operation platform 500 and a main machine head 510. The main machine head 510 is movably installed above the operation platform 500 in a lifting manner. The base 100 of the manipulator is connected to the operation platform 500, and the main machine head 510 is used to drive the drill rod to drill holes. Since the raise boring machine of this embodiment includes the above-mentioned manipulator, it has at least all the beneficial effects of the manipulator, which will not be elaborated here.

[0051] In the description of this specification, the description with reference to terms such as "an embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0052] The above has described the embodiments of the present utility model in detail with reference to the drawings. However, the present utility model is not limited to the above embodiments. Within the knowledge scope of those of ordinary skill in the art to which it pertains, various changes can be made without departing from the purpose of the present utility model.

Claims

1. A robot, characterized in that: include: The base is provided with a limit platform, and the limit platform is provided with two limit stop pins arranged at intervals; An intermediate structure, hinged to the base, the intermediate structure comprising a mounting seat; The clamping assembly has a first position and a second position, and the intermediate structure is used to drive the clamping assembly to switch between the first position and the second position; the clamping assembly includes a limit shaft and a clamping structure, the clamping structure is used to clamp the drill rod, and the limit shaft is used to connect the clamping structure and the mounting seat; the limit shaft is provided with a radially protruding bumper, and the clamping assembly is in the second position, and the bumper is located between the two limit stop pins; The first telescopic structure is used to drive the clamping structure to rotate, and the rotation of the clamping structure will drive the limiting shaft to rotate around its own axis.

2. The robot according to claim 1, characterized in that: The mounting seat is provided with a through hole, and the limiting shaft is rotatably arranged around its own axis and penetrates the through hole; the clamping structure is connected to the limiting shaft through a fastener.

3. The robot according to claim 2, characterized in that: The mounting seat comprises a mounting tube, and the through hole axially penetrates the mounting tube; the clamping structure comprises a first clamping arm and a second clamping arm which are arranged at intervals, and the mounting tube is arranged between the first clamping arm and the second clamping arm.

4. The robot according to claim 3, characterized in that: The mounting seat also includes a support rod, which is arranged below the mounting tube, and the second clamping arm is arranged between the mounting tube and the support rod.

5. The robot according to claim 4, characterized in that: The limiting shaft includes a first rod body and a second rod body, the first rod body and the second rod body are connected by a fastener; the second rod body is arranged below the support rod and abuts against the support rod, and the collision block is arranged on the second rod body; the first rod body is connected to the first clamping arm.

6. The robot according to claim 1, characterized in that: The intermediate structure also includes a second telescopic structure, and both ends of the second telescopic structure are respectively hinged to the base and the mounting seat; the mounting seat also includes a connecting rod, and the connecting rod is hinged to the base; the second telescopic structure is used to drive the connecting rod to rotate around the hinge between it and the base, thereby realizing the switching of the clamping assembly between the first position and the second position.

7. The robot according to claim 6, characterized in that: The length extension direction of the connecting rod is parallel to the length extension direction of the second telescopic structure.

8. The robot according to claim 6, characterized in that: The base is provided with a first hinge shaft and a second hinge shaft, wherein the first hinge shaft is provided above the second hinge shaft; the connecting rod is connected to the first hinge shaft, and the second telescopic structure is connected to the second hinge shaft.

9. The robot according to claim 1, characterized in that: Two ends of the first telescopic structure are hinged to the mounting seat and the clamping structure respectively.

10. A raise boring machine, characterized in that: Comprising a robot as described in any one of claims 1 to 9.

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