Manipulator for assembling and disassembling drill rod and drilling machine

Abstract

The utility model discloses a mechanical arm for connecting and dismounting a drill rod and a drilling machine. The mechanical arm comprises a fixed seat; the middle of the first clamping jaw is hinged to the fixing base, and a first clamping structure is installed at the bottom; the second clamping jaw is opposite to the first clamping jaw, the middle of the second clamping jaw is hinged to the fixing base, and a second clamping structure is installed at the bottom of the second clamping jaw; the third clamping structure is rotationally installed on the fixing base around the axis of the third clamping structure, and a space allowing a drill rod to be inserted is formed among the first clamping structure, the second clamping structure and the third clamping structure; the driving device is used for driving the third clamping structure to rotate; and the telescopic structure is used for driving the first clamping structure and the second clamping structure to get away from each other or get close to each other. The mechanical arm for assembling and disassembling the drill rod is used for assembling and disassembling the drill rod, so that a rock drill does not need to be used for assembling and disassembling the drill rod, and abrasion of threads of the drill rod can be effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mining machinery, and particularly relates to a drill pipe handling manipulator and a drilling rig. Background Art

[0002] Most of the drill pipes of existing mining jumbo are connected by threads, and a rock drill is used to handle the drill pipes. The rotation of the rock drill is combined with the advancement of the rock drill to screw the drill pipe thread in or out. When the drill pipe is screwed in or out, the drill pipe will be lifted and lowered synchronously. Due to the large power of the rock drill, when the rotation and lifting of the rock drill are not properly coordinated, the drill pipe thread will be severely worn. Summary 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 drill pipe handling manipulator for assisting in screwing the drill pipe in and out, so that the rotation angle and lifting distance of the drill pipe are controllable, thereby effectively reducing the wear of the drill pipe thread.

[0004] The utility model also provides a drilling rig with the above drill pipe handling manipulator.

[0005] According to the drill pipe handling manipulator of the first aspect embodiment of the utility model, it includes:

[0006] A fixed seat;

[0007] A first jaw, the middle part of which is hinged to the fixed seat, and a first clamping structure is installed at the bottom;

[0008] A second jaw, which is arranged opposite to the first jaw, the middle part of the second jaw is hinged to the fixed seat, and a second clamping structure is installed at the bottom of the second jaw;

[0009] A third clamping structure, which is rotatably installed on the fixed seat around its own axis, the third clamping structure is arranged between the first clamping structure and the second clamping structure, and a space for the drill pipe to be inserted is formed among the first clamping structure, the second clamping structure and the third clamping structure;

[0010] A driving device, which is installed on the fixed seat, and the driving device is used to drive the third clamping structure to rotate;

[0011] A telescopic structure, including a cylinder body and a telescopic rod, the telescopic rod is slidably installed in the cylinder body, the telescopic rod is connected to the tops of the first jaw and the second jaw, and the relative sliding of the telescopic rod with respect to the cylinder body can drive the first clamping structure and the second clamping structure to move away from or close to each other.

[0012] According to the drill pipe handling manipulator of the embodiment of the utility model, it has at least the following beneficial effects:

[0013] By setting the first clamping structure, the second clamping structure, and the third clamping structure to clamp the drill pipe, the stability of the drill pipe can be ensured; by driving the third clamping structure to rotate by the driving device to drive the drill pipe to rotate, the pre-disassembly and connection of the drill pipe can be realized, so as to facilitate the tightening of the subsequent drill pipe by the rock drill. Driving the drill pipe to rotate by the driving device can better control the rotation angle and rotational torque of the drill pipe, thereby reducing the wear of the screw thread; the telescopic structure can drive the first clamping structure and the second clamping structure to move away from or close to each other, so as to be applicable to drill pipes of different diameters and improve the applicable scenarios of the equipment.

[0014] According to some embodiments of the present invention, a first mounting shaft is provided at the bottom of the first jaw, and the first clamping structures are mounted at both ends of the first mounting shaft in the length direction; a second mounting shaft is provided at the bottom of the second jaw, and the second clamping structures are mounted at both ends of the second mounting shaft in the length direction.

[0015] According to some embodiments of the present invention, the fixed seat is provided with a third mounting shaft that can rotate around its own axis, and the third clamping structures are mounted at both ends of the third mounting shaft in the length direction;

[0016] A third gear is sleeved in the middle of the third mounting shaft, and the output end of the driving device is connected with a first gear, and the first gear is in transmission connection with the third gear.

[0017] According to some embodiments of the present invention, the third clamping structure is arranged above the first clamping structure and the second clamping structure.

[0018] According to some embodiments of the present invention, the first clamping structure and / or the second clamping structure is made of an elastic material.

[0019] According to some embodiments of the present invention, the outer peripheral wall of the first clamping structure and / or the outer peripheral wall of the second clamping structure are provided with inclined lines protruding from their surfaces.

[0020] According to some embodiments of the present invention, the fixed seat includes a mounting piece, and the mounting piece is arranged between the first jaw and the second jaw; a first elastic structure is arranged between the first jaw and the mounting piece, and a second elastic structure is arranged between the second jaw and the mounting piece.

[0021] According to some embodiments of the present invention, the first elastic structure and the second elastic structure are both sleeved on the telescopic rod; the telescopic rod passes through the mounting piece, and a locking nut is installed at the end of the telescopic rod.

[0022] According to some embodiments of the present utility model, a first conical washer and a first spherical washer are installed between the locking nut and the first elastic structure. The first conical washer is provided with a first conical surface, and the first spherical washer is provided with a first spherical surface. The first conical surface is in contact with the first spherical surface, and the first spherical surface can slide relative to the first conical surface.

[0023] The drilling rig according to the second aspect embodiment of the present utility model includes the above-mentioned drill pipe handling manipulator; since the drilling rig includes the above-mentioned drill pipe handling manipulator, it at least has all the beneficial effects of the drill pipe handling manipulator.

[0024] 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

[0025] The following further describes the present utility model in conjunction with the drawings and embodiments, where:

[0026] Figure 1 is a schematic structural diagram of the first aspect embodiment of the present utility model;

[0027] Figure 2 is a cross-sectional view of the first aspect embodiment of the present utility model;

[0028] Figure 3 is Figure 2 an enlarged view of part A in

[0029] Reference Numerals in the Drawings:

[0030] Fixed seat 100, mounting piece 110, first elastic structure 120, second elastic structure 130;

[0031] First jaw 200, first clamping structure 210;

[0032] Second jaw 300, second clamping structure 310;

[0033] Third clamping structure 400, third gear 410;

[0034] Drive device 500, first gear 510, second gear 520;

[0035] Telescopic structure 600, cylinder block 610, telescopic rod 620, locking nut 630, first conical washer 640, first spherical washer 650, first retaining ring 660. Detailed Embodiments

[0036] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying 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 by referring to the accompanying drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation to the present utility model.

[0037] In the description of the present utility model, it should be understood that for the orientation description, such as up, down, etc., the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the accompanying 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.

[0038] In the description of the present utility model, "a plurality of" refers to more than two. If there is a description of first and second, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0039] In the description of the present utility model, unless otherwise clearly defined, words such as "set", "installed", "connected", etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above words in the present utility model in combination with the specific content of the technical solution.

[0040] Referring to Figures 1 to 3 , the pipe handling manipulator according to the first aspect embodiment of the present utility model includes a fixed seat 100, a first jaw 200, a second jaw 300, a telescopic structure 600, and a third clamping structure 400. The first jaw 200 and the second jaw 300 are both installed on the fixed seat 100. The middle part of the first jaw 200 is hinged to the fixed seat 100, and a first clamping structure 210 is installed at the bottom of the first jaw 200; the middle part of the second jaw 300 is also hinged to the fixed seat 100, and a second clamping structure 310 is installed at the bottom of the second jaw 300; the first jaw 200 and the second jaw 300 are arranged oppositely. The third clamping structure 400 is rotatably installed on the fixed seat 100 around its own axis, and the third clamping structure 400 is arranged between the first clamping structure 210 and the second clamping structure 310. A space for the drill pipe to be inserted is formed among the first clamping structure 210, the second clamping structure 310, and the third clamping structure 400; the third clamping structure 400 is connected with a driving device 500 that drives it to rotate around its own axis. The rotation of the third clamping structure 400 around its own axis can drive the drill pipe located among the first clamping structure 210, the second clamping structure 310, and the third clamping structure 400 to rotate, thereby realizing the connection and disconnection of the drill pipe.

[0041] Further, the telescopic structure 600 includes a cylinder block 610 and a telescopic rod 620. The telescopic rod 620 is slidably installed in the cylinder block 610. The telescopic rod 620 is connected to the tops of the first jaw 200 and the second jaw 300. The relative sliding of the telescopic rod 620 with respect to the cylinder block 610 can drive the first clamping structure 210 and the second clamping structure 310 to move away from or close to each other. According to the drill pipe connection and disconnection manipulator of the present invention, by providing the first clamping structure 210, the second clamping structure 310, and the third clamping structure 400 to clamp the drill pipe, the stability of the drill pipe can be ensured; by driving the third clamping structure 400 to rotate by the driving device 500 to drive the drill pipe to rotate, the pre-connection and disconnection of the drill pipe can be realized, so as to facilitate the subsequent tightening of the drill pipe by the rock drill. The driving device 500 can better control the rotation angle and torque of the drill pipe, thereby reducing the wear of the screw thread; the telescopic structure 600 can drive the first clamping structure 210 and the second clamping structure 310 to move away from or close to each other, so as to be applicable to drill pipes of different diameters and improve the applicable scenarios of the equipment.

[0042] In an embodiment of the present invention, a first mounting shaft is provided at the bottom of the first jaw 200, and first clamping structures 210 are installed at both ends of the first mounting shaft in the length direction; a second mounting shaft is provided at the bottom of the second jaw 300, and second clamping structures 310 are installed at both ends of the second mounting shaft in the length direction. Specifically, referring to Figure 1 , Figure 2 as shown, the length extension direction of the first mounting shaft is perpendicular to the sliding direction of the telescopic rod 620 of the telescopic structure 600, and the second mounting shaft is arranged parallel to the first mounting shaft; the fixed seat 100 is installed with a third mounting shaft that can rotate around its own axis, and third clamping structures 400 are installed at both ends of the third mounting shaft in the length direction. The third mounting shaft is arranged above the first mounting shaft and the second mounting shaft and is arranged between the first mounting shaft and the second mounting shaft. The first mounting shaft, the second mounting shaft, and the third mounting shaft are arranged in a triangle, and third clamping structures 400 are also installed at both ends of the third mounting shaft in the length direction.

[0043] Further, in an embodiment of the present invention, the first clamping structure 210 and / or the second clamping structure 310 are made of an elastic material, and the outer peripheral wall of the first clamping structure 210 and / or the outer peripheral wall of the second clamping structure 310 are provided with oblique lines protruding from their surfaces. Specifically, referring to Figure 1As shown, it is preferred that both the first clamping structure 210 and the second clamping structure 310 are made of elastic materials, such as rubber and the like; at the same time, it is preferred that the outer peripheral walls of the first clamping structure 210 and the second clamping structure 310 are provided with diagonal lines protruding from their surfaces. Such a design can increase the frictional force between the first clamping structure 210, the second clamping structure 310 and the drill pipe. Similarly, the shape and size of the third clamping structure 400 are basically the same as those of the first clamping structure 210 and the second clamping structure 310. The third clamping structure 400 is also preferably made of elastic material, and the outer peripheral wall of the third clamping structure 400 is also provided with diagonal lines protruding from its surface.

[0044] In the embodiment of the present utility model, there are two first jaws 200, and the two first jaws 200 are respectively installed on both sides in the thickness direction of the fixed seat 100, and the first mounting shaft passes through the two first jaws 200; similarly, there are two second jaws 300, and the two second jaws 300 are respectively installed on both sides in the thickness direction of the fixed seat 100. Correspondingly, there are two telescopic structures 600, and the telescopic rod 620 of one telescopic structure 600 passes through one first jaw 200 and one second jaw 300. In the embodiment of the present utility model, there is only one first mounting shaft and one second mounting shaft. The first mounting shaft passes through the two first jaws 200 at the same time, and the second mounting shaft passes through the two second jaws 300 at the same time. The two telescopic structures 600 act synchronously. By installing the first clamping structure 210 at both ends in the length direction of the first mounting shaft, the second clamping structure 310 at both ends in the length direction of the second mounting shaft, and the third clamping structure 400 at both ends in the length direction of the third mounting shaft, the contact area with the drill pipe can be increased, and thus the drill pipe can be better driven to rotate.

[0045] It can be imagined that it can also include two first mounting shafts and two second mounting shafts. The two first mounting shafts correspond to the two first jaws 200 one by one, and the two second mounting shafts correspond to the two second jaws 300 one by one. In this design, the two first jaws 200 and the two second jaws 300 can act independently, and cooperate with the two telescopic structures 600 to act independently, which can expand some usage scenarios.

[0046] In the embodiment of the present utility model, a third gear 410 is sleeved on the middle of the third mounting shaft, and the output end of the driving device 500 is connected with a first gear 510. The first gear 510 is in transmission connection with the third gear 410, so as to drive the third mounting shaft to rotate around its own axis. Refer to Figure 2As shown, a second gear 520 is provided between the first gear 510 and the third gear 410. The second gear 520 serves as an intermediate gear for connecting the first gear 510 and the third gear 410. At the same time, the second gear 520 is arranged above the first gear 510 and the third gear 410 to avoid the obstruction caused by the second mounting shaft to the second gear 520. The third mounting shaft is driven to rotate by means of gear transmission, with a simple structure and stable torque transmission effect.

[0047] In an embodiment of the present utility model, the fixed seat 100 includes a mounting piece 110, and the mounting piece 110 is arranged between the first jaw 200 and the second jaw 300; a first elastic structure 120 is provided between the first jaw 200 and the mounting piece 110, and a second elastic structure 130 is provided between the second jaw 300 and the mounting piece 110. Specifically, referring to Figure 1 、 Figure 3 As shown, both the first elastic structure 120 and the second elastic structure 130 are sleeved on the telescopic rod 620; the telescopic rod 620 passes through the mounting piece 110, and a locking nut 630 is installed at the end of the telescopic rod 620. The first elastic structure 120 is used to push the top of the first jaw 200 to move away from the second jaw 300, thereby driving the first clamping structure 210 to move towards the second clamping structure 310; similarly, the second elastic structure 130 is used to push the second jaw 300 to move away from the first jaw 200, thereby driving the second clamping structure 310 to move towards the first clamping structure 210. Through holes for the telescopic rod 620 to pass through are provided at the tops of both the first jaw 200 and the second jaw 300, and the diameter of the through hole at the top of the first jaw 200 is larger than the diameter of the telescopic rod 620, and the diameter of the through hole at the top of the second jaw 300 is larger than the diameter of the telescopic rod 620. The cylinder body 610 of the telescopic structure 600 is connected with an air extraction device. When the air extraction device extracts the gas in the cylinder body 610, the telescopic rod 620 will slide towards the cylinder body 610, thereby driving the tops of the first jaw 200 and the second jaw 300 to approach each other, and further driving the first clamping structure 210 and the second clamping structure 310 to move away from each other to loosen the drill pipe. By using the first elastic structure 120 and the second elastic structure 130 to drive the first clamping structure 210 and the second clamping structure 310 to clamp the drill pipe, and the air extraction device is only used to drive the first clamping structure 210 and the second clamping structure 310 to move away from each other. This method can ensure that when the equipment is powered off, the first clamping structure 210 and the second clamping structure 310 will approach each other and clamp the drill pipe under the action of the first elastic structure 120 and the second elastic structure 130, thereby reducing the accident rate of the equipment.

[0048] In an embodiment of the present utility model, a first tapered washer 640 and a first spherical washer 650 are installed between the locking nut 630 and the first elastic structure 120. The first tapered washer 640 is provided with a first tapered surface, and the first spherical washer 650 is provided with a first spherical surface. The first tapered surface is in contact with the first spherical surface, and the first spherical surface can slide relative to the first tapered surface. Specifically, referring to Figure 3 As shown, the telescopic rod 620 moves linearly, while both the first jaw 200 and the second jaw 300 are hinged to the fixed seat 100 at the middle. Therefore, the tops of both the first jaw 200 and the second jaw 300 move in an arc. Therefore, the aperture of the through hole provided at the tops of the first jaw 200 and the second jaw 300 must be larger than the diameter of the telescopic rod 620, so as to prevent the telescopic rod 620 from being stuck by the first jaw 200 and the second jaw 300 when the telescopic rod 620 slides linearly. The purpose of providing the first spherical washer 650 and the first tapered washer 640 is also to prevent the linear movement of the telescopic rod 620 from being stuck. The first spherical surface of the first spherical washer 650 and the first tapered surface of the first tapered washer 640 can rotate relative to each other, so as to better prevent the linear movement of the telescopic rod 620 from being stuck.

[0049] It should be understood that a second tapered washer and a second spherical washer are installed between the cylinder block 610 and the second elastic structure 130. The second tapered washer is provided with a second tapered surface, and the second spherical washer is provided with a second spherical surface. The second tapered surface is in contact with the second spherical surface, and the second spherical surface can slide relative to the second tapered surface; the functions of the second tapered washer and the second spherical washer are the same as those of the first tapered washer 640 and the first spherical washer 650.

[0050] In an embodiment of the present utility model, a first retaining ring 660 and a second retaining ring are also sleeved on the outer periphery of the telescopic rod 620. The first retaining ring 660 is arranged between the first spherical washer 650 and the locking nut 630, and the second retaining ring is arranged between the cylinder block 610 and the second spherical washer. The first retaining ring 660 is used to prevent the locking nut 630 from interfering with the first spherical washer 650, so as to affect the relative sliding between the first spherical washer 650 and the first tapered washer 640; the second retaining ring is used to prevent the cylinder block 610 from interfering with the second spherical washer, so as to affect the relative sliding between the second spherical washer and the second tapered washer.

[0051] The drilling rig according to the second aspect embodiment of the present utility model includes the above-mentioned drill pipe handling manipulator; since the drilling rig includes the above-mentioned drill pipe handling manipulator, it has at least all the beneficial effects of the drill pipe handling manipulator, which will not be elaborated here.

[0052] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean 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 are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0053] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments, and various changes can be made without departing from the gist of the present utility model within the scope of knowledge possessed by those of ordinary skill in the art.

Claims

1. A manipulator for unloading drill pipes, characterized in that, Comprising: Fixed seat; The first jaw, the middle part of which is hinged to the fixed seat, and the bottom part of which is provided with a first clamping structure; The second jaw, which is arranged opposite to the first jaw, the middle part of the second jaw is hinged to the fixed seat, and the bottom part of the second jaw is provided with a second clamping structure; The third clamping structure is rotatably mounted on the fixed seat around its own axis, the third clamping structure is arranged between the first clamping structure and the second clamping structure, and a space for the drill pipe to be inserted is formed among the first clamping structure, the second clamping structure and the third clamping structure; The driving device is mounted on the fixed seat, and the driving device is used for driving the third clamping structure to rotate; The telescopic structure includes a cylinder body and a telescopic rod, the telescopic rod is slidably mounted in the cylinder body, the telescopic rod is connected to the tops of the first jaw and the second jaw, and the relative sliding of the telescopic rod with respect to the cylinder body can drive the first clamping structure and the second clamping structure to move away from or close to each other.

2. The pipe handling manipulator according to claim 1, wherein: The bottom of the first jaw is provided with a first mounting shaft, and the first clamping structures are mounted at both ends of the first mounting shaft in the length direction; the bottom of the second jaw is provided with a second mounting shaft, and the second clamping structures are mounted at both ends of the second mounting shaft in the length direction.

3. The pipe handling manipulator according to claim 1, wherein: The fixed seat is provided with a third mounting shaft that can rotate around its own axis, and the third clamping structures are mounted at both ends of the third mounting shaft in the length direction; A third gear is sleeved on the middle part of the third mounting shaft, the output end of the driving device is connected with a first gear, and the first gear is in transmission connection with the third gear.

4. The manipulator for unloading drill pipes according to claim 1, characterized in that: The third clamping structure is arranged above the first clamping structure and the second clamping structure.

5. The unloading drill pipe manipulator according to claim 1, characterized in that: The first clamping structure and / or the second clamping structure is made of an elastic material.

6. The manipulator for unloading drill pipes according to claim 1, characterized in that: The outer peripheral wall of the first clamping structure and / or the outer peripheral wall of the second clamping structure is provided with oblique lines protruding from its surface.

7. The pipe handling manipulator according to claim 1, wherein: The fixed seat includes a mounting plate, and the mounting plate is arranged between the first jaw and the second jaw; a first elastic structure is arranged between the first jaw and the mounting plate, and a second elastic structure is arranged between the second jaw and the mounting plate.

8. The pipe handling manipulator according to claim 7, wherein: The first elastic structure and the second elastic structure are both sleeved on the telescopic rod; the telescopic rod passes through the mounting plate, and a locking nut is mounted at the end of the telescopic rod.

9. The manipulator for connecting and disconnecting drill pipes according to claim 8, wherein: A first conical washer and a first spherical washer are mounted between the locking nut and the first elastic structure. The first conical washer is provided with a first conical surface, the first spherical washer is provided with a first spherical surface, the first conical surface is in contact with the first spherical surface, and the first spherical surface can slide relative to the first conical surface.

10. A drilling rig, characterized in that: Including the drill pipe unloading and loading manipulator according to any one of claims 1 to 9.

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