Drill rod grabbing manipulator

Abstract

The utility model relates to a drilling rod grabbing manipulator, and belongs to the technical field of mining drilling machines. The manipulator is arranged on the drill rod box sliding rail and comprises a lifting joint, a rotating joint, a telescopic joint and a clamping jaw; the rotating joint is connected with the lifting joint through a cross beam; the lifting joint comprises a lifting oil cylinder, a lifting outer barrel and a lifting inner barrel; the rotating joint comprises a rotating driver and a rotating shaft; the rotating shaft is rotationally arranged in an inner cavity of the cross beam, a protruding part is arranged on the outer side of the rotating shaft, an arc groove matched with the protruding part is formed in the inner cavity of the cross beam, and when the rotating shaft rotates, the protruding part slides in the arc groove in the circumferential direction, so that rotating limiting of the rotating shaft is achieved; the telescopic joint comprises a telescopic oil cylinder, a telescopic outer barrel and a telescopic inner barrel. According to the drilling rod grabbing method, the position of the clamping jaw is adjusted through the lifting joint, the rotating joint and the telescopic joint, so that the clamping jaw can accurately grab or put down a drilling rod. The grabbing manipulator solves the problem that an existing grabbing manipulator cannot meet the requirement for drilling in a full-section and full-dip-angle range.

Description

Technical Field

[0001] This utility model belongs to the technical field of mining drilling rigs and relates to a drill rod gripping robot. Background Technology

[0002] Against the backdrop of the advancement of intelligent coal mining strategies, drilling automation has become a core approach to achieving less-manned and unmanned underground operations. The underground environment of coal mines is complex and fraught with potential hazards such as gas and coal dust. Simultaneously, the confined space, high humidity, and high temperature present significant challenges to traditional manual operation methods. Workers working underground for extended periods endure immense physical and mental stress, leading to accumulated fatigue, which not only hinders operational efficiency but also significantly increases the risk of safety accidents. This model clearly cannot meet the dual demands of efficient mining and inherent safety in modern coal mining.

[0003] The emergence of automation technology has brought new hope to coal mining. Through automation, drilling and auxiliary processes can be automated. Operations that previously required significant physical exertion from workers are now completed automatically by machines, significantly reducing labor intensity. Furthermore, machines are not prone to operational errors due to fatigue, greatly improving operational safety. Moreover, automation technology has overcome the efficiency bottleneck of manual operation, enabling continuous, stable, and efficient operation, making it an inevitable choice for technological upgrading in the coal industry.

[0004] In automated drilling rig systems, the drill pipe delivery system is one of the core systems of an automated drilling rig, and the drill pipe gripping robot is a key component of the drill pipe delivery system. Like a tireless "porter," it is responsible for the precise transfer of drill pipes between the drill pipe box and subsequent drilling or delivery devices, ensuring that the drilling rig can operate continuously and efficiently.

[0005] However, most automated drilling rigs currently used in the industry employ a three-stage drill pipe transport system consisting of two robotic arms combined with a translational transfer device. The drill pipe gripping robotic arms in this system are Cartesian coordinate articulated arms, with each joint being a translational joint. While this design is relatively simple in structure, it can only achieve translational or lifting transport of the drill pipe, greatly limiting the layout of subsequent mechanisms in the drill pipe transport system and the overall layout of the drilling rig.

[0006] Especially in the vertical direction, Cartesian coordinate articulated manipulators can only move vertically up and down. In actual operation, drilling rigs need to cope with various complex drilling requirements, and essential drilling rig components such as lifting sleeves often become obstacles to drill rod delivery. Because the manipulator cannot flexibly bypass these components, it is difficult for the drill rod to be successfully delivered under the drive of the gripping manipulator. This makes existing automatic drilling rigs inadequate when facing the need for drilling across the entire cross-section and inclination range. In some scenarios requiring drilling at large angles and complex positions, traditional drill rod delivery systems cannot meet the requirements, necessitating manual assistance, which not only increases labor costs but also introduces safety hazards.

[0007] To break this predicament, the coal industry urgently needs to innovate and upgrade its drill pipe conveying system to adapt to complex underground environments and various drilling requirements, thereby further advancing the automation of drilling rigs. Utility Model Content

[0008] In view of this, the purpose of this utility model is to provide a drill rod gripping robot to solve the problem that existing gripping robots can only move straight up and down and cannot meet the drilling requirements of the entire cross section and the entire inclination range.

[0009] To achieve the above objectives, this utility model provides the following technical solution:

[0010] A drill pipe gripping robot is mounted on a slide rail of a drill pipe box. It includes a lifting joint, a rotating joint, a telescopic joint, and a gripper connected in sequence. The end of the lifting joint away from the gripper is connected to the slide rail, and the telescopic joint and the gripper are arranged facing the inside of the drill pipe box.

[0011] The rotating joint and the lifting joint are connected by a crossbeam; the rotating joint includes a rotating shaft rotatably disposed in the inner cavity of the crossbeam, the inner cavity of the crossbeam is provided with an arc groove, and the outer side of the rotating shaft is provided with a protrusion. When the rotating shaft rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the rotating shaft.

[0012] Optionally, the end of the lifting joint away from the slide rail is connected to the lower part of the crossbeam.

[0013] Optionally, the lifting joint includes a lifting outer cylinder, which is sleeved and installed with a lifting inner cylinder below the crossbeam. The lifting outer cylinder and the lifting inner cylinder form a lifting pair to realize lifting movement.

[0014] Optionally, the lifting joint further includes a lifting cylinder connected to the lifting outer cylinder, the lifting cylinder driving the lifting pair to perform lifting movements.

[0015] Optionally, the rotating joint further includes a rotating actuator connected to the crossbeam, the rotating actuator being connected to the rotating shaft to drive the rotation of the rotating shaft.

[0016] Optionally, the end of the rotating shaft away from the crossbeam is connected to the telescopic joint, and the rotation of the rotating shaft drives the telescopic joint and the gripper to swing.

[0017] Optionally, the telescopic joint includes a telescopic outer cylinder and a telescopic inner cylinder, wherein the telescopic inner cylinder is inserted into the telescopic outer cylinder to form a telescopic pair for telescopic movement.

[0018] Optionally, the telescopic joint further includes a telescopic hydraulic cylinder connected to the rotating shaft. The telescopic hydraulic cylinder is connected to the telescopic outer cylinder to drive the telescopic joint to perform telescopic movement.

[0019] Optionally, a clamping cylinder is connected to the side of the gripper near the telescopic joint, and the gripper clamps or releases under the drive of the clamping cylinder.

[0020] The beneficial effects of this utility model are as follows:

[0021] By setting a rotating joint with a limited angle, the robotic arm's gripper can swing in the vertical plane. This allows the robotic arm to transport drill pipe over components such as the attitude adjustment device, thus allowing the transfer unit to be positioned on the opposite side of the attitude adjustment device from the drill pipe box. This improvement significantly enhances the flexibility of the drill pipe delivery system layout, enabling the drilling rig to adapt to more complex downhole environments and drilling requirements.

[0022] Because the robotic gripper can swing in a vertical plane, the drilling rig is no longer limited to the traditional vertical movement of robotic arms when drilling across the entire cross-section and at all inclination angles. This significantly increases the drilling inclination angle range of the drilling rig, improving its adaptability and operational efficiency.

[0023] This invention, through technological innovation, enables the drill pipe gripping robot to better adapt to the complex environmental conditions of underground coal mines, such as potential hazards like gas and coal dust, as well as unfavorable conditions like confined spaces, high humidity, and high temperatures. The technical solution of this invention improves the flexibility of the drill pipe conveying system layout, expands the drilling angle range of the drilling rig, enhances operational efficiency and safety, and improves adaptability to complex underground environments, bringing significant technological progress and application value to the field of mining drilling rig technology.

[0024] Other advantages, objectives, and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination and study, or may be learned from practice of this invention. The objectives and other advantages of this invention can be realized and obtained through the following description. Attached Figure Description

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the preferred embodiments of this utility model will be described in detail below with reference to the accompanying drawings, wherein:

[0026] Figure 1 This is a side view of the robot arm's axis;

[0027] Figure 2 This is a front view of the robotic arm;

[0028] Figure 3 This is a partial sectional view of the robotic arm AA.

[0029] Figure label:

[0030] 601 Lifting cylinder, 602 Lifting outer cylinder, 603 Crossbeam, 604 Rotary drive, 605 Rotary shaft, 606 Telescopic cylinder, 607 Telescopic outer cylinder, 608 Telescopic inner cylinder, 609 Gripper, 610 Clamping cylinder. Detailed Implementation

[0031] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this utility model. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0032] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the present invention. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0033] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this utility model. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0034] Please see Figures 1-3 This invention relates to a drill pipe gripping robot, mounted on a slide rail in a drill pipe box. It includes a lifting joint, a rotating joint, a telescopic joint, and a gripper 609 connected in sequence. The end of the lifting joint away from the gripper 609 is connected to the slide rail, while the telescopic joint and gripper 609 face inwards towards the drill pipe box. In some embodiments, this drill pipe gripping robot can function as a secondary robot for gripping and transporting drill pipes.

[0035] The lifting joint and the rotating joint are connected by a crossbeam 603. In some embodiments of this utility model, the drill pipe box slide rail is set horizontally, the lifting joint is installed vertically on the drill pipe box slide rail, the end of the lifting joint away from the slide rail is connected to the bottom of the crossbeam 603, and the rotating joint is connected to the side of the crossbeam 603.

[0036] The lifting joint includes a lifting cylinder 601 and a lifting outer cylinder 602 connected to each other. The lifting outer cylinder 602 is sleeved and installed with the lifting inner cylinder below the crossbeam 603. The lifting outer cylinder 602 and the lifting inner cylinder form a lifting pair. The lifting cylinder 601 drives the lifting pair to perform lifting movements.

[0037] The rotating joint includes a rotating actuator 604 connected to the crossbeam 603 and a rotating shaft 605 connected to the rotating actuator 604. The rotating shaft 605 rotates under the drive of the rotating actuator 604. The end of the rotating shaft 605 away from the crossbeam 603 is connected to the telescopic joint. When the rotating shaft 605 rotates, it causes the telescopic joint and the gripper 609 to swing.

[0038] The telescopic joint includes a telescopic cylinder 606 connected to a rotating shaft 605. A telescopic outer cylinder 607 and a telescopic inner cylinder 608 are connected below the telescopic cylinder 606. The telescopic inner cylinder 608 is inserted into the telescopic outer cylinder 607 to form a telescopic pair, which performs telescopic movement under the drive of the telescopic cylinder 606.

[0039] The rotating shaft 605 is installed in the inner cavity of the crossbeam 603. The inner cavity of the crossbeam 603 is provided with an arc groove. The outer side of the rotating shaft 605 is provided with a protrusion. When the rotating shaft 605 rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the rotating shaft 605.

[0040] A clamping cylinder 610 is connected to the side of the gripper 609 near the telescopic joint. Driven by the clamping cylinder 610, the gripper 609 clamps or releases.

[0041] Example 1 describes the drill rod grabbing steps of removing the drill rod from the drill rod box and placing it into the transfer device.

[0042] Initial state: The auxiliary manipulator is located at any position on the drill pipe box slide rail. The lifting joint and the telescopic joint prevent the gripper 609 from interfering with the drill pipe box and the drill pipe inside. The rotating joint makes the gripper 609 vertically downward and the gripper 609 open.

[0043] Selection: The auxiliary manipulator moves along the slide rail of the drill rod box to select a row of drill rods to be gripped;

[0044] Gripping the drill rod: The jaw 609 is adjusted by the lifting joint and the telescopic joint to reach a suitable height for gripping the top drill rod of the selected column. The jaw 609 clamps the drill rod under the drive of the clamping cylinder 610.

[0045] Adjust the height: Adjust in the opposite direction until the drill pipe does not interfere with the drill pipe box and is at a suitable height for placing the drill pipe onto the transfer device;

[0046] Translation: The jaw 609 grips the drill pipe and translates it towards the transfer device;

[0047] Upward swing: The rotary driver 604 drives the rotary shaft 605 to move the gripper 609 upward swing and lift it by an angle γ;

[0048] Extend: The telescopic joint drives the gripper 609 to extend towards the transfer device;

[0049] Release the drill pipe: Loosen jaw 609 and place the drill pipe into the transfer device;

[0050] Retraction: The telescopic joint drives the gripper 609 to retract.

[0051] Example 2 describes the drill rod grabbing step of taking the drill rod out of the transfer device and placing it into the drill rod box.

[0052] Initial state: The auxiliary manipulator is located on the drill pipe box slide rail closest to the transfer device. The lifting joint makes the gripper 609 at a suitable height to grab the drill pipe inside the transfer device. The telescopic joint retracts and the rotating joint makes the gripper 609 lift up and open.

[0053] Extending jaws 609 and gripping drill pipe: The telescopic joint drives jaws 609 to extend towards the transfer device, reaching a suitable position to grip the drill pipe in the transfer device. Under the drive of clamping cylinder 610, jaws 609 clamp the drill pipe.

[0054] Gripper 609 retraction: The telescopic joint drives gripper 609 to retract;

[0055] Lower helix: The rotary driver 604 drives the rotary shaft 605 to cause the gripper 609 to swing downward by an angle γ;

[0056] Selection: The auxiliary manipulator moves along the slide rail of the drill pipe box to select a space in the drill pipe box where a row of retrievable drill pipes can be retrieved;

[0057] Height adjustment: The jaw 609, through the combined adjustment of the lifting joint and the telescopic joint, reaches a suitable height for retracting the drill pipe;

[0058] Release the drill pipe: Release jaw 609 and return the drill pipe to the drill pipe box;

[0059] Retraction: The telescopic joint drives the gripper 609 to retract.

[0060] This invention enables the robotic arm's gripper to swing in a vertical plane by setting a rotating joint with a limited angle. This allows the robotic arm to transport drill pipe over components such as the attitude adjustment device, thus allowing the transfer device to be positioned on the opposite side of the attitude adjustment device from the drill pipe box. This improvement significantly enhances the flexibility of the drill pipe transport system layout, enabling the drilling rig to adapt to more complex downhole environments and drilling requirements.

[0061] Because the robotic gripper can swing in a vertical plane, the drilling rig is no longer limited to the traditional vertical movement of robotic arms when drilling across the entire cross-section and at all inclination angles. This significantly increases the drilling inclination angle range of the drilling rig, improving its adaptability and operational efficiency.

[0062] This invention, through technological innovation, enables the drill pipe gripping robot to better adapt to the complex environmental conditions of underground coal mines, such as potential hazards like gas and coal dust, as well as unfavorable conditions like confined spaces, high humidity, and high temperatures. The technical solution of this invention improves the flexibility of the drill pipe conveying system layout, expands the drilling angle range of the drilling rig, enhances operational efficiency and safety, and improves adaptability to complex underground environments, bringing significant technological progress and application value to the field of mining drilling rig technology.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of this technical solution, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A drill pipe gripping robot, mounted on a slide rail of a drill pipe box, characterized in that: It includes a lifting joint, a rotating joint, a telescopic joint and a gripper (609) connected in sequence. The end of the lifting joint away from the gripper (609) is connected to the slide rail. The telescopic joint and the gripper (609) are arranged facing the inside of the drill pipe box. The rotating joint and the lifting joint are connected by a crossbeam (603); the rotating joint includes a rotating shaft (605) rotatably disposed in the inner cavity of the crossbeam (603), the inner cavity of the crossbeam (603) is provided with an arc groove, and the outer side of the rotating shaft (605) is provided with a protrusion. When the rotating shaft (605) rotates, the protrusion slides circumferentially in the arc groove to limit the rotation of the rotating shaft (605).

2. The drill pipe gripping robot according to claim 1, characterized in that: The end of the lifting joint away from the slide rail is connected to the lower part of the crossbeam (603).

3. The drill pipe gripping robot according to claim 2, characterized in that: The lifting joint includes a lifting outer cylinder (602), which is sleeved and installed with the lifting inner cylinder below the crossbeam (603). The lifting outer cylinder (602) and the lifting inner cylinder form a lifting pair to realize lifting movement.

4. The drill pipe gripping robot according to claim 3, characterized in that: The lifting joint also includes a lifting cylinder (601) connected to the lifting outer cylinder (602), and the lifting cylinder (601) drives the lifting pair to perform lifting movements.

5. The drill pipe gripping robot according to claim 2, characterized in that: The rotating joint also includes a rotating actuator (604) connected to the crossbeam (603), the rotating actuator (604) being connected to the rotating shaft (605) to drive the rotation of the rotating shaft (605).

6. The drill pipe gripping robot according to claim 5, characterized in that: The end of the rotating shaft (605) away from the crossbeam (603) is connected to the telescopic joint. The rotating shaft (605) rotates, causing the telescopic joint and the gripper (609) to swing.

7. The drill pipe gripping robot according to claim 5, characterized in that: The telescopic joint includes a telescopic outer cylinder (607) and a telescopic inner cylinder (608). The telescopic inner cylinder (608) is inserted into the telescopic outer cylinder (607) to form a telescopic pair for telescopic movement.

8. The drill pipe gripping robot according to claim 7, characterized in that: The telescopic joint also includes a telescopic cylinder (606) connected to the rotating shaft (605), and the telescopic cylinder (606) is connected to the telescopic outer cylinder (607) to drive the telescopic joint to perform telescopic movement.

9. The drill pipe gripping robot according to claim 1, characterized in that: The gripper (609) is connected to a clamping cylinder (610) on the side near the telescopic joint. Under the drive of the clamping cylinder (610), the gripper (609) clamps or releases.

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