High-stability drill rod grabbing device

Abstract

The utility model discloses a high-stability drill rod grabbing device, and belongs to the technical field of coal seam top (bottom) plate gas extraction, grouting reinforcement, coal mining and prejudgment of mining area geological structures. A manipulator mounting base covers the bottom of a manipulator assembly, and an anti-explosion rotating speed sensor is mounted on the manipulator mounting base; a manipulator fixed paw is installed at the bottom of the manipulator installation base, a manipulator movable paw is installed on one side of the manipulator fixed paw in a swing opening and closing mode, a manipulator clamping oil cylinder is installed on one side of the anti-explosion rotating speed sensor, and the output end of the manipulator clamping oil cylinder is connected with the manipulator movable paw in a swing mode. The device is simple in structure and suitable for drilling construction in a narrow roadway, grabbing of a drill rod under various conditions can be met, the front-back and up-down moving distance is large, the posture is automatically adjusted, the requirement for the automation degree is met, stability is good, after statics analysis, the safety of the designed structure is verified, and rapid stability under complex conditions can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a high stability drill rod grabbing device belongs to coal seam roof (bottom) gas extraction, grouting reinforcement, coal mining, prejudge mining area geological structure technical field. BACKGROUND

[0002] Coal mine drilling is an important means of coal mining, management and other construction operations, which is widely used in coal seam roof (bottom) gas extraction, grouting reinforcement, coal mining, prejudge mining area geological structure and other fields. In order to complete various drilling operations in coal mine, different types of mine drilling machines have appeared in coal mining industry, such as anchor rod drilling machine, pressure relief drilling machine, roof cutting drilling machine, kilometer directional drilling machine and outburst prevention drilling machine. As an important mechanical equipment in coal drilling and mining work, the performance and intelligence of the drilling machine will directly affect the mining capacity.

[0003] In recent years, semi-automatic and fully automatic drilling machine technology has developed rapidly. This technology reduces the work intensity of drilling and improves the labor intensity and safety risk in drilling operation.

[0004] For example, the application number is: 202222620975.7 discloses a high stability drill rod grabbing device, which comprises a grab hand and a driving assembly for driving the grab hand to move between the drill rod storage box and the drilling machine. The grab hand comprises a grab arm, at least two clamps are arranged on the grab arm along the length direction, notches are arranged on the clamps, at least one first fixed roller is arranged on the side wall of the notch, a second fixed roller is arranged on one side of the opening of the notch, and a movable roller is arranged on the other side of the opening of the notch. The movable roller is connected with a translation driving element for driving it to approach or move away from the second fixed roller. When the drill rod is clamped, the first fixed roller, the second fixed roller and the movable roller are all in contact with the outer wall of the drill rod, which limits the axial displacement of the drill rod while not limiting the circumferential rotation of the drill rod, greatly reduces the friction and avoids damaging the drill rod.

[0005] Traditional drilling machines usually adopt manual up and down drilling rod operation mode. The operator needs to repeatedly carry out operations such as carrying, installing and debugging. One end of the drill rod needs to be connected with a power head, and the other end is connected with a front gripper. The power head is driven to move by the oil cylinder to complete drilling work. Up and down drilling rod operation needs the workers to frequently perform physical labor. In these operation processes, once the drill rod falls off or slips, it may cause harm to the workers, and even damage the equipment.

[0006] Therefore, a high stability drill rod grabbing device is needed to improve the above shortcomings. Utility model content

[0007] The main purpose of the utility model is to provide a high stability drill rod grabbing device.

[0008] The purpose of the utility model can be achieved by adopting the following technical solutions:

[0009] A high-stability drill rod grabbing device, comprising a guide rod fixing seat for limiting the equipment,

[0010] The guide rod fixing seat is composed of a sliding block assembly, a mechanical arm assembly, a grab rod horizontal pushing position oil cylinder, a guide rod, a guide rod fixing seat and a grab rod lifting oil cylinder;

[0011] The grab rod lifting oil cylinder is internally mounted with a mechanical hand assembly, and a mechanical arm vertical guide rod assembly is welded to the output end of the grab rod lifting oil cylinder, and the mechanical hand assembly is fixedly connected with the mechanical arm assembly by the mechanical arm vertical guide rod assembly;

[0012] The mechanical hand assembly is composed of a mechanical hand movable claw, a mechanical hand fixed claw, a mechanical hand clamping oil cylinder, a mechanical hand mounting base and an explosion-proof rotating speed sensor;

[0013] The bottom of the mechanical hand assembly is covered with the mechanical hand mounting base, the explosion-proof rotating speed sensor is mounted on the mechanical hand mounting base, the mechanical hand fixed claw is mounted on the bottom of the mechanical hand mounting base, the mechanical hand movable claw is swingingly mounted on one side of the mechanical hand fixed claw, the mechanical hand clamping oil cylinder is mounted on one side of the explosion-proof rotating speed sensor, and the output end of the mechanical hand clamping oil cylinder is swingingly connected with the mechanical hand movable claw.

[0014] Preferably, the grab rod lifting oil cylinder is fixedly installed in the mechanical arm vertical guide sleeve assembly, the mechanical arm vertical guide sleeve assembly is installed at the upper end, the lower end of the mechanical arm sliding base assembly is installed with the sliding block assembly, the sliding block assembly is slidably connected along the guide rod, and the grab rod horizontal pushing position oil cylinder is installed on the other side of the sliding block assembly and used for slidingly connecting the sliding block assembly.

[0015] Preferably, the sliding block assembly is composed of a guide rod sliding block, a guide rod copper sleeve and a dustproof ring support cover;

[0016] The guide rod sliding block in the sliding block assembly is sleeved on the guide rod and slidably connected, the guide rod copper sleeve is installed on the two sides of the guide rod sliding block, and the dustproof ring support cover is installed in the guide rod copper sleeve.

[0017] Preferably, the welded part is composed of a mechanical arm vertical guide rod reinforcing rib plate, a mechanical hand mounting plate and a square tube;

[0018] The mechanical arm vertical guide rod reinforcing rib plate is installed at the top of the square tube, and the mechanical arm vertical guide rod reinforcing rib plate and the square tube are connected by the mechanical hand mounting plate.

[0019] Preferably, the mechanical hand movable claw is swingingly connected along one side of the mechanical hand fixed claw.

[0020] Preferably, the mechanical arm vertical guide sleeve assembly is connected with the mechanical arm sliding base assembly, and the mechanical arm sliding base assembly and the chassis assembly are 90°.

[0021] Preferably, the output end of the grab rod horizontal pushing position oil cylinder is fixedly connected with the guide rod sliding block.

[0022] The beneficial technical effects of the present application are as follows:

[0023] The present application provides a high-stability drill rod grabbing device,

[0024] 1) The present application is composed of a sliding block assembly, a mechanical arm assembly, a grab rod horizontal pushing position oil cylinder, a guide rod, a guide rod fixing seat and a grab rod lifting oil cylinder, realizes the functions of drill rod grabbing and moving, and has simple structure, small size and is convenient for being applied to narrow roadway drilling construction.

[0025] 2) The present application can meet the requirements of drill rod grabbing in various conditions through the grab rod horizontal pushing position oil cylinder and the grab rod lifting oil cylinder, has large moving distance in front and back and up and down, automatically adjusts the posture, and meets the requirements of automation degree.

[0026] 3) The mining explosion-proof type rotating speed sensor is installed on the grabbing structure, can be monitored in the operation process, and can be quickly and stably solved when problems occur, so that the present application has good stability, and the safety of the designed structure is verified after statics analysis, and can realize quick and stable operation under complex conditions. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a drill rod grabbing mechanism schematic view according to a preferred embodiment of the high-stability drill rod grabbing device of the present application.

[0028] Figure 2 It is a sliding block assembly structure schematic view according to a preferred embodiment of the high-stability drill rod grabbing device of the present application.

[0029] Figure 3 It is a mechanical arm assembly schematic view according to a preferred embodiment of the high-stability drill rod grabbing device of the present application.

[0030] Figure 4 It is a mechanical arm guide rod assembly schematic view according to a preferred embodiment of the high-stability drill rod grabbing device of the present application.

[0031] Figure 5 It is a mechanical arm assembly schematic view according to a preferred embodiment of the high-stability drill rod grabbing device of the present application.

[0032] Figure 6 It is a drill rod grabbing mechanism side view according to a preferred embodiment of the high-stability drill rod grabbing device of the present application.

[0033] In the figure: 1, slider assembly; 2, mechanical arm assembly; 3, horizontal pushing position oil cylinder of grab rod; 4, guide rod; 5, guide rod fixing seat; 6, grab rod lifting oil cylinder; 1-1, guide rod slider; 1-2, guide rod copper bush; 1-3, dustproof ring support cover; 2-1, mechanical hand assembly; 2-2, vertical guide rod assembly of mechanical arm; 2-3, vertical guide sleeve assembly of mechanical arm; 2-4, sliding base assembly of mechanical arm; 2-2-1, reinforcing rib plate of vertical guide rod of mechanical arm; 2-2-2, mechanical hand mounting plate; 2-2-3, square tube; 2-2-4, mechanical hand mounting base; 2-2-6, mine explosion-proof type rotating speed sensor. DETAILED DESCRIPTION

[0034] In order to make the technical scheme of the utility model more clear and explicit for those skilled in the art, the utility model will be further described in detail below in combination with embodiments and drawings, but the implementation mode of the utility model is not limited to this.

[0035] As shown in the figure, the high-stability drill rod grabbing device provided by the embodiment comprises a guide rod fixing seat 5 for limiting the equipment; Figure 1 Figure 6 The high-stability drill rod grabbing device is characterized in that the guide rod fixing seat 5 is composed of a slider assembly 1, a mechanical arm assembly 2, a horizontal pushing position oil cylinder 3 of grab rod, a guide rod 4, the guide rod fixing seat 5 and a grab rod lifting oil cylinder 6.

[0036] The inner installation of the mechanical arm assembly 2 is the grab rod lifting oil cylinder 6, the output end of the grab rod lifting oil cylinder 6 has a mechanical hand assembly 2-1 and a vertical guide rod assembly 2-2 of mechanical arm, the mechanical hand assembly 2-1 is fixedly connected with the vertical guide rod assembly 2-2 of mechanical arm and the mechanical arm assembly 2.

[0037] The mechanical hand assembly 2-1 is composed of a movable hand claw 2-1-1, a fixed hand claw 2-1-2, a clamping oil cylinder 2-1-3, a mechanical hand mounting base 2-1-4 and an explosion-proof rotating speed sensor 2-1-6.

[0038] The bottom of the mechanical hand assembly 2-1 is covered with the mechanical hand mounting base 2-1-4, the mechanical hand mounting base 2-1-4 is provided with the explosion-proof rotating speed sensor 2-1-6, the bottom of the mechanical hand mounting base 2-1-4 is provided with the fixed hand claw 2-1-2, the movable hand claw 2-1-1 is swingingly installed on one side of the fixed hand claw 2-1-2, the clamping oil cylinder 2-1-3 is installed on one side of the explosion-proof rotating speed sensor 2-1-6, and the output end of the clamping oil cylinder 2-1-3 is swingingly connected with the movable hand claw 2-1-1.

[0039] The bottom of the mechanical hand assembly 2-1 is covered with the mechanical hand mounting base 2-1-4, the mechanical hand mounting base 2-1-4 is provided with the explosion-proof rotating speed sensor 2-1-6, the bottom of the mechanical hand mounting base 2-1-4 is provided with the fixed hand claw 2-1-2, the movable hand claw 2-1-1 is swingingly installed on one side of the fixed hand claw 2-1-2, the clamping oil cylinder 2-1-3 is installed on one side of the explosion-proof rotating speed sensor 2-1-6, and the output end of the clamping oil cylinder 2-1-3 is swingingly connected with the movable hand claw 2-1-1.

[0040] ​The grab lever lifting oil cylinder 6 is fixedly installed in the mechanical arm vertical guide sleeve assembly 2-3, the mechanical arm vertical guide sleeve assembly 2-3 is installed at the upper end of 204, the lower end of the mechanical arm sliding base assembly 2-4 is provided with the sliding block assembly 1, the sliding block assembly 1 is slidably connected along the guide rod 4, the other side of the sliding block assembly 1 is provided with the grab lever horizontal push position oil cylinder 3, and the grab lever horizontal push position oil cylinder 3 pushes the sliding block assembly 1 to be slidably connected.

[0041] The sliding block assembly 1 is composed of a guide rod sliding block 1-1, a guide rod copper sleeve 1-2 and a dust ring support cover 1-3.

[0042] The guide rod sliding block 1-1 in the sliding block assembly 1 is sleeved on the guide rod 4 and is slidably connected, the guide rod copper sleeve 1-2 is installed on the two sides of the guide rod sliding block 1-1, and the dust ring support cover 1-3 is installed in the guide rod copper sleeve 1-2.

[0043] The welding assembly is composed of a mechanical arm vertical guide rod reinforcing rib plate 2-2-1, a mechanical arm mounting plate 2-2-2 and a square tube 2-2-3.

[0044] The mechanical arm vertical guide rod reinforcing rib plate 2-2-1 is installed at the top of the square tube 2-2-3, and the mechanical arm vertical guide rod reinforcing rib plate 2-2-1 and the square tube 2-2-3 are connected by the mechanical arm mounting plate 2-2-2.

[0045] The movable hand claw 2-1-1 of the mechanical arm is connected in opening and closing along one side of the fixed hand claw 2-1-2 of the mechanical arm.

[0046] The mechanical arm vertical guide sleeve assembly 2-3 is connected with the mechanical arm sliding base assembly 2-4, and the mechanical arm sliding base assembly 2-4 and the chassis assembly are at 90 degrees.

[0047] The output end of the grab lever horizontal push position oil cylinder 3 is fixedly connected with the guide rod sliding block 1-1.

[0048] As shown in Figure 1 - Figure 6 The working process of the high-stability drill rod grabbing device provided by the embodiment is as follows:

[0049] Step 1: The mechanical arm assembly 2 is the core part in the mechanism, the mechanical arm sliding base assembly 2-4 is fixed on the guide rod 4, the sliding base is controlled to move forward and backward by the grab lever horizontal push position oil cylinder 3, and the drill rod is clamped at different positions in the drill rod bin;

[0050] Step 2: The base is the basis of the entire assembly, bears the weight of the entire mechanical arm, the sliding block assembly 1 is responsible for providing a stable moving track, and ensures the stability of the mechanical arm in the running process;

[0051] Step 3: The mechanical arm vertical guide sleeve assembly 2-3 is connected with the mechanical arm sliding base assembly 2-4, and the chassis assembly is 90°, which is mainly used to provide vertical direction guide and support, and the material is square tube 160*8, which ensures its strength;

[0052] Step 4: The mechanical arm vertical guide sleeve assembly 2-3 is additionally provided with the mechanical arm guide rod assembly 2-2 support, which is composed of the mechanical arm vertical guide rod reinforcing plate 2-2-1, the mechanical arm mounting plate 2-2-2 and the square tube 2-2-3;

[0053] The mechanical arm vertical guide rod reinforcing plate 2-2-1 is on the top of the square tube 2-2-3, which is mainly used to install the grab rod lifting oil cylinder 6. When the hydraulic oil enters the oil cylinder through the oil inlet, the piston moves upward, driving the mechanical arm assembly 2-1 to fix and lift the drill pipe;

[0054] Step 5: By controlling the switches of the oil inlet and oil return, the movement of the piston can be accurately controlled, so as to realize the lifting of the drill pipe;

[0055] Step 6: The mechanical arm assembly 2-1 is the core part of the grabbing mechanism, which is composed of the mechanical arm movable jaw 2-1-1, the mechanical arm fixed jaw 2-1-2, the mechanical arm clamping oil cylinder 2-1-3, the mechanical arm mounting base 2-1-4, the proximity switch mounting seat 2-1-5 and the mine explosion-proof type speed sensor 2-1-6;

[0056] The mechanical arm clamping oil cylinder 2-1-3 is connected with the mechanical arm movable jaw 2-1-1 through a pin shaft, which provides grabbing power for the movable jaw, and cooperates with the mechanical arm fixed jaw 2-1-2 to detect a certain speed through the mine explosion-proof type speed sensor 2-1-6, so as to prevent the drill pipe from being clamped and reduce the service life of the drill pipe;

[0057] Step 7: The mechanical arm movable jaw 2-1-1 can be adjusted in size according to different specifications of the drill pipe, and notches are arranged at both jaws, which can well fit the wall of the drill pipe, so as to ensure the stability of grabbing and make the grabbing more stable.

[0058] Example 1

[0059] As Figure 1 - Figure 6As shown, the robotic arm assembly 2 is the core part of this mechanism. The robotic arm sliding base welded component 2-4 is fixed to the guide rod 4. The horizontal pushing cylinder 3 of the gripper rod controls the forward and backward displacement of the sliding base, allowing it to grip drill rods at different positions in the drill rod chamber. The base is the foundation of the entire welded assembly, bearing the weight of the entire robotic arm. The slider assembly 1 is responsible for providing a smooth moving track, ensuring the stability of the robotic arm during operation. The robotic arm vertical guide sleeve assembly 2-3 is connected to the robotic arm sliding base welded component 2-4, forming a 90° angle with the chassis assembly. It is mainly used to provide vertical guidance and support, and is made of 160×8 square tubing to ensure... To enhance its strength, a robotic arm guide rod assembly 2-2 is added inside the vertical guide sleeve welded component 2-3 for support. This assembly consists of a robotic arm vertical guide rod reinforcing rib plate 2-2-1, a robotic arm mounting plate 2-2-2, and a square tube 2-2-3. The robotic arm vertical guide rod reinforcing rib plate 2-2-1 is located at the top of the square tube 2-2-3 and is mainly used to install the gripper lifting cylinder 6. When hydraulic oil enters the cylinder through the inlet, it pushes the piston upward, driving the robotic arm assembly 2-1 to fix and lift the drill rod. By controlling the opening and closing of the inlet and outlet, precise control of the piston movement can be achieved, thereby lifting the drill rod.

[0060] Example 2

[0061] like Figure 1 - Figure 6 As shown, the robotic arm assembly 2-1 is the core part of the gripping mechanism, consisting of a movable robotic arm gripper 2-1-1, a fixed robotic arm gripper 2-1-2, a robotic arm clamping cylinder 2-1-3, a robotic arm mounting base 2-1-4, a proximity switch mounting base, and a mining explosion-proof speed sensor 2-1-6. The robotic arm clamping cylinder 2-1-3 is connected to the movable robotic arm gripper 2-1-1 via a pin, providing it with gripping power. It works in conjunction with the fixed robotic arm gripper 2-1-2, responding to the mining explosion-proof speed sensor 2-1-6. When a certain speed is detected, gripping is performed to prevent damage to the drill rod and reduce its service life. The movable robotic arm gripper 2-1-1 can be adjusted in size according to different drill rod specifications. Both grippers have notches to fit well against the drill rod wall, ensuring gripping stability and a more secure grip.

[0062] The above description is only a further embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the scope disclosed by the present utility model, based on the technical solution and concept of the present utility model, shall fall within the protection scope of the present utility model.

Claims

1. A high-stability drill rod grabbing device, comprising a guide rod fixing seat (5) for limiting the position of the device; characterized in that The guide rod fixing seat (5) is composed of a slider assembly (1), a mechanical arm assembly (2), a grab rod horizontal pushing position oil cylinder (3), a guide rod (4), a guide rod fixing seat (5), and a grab rod lifting oil cylinder (6); The grab rod lifting oil cylinder (6) is installed in the mechanical arm assembly (2), and the output end of the grab rod lifting oil cylinder (6) is provided with a mechanical hand assembly (2-1) and a mechanical arm vertical guide rod assembly weldment (2-2), the mechanical hand assembly (2-1) is fixedly connected with the mechanical arm assembly (2) through the mechanical arm vertical guide rod assembly weldment (2-2); The mechanical hand assembly (2-1) is composed of a mechanical hand movable claw (2-1-1), a mechanical hand fixed claw (2-1-2), a mechanical hand clamping oil cylinder (2-1-3), a mechanical hand mounting base (2-1-4), and an explosion-proof rotating speed sensor (2-1-6); The bottom of the mechanical hand assembly (2-1) is covered with the mechanical hand mounting base (2-1-4), the mechanical hand mounting base (2-1-4) is provided with the explosion-proof rotating speed sensor (2-1-6), the bottom of the mechanical hand mounting base (2-1-4) is provided with the mechanical hand fixed claw (2-1-2), one side of the mechanical hand fixed claw (2-1-2) is swingably provided with the mechanical hand movable claw (2-1-1), one side of the explosion-proof rotating speed sensor (2-1-6) is provided with the mechanical hand clamping oil cylinder (2-1-3), and the output end of the mechanical hand clamping oil cylinder (2-1-3) is swingably connected with the mechanical hand movable claw (2-1-1).

2. A high stability pipe grab according to claim 1, characterised in that: The grab rod lifting oil cylinder (6) is fixedly installed in the mechanical arm vertical guide sleeve assembly weldment (2-3), the mechanical arm vertical guide sleeve assembly weldment (2-3) is installed at the upper end of the (204), the lower end of the mechanical arm sliding base assembly weldment (2-4) is provided with the slider assembly (1), the slider assembly (1) is slidably connected along the guide rod (4), and the other side of the slider assembly (1) is provided with the grab rod horizontal pushing position oil cylinder (3).

3. A high stability pipe grab according to claim 2, characterised in that: The slider assembly (1) is composed of a guide rod slider (1-1), a guide rod copper sleeve (1-2), and a dustproof ring support cover (1-3); The guide rod slider (1-1) in the slider assembly (1) is sleeved on the guide rod (4) to be slidably connected, both sides of the guide rod slider (1-1) are provided with the guide rod copper sleeve (1-2), and the guide rod copper sleeve (1-2) is provided with the dustproof ring support cover (1-3) to be installed.

4. A high stability pipe grab according to claim 3, characterised in that: The weldment is composed of a mechanical arm vertical guide rod reinforcing rib plate (2-2-1), a mechanical hand mounting plate (2-2-2), and a square tube (2-2-3); The mechanical arm vertical guide rod reinforcing rib plate (2-2-1) is installed at the top of the square tube (2-2-3), and the mechanical arm vertical guide rod reinforcing rib plate (2-2-1) and the square tube (2-2-3) are connected through the mechanical hand mounting plate (2-2-2).

5. A high stability pipe grab according to claim 4, characterised in that: The mechanical hand movable claw (2-1-1) is connected to be opened and closed along one side of the mechanical hand fixed claw (2-1-2).

6. A high stability pipe grab according to claim 5, characterised in that: The mechanical arm vertical guide sleeve assembly welding part (2-3) is connected with the mechanical arm sliding base assembly welding part (2-4), the mechanical arm sliding base assembly welding part (2-4) and the chassis assembly are 90°.

7. A high stability pipe grab according to claim 6, characterised in that: The output end of the grab lever horizontal pushing position oil cylinder (3) is fixedly connected with the guide rod sliding block (1-1).

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