Mining drilling machine grabbing mechanical arm for grabbing drilling rod

Abstract

The utility model relates to the technical field of drilling rod grabbing mechanical arms, in particular to a mining drilling machine grabbing mechanical arm used for grabbing a drilling rod. Comprising a large arm, a small arm arranged in the large arm in a sleeved mode and a grabbing mechanism arranged at the tail end of the small arm, and a telescopic mechanism is further arranged between the large arm and the small arm. The grabbing mechanism comprises a mechanical claw arranged at the tail end of the small arm and a clamping assembly arranged between the mechanical claw and the small arm, the mechanical claw comprises a first clamping claw body and a second clamping claw body, the first clamping claw body is fixedly connected with the small arm, the second clamping claw body is rotationally connected with the small arm, and the clamping assembly is connected with the second clamping claw body. The telescopic oil cylinder drives the small arm to do lifting motion, drill rods at different height positions can be grabbed, the mechanical claw is driven by the clamping oil cylinder to do the action of grabbing the drill rods, when the mechanical claw gets close to the drill rods, the guide rod moves upwards under the action of pressure, and when the proximity switch detects the guide rod, the clamping oil cylinder acts at the moment to grab the drill rods accurately. Therefore, the device is suitable for positioning and grabbing various drill rods.

Description

Technical Field

[0001] The utility model relates to the technical field of drill rod grabbing mechanical arms, in particular to a mining drill rig grabbing mechanical arm used for grabbing drill rods. Background Art

[0002] During the drilling process in a mine, drill rods must be loaded and unloaded multiple times. These rods must be lifted to a certain height to align with the drill rig's power head's rotation center, held in place, and installed. Loading and unloading drill rods requires several actions, including grasping, lifting, and alignment. During the drilling process, drill rods are often handled manually or by robotic arms, depending on the need to replace different drill tools and drill rods. Manual handling is labor-intensive, the loading and unloading process is labor-intensive, and the operation is risky. The installation process is lengthy, impacting drilling efficiency and safety. Currently, robotic arms are only capable of grasping a specific type of drill rod and are unable to accommodate a wide range of drill rod types. Summary of the Invention

[0003] In view of the above situation, in order to overcome the defects of the prior art, the utility model provides a mining drill rig grabbing robot arm for grabbing drill rods, so as to solve the problem that the drilling rig grabbing robot arm in the prior art cannot grab various types of drill rods.

[0004] To achieve the above-mentioned object, the present invention provides the following technical solution: a mining drill rig grabbing mechanical arm for grabbing drill rods, comprising a main arm, a small arm sleeved in the main arm, a grabbing mechanism provided at the end of the small arm, and a telescopic mechanism provided between the main arm and the small arm;

[0005] The grasping mechanism includes a mechanical claw arranged at the end of the forearm, and a clamping assembly arranged between the mechanical claw and the forearm. The mechanical claw includes a first clamping jaw and a second clamping jaw. The first clamping jaw is fixedly connected to the forearm, the second clamping jaw is rotatably connected to the forearm, and the clamping assembly is connected to the second clamping jaw.

[0006] Furthermore, the telescopic mechanism is a telescopic oil cylinder, one end of the telescopic oil cylinder is connected to the upper arm and the other end is connected to the lower arm.

[0007] Furthermore, the clamping assembly is a clamping oil cylinder, and both ends of the clamping oil cylinder are rotatably connected to the small arm and the second clamping jaw respectively.

[0008] Furthermore, it also includes a drill rod detection mechanism, which includes a proximity switch arranged on the forearm and a guide component arranged inside the mechanical claw, and the proximity switch is used to detect the position of the guide component.

[0009] Furthermore, the guide assembly includes two springs arranged on the forearm, two guide rods sleeved in the springs, and a guide plate connected between the two guide rods.

[0010] Furthermore, a displacement sensor is provided at the end of the upper arm.

[0011] Furthermore, an adjustment pad and a tightening nut are provided between the upper arm and the lower arm.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] The telescopic oil cylinder of the utility model drives the small arm to perform lifting and lowering movements, and can grab drill rods at different heights. The mechanical claw is driven by the clamping oil cylinder to grab the drill rod. When the mechanical claw approaches the drill rod, the guide plate contacts the drill rod. Under the action of pressure, the guide plate moves upward. When the proximity switch detects the guide rod, the drill rod also enters the grasping groove of the manipulator. At this time, the clamping oil cylinder is activated to accurately grab the drill rod, and thus it is suitable for the positioning and grabbing of various drill rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the main structure of an embodiment of the utility model;

[0015] Figure 2 This is a schematic diagram of a top view of a half-section structure of an embodiment of the present utility model;

[0016] In the picture:

[0017] Big arm 1, small arm 2, telescopic cylinder 3, displacement sensor 4, first clamping jaw 5, second clamping jaw 6, clamping cylinder 7,

[0018] Proximity switch 8, spring 9, guide rod 10, guide plate 11, adjustment pad 12, and tightening nut 13. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] Example 1:

[0021] Depend on Figure 1-2As shown, a mining drill rig grabbing robot arm for grabbing drill rods comprises a boom 1, a small arm 2 sleeved within the boom 1, and a grabbing mechanism at the end of the small arm 2. A telescopic mechanism is also provided between the boom 1 and the small arm 2; the telescopic mechanism is a telescopic oil cylinder 3, one end of which is connected to the boom 1 and the other end is connected to the small arm 2. The boom 1 and the small arm 2 are driven to move up and down by the φ65 telescopic oil cylinder 3, so that drill rods at different heights can be grabbed. A displacement sensor 4 is provided at the end of the boom 1. The accuracy of the displacement positioning of the robot arm during grabbing is also the key to successfully grabbing drill rods. The displacement sensor 4 accurately locates the coordinates of each drill rod in the drill rod box, allowing the robot arm to accurately move to the location of the drill rod and prepare to grab the drill rod.

[0022] The gripping mechanism includes a mechanical claw at the end of the forearm 2, and a clamping assembly between the mechanical claw and the forearm 2. The mechanical claw includes a first clamping jaw 5 and a second clamping jaw 6. The first clamping jaw 5 is fixedly connected to the forearm 2, the second clamping jaw 6 is rotatably connected to the forearm 2, and the clamping assembly is connected to the second clamping jaw 6. The clamping assembly is a clamping cylinder 7, the two ends of which are rotatably connected to the forearm 2 and the second clamping jaw 6, respectively. The mechanical claw is driven by the φ40 clamping cylinder 7 to grasp the drill rod. Specifically, the clamping cylinder 7 extends and retracts to drive the second clamping jaw 6 to rotate, causing the mechanical claw to open. After approaching the drill rod, the mechanical claw closes and clamps the drill rod.

[0023] The robot also includes a drill rod detection mechanism, comprising a proximity switch 8 mounted on the arm 2 and a guide assembly within the gripper. The proximity switch 8 is used to detect the position of the guide assembly. The guide assembly comprises two cylindrical holes in the arm 2, a spring 9 positioned within the cylindrical holes, two guide rods 10 sleeved within the spring 9, and a guide plate 11 connected between the two guide rods 10. When the gripper approaches the drill rod, the guide plate 11 contacts the drill rod, driving the guide rods 10 upward under pressure. When the proximity switch 8 detects the guide rods 10, the drill rod enters the gripper's gripping slot. The hydraulic system then controls the clamping cylinder 7 to accurately grasp the drill rod. This mechanism is suitable for positioning and grasping various drill rods, including round drill rods, round grooved drill rods, and spiral drill rods. The combined use of the displacement sensor 4 and the proximity switch 8 significantly improves the accuracy of drill rod positioning, enabling accurate and efficient automatic gripping of drill rods, with strong applicability and a wide range of applications.

[0024] Example 2:

[0025] The similarities between this embodiment and embodiment 1 are not repeated here. The difference lies in that an adjustment pad 12 and a compression nut 13 are further provided between the upper arm 1 and the lower arm 2. When the upper arm 1 and the lower arm 2 extend and retract, the adjustment pad 12 and the compression nut 13 on both sides guide and tighten, ensuring that the movement is linear and preventing jamming.

[0026] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mining drill rig grabbing mechanical arm for grabbing drill rods, characterized by: It includes a big arm, a small arm sleeved in the big arm, a grabbing mechanism at the end of the small arm, and a telescopic mechanism between the big arm and the small arm; The gripping mechanism includes a mechanical claw provided at the end of the forearm, and a clamping assembly provided between the mechanical claw and the forearm, wherein the mechanical claw includes a first clamping jaw and a second clamping jaw, wherein the first clamping jaw is fixedly connected to the forearm, the second clamping jaw is rotatably connected to the forearm, and the clamping assembly is connected to the second clamping jaw; It also includes a drill rod detection mechanism, which includes a proximity switch arranged on the forearm and a guide component arranged inside the mechanical claw, and the proximity switch is used to detect the position of the guide component.

2. The mining drill rig grabbing mechanical arm for grabbing drill rods according to claim 1, characterized in that: The telescopic mechanism is a telescopic oil cylinder, one end of which is connected to the upper arm and the other end of which is connected to the lower arm.

3. The mining drill rig grabbing mechanical arm for grabbing drill rods according to claim 1, characterized in that: The clamping assembly is a clamping oil cylinder, and both ends of the clamping oil cylinder are rotatably connected to the small arm and the second clamping claw respectively.

4. The mining drill rig grabbing mechanical arm for grabbing drill rods according to claim 1, characterized in that: The guide assembly comprises two springs arranged on the small arm, two guide rods sleeved in the springs, and a guide plate connected between the two guide rods.

5. The mining drill rig grabbing mechanical arm for grabbing drill rods according to claim 1, characterized in that: A displacement sensor is provided at the end of the large arm.

6. The mining drill rig grabbing mechanical arm for grabbing drill rods according to claim 1, characterized in that: An adjusting pad and a pressing nut are also provided between the upper arm and the lower arm.

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