Drill rod grabbing manipulator

Abstract

The utility model relates to a drilling rod grabbing manipulator, and belongs to the technical field of coal mine automatic drilling equipment. The manipulator is mainly composed of a fixing mechanism, a horizontal displacement mechanism, a lifting joint, an overturning joint, a telescopic joint and a gripper joint. The fixing mechanism is connected with the moving platform through connecting points arranged at intervals, the horizontal displacement mechanism achieves accurate horizontal movement through a linear guide assembly, and all joints work cooperatively through modular design. The mechanical arm is characterized in that the mechanical arm and the drill rod box are completely separated, the drill rod box can be independently and rapidly replaced, and the mechanical arm does not need to be adjusted. By means of the design, the adaptability of equipment to drill rods of different specifications is remarkably improved, the drill rod replacement process is simplified, meanwhile, the stability of the mechanical arm under the heavy load working condition is enhanced, accurate control over drill rod grabbing, lifting, overturning and conveying is achieved, and the mechanical arm is suitable for large-specification drill rod loading and unloading operation of a high-power directional drilling machine. The device has the technical advantages of compact structure, convenient operation and high reliability.

Description

Technical Field

[0001] This utility model belongs to the field of directional drilling rigs for coal mines and relates to a drill rod gripping robot. Background Technology

[0002] In the current field of directional drilling technology, automatic drill rod gripping devices mostly adopt an integrated design of the robotic arm and drill rod box. While this structure can achieve basic drill rod gripping functions, it reveals significant limitations in practical applications. Traditional designs directly fix the robotic arm to the drill rod box, resulting in a bulky device that is difficult to adapt to the operational needs of different drill rod specifications. When it is necessary to change the drill rod specification, it is often necessary to replace the entire robotic arm and drill rod box assembly, which not only increases equipment costs but also seriously affects construction efficiency. Existing robotic arm joint structures are mostly fixed assembly models, lacking a modular design concept, which severely restricts the adaptability of the equipment under complex working conditions.

[0003] Currently available drill pipe gripping robots generally suffer from insufficient adjustability. Due to their integral structure, when the drilling rig needs to switch to drill pipes of different diameters or lengths, operators must stop the machine for time-consuming manual adjustments. This not only extends non-operational time but also increases construction safety hazards. Some improved designs attempt to enhance adaptability by adding adjustable mechanisms, but these solutions often complicate the mechanical structure, thereby reducing system reliability. A more prominent problem is that the rigid connection between the robot and the drill pipe box in existing technologies is prone to structural deformation due to vibration during long-term use, severely affecting gripping accuracy. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide an innovative solution for a split-type drill pipe gripping robot. This design achieves independent operation and quick replacement of the two functional modules by completely separating the robot from the drill pipe box.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A drill pipe gripping robot includes: a fixing mechanism: two spaced connection points fixed to a mobile platform; and a swing arm, both ends of which are fixedly connected to the connection points.

[0007] A horizontal displacement mechanism includes: a support frame fixed to the swing arm; a linear guide assembly disposed on the support frame; a bearing seat slidably assembled through the linear guide assembly; and a linear drive assembly for driving the bearing seat to move horizontally.

[0008] The drill rod gripping robot and the drill rod box adopt a split structure, which allows the drill rod box to be replaced independently, thereby adapting to drill rods of different diameters and lengths.

[0009] Optionally, this solution also includes: a lifting joint, the fixed end of which is connected to the bearing seat; a tilting joint, the base of which is connected to the output end of the lifting actuator; a telescopic joint, the fixed end of which is connected to the output end of the tilting actuator; and a gripper joint, which is installed at the output end of the axial telescopic mechanism.

[0010] Optionally, the fixing mechanism comprises two swing arm seats spaced apart along the length of the drill pipe and fixed to the moving platform.

[0011] Optionally, the horizontal displacement mechanism is a translation joint, comprising: a bracket fixedly mounted on the swing arm; a track and a translation motor disposed on the bracket; and a support seat driven to move horizontally by the translation motor.

[0012] Optionally, the support is slidably connected to the track via a slider and is driven to move horizontally by a translation motor.

[0013] Optionally, the lifting joint includes a lifting outer cylinder and a lifting inner cylinder, wherein the lifting outer cylinder is fixedly connected to the support seat.

[0014] Optionally, the flip joint includes a flip seat and a flip arm, wherein the flip seat is fixedly connected to the top of the lifting inner cylinder.

[0015] Optionally, the telescopic joint includes an outer cylinder and an inner cylinder, with the outer cylinder fixedly connected to the end of the tilting arm.

[0016] Optionally, the gripper joint includes a clamping drive and a gripper, which are fixedly connected to the top of the inner cylinder of the telescopic joint.

[0017] Optionally, the two ends of the swing arm are hinged to two swing arm seats respectively via pins.

[0018] The beneficial effects of this utility model are as follows:

[0019] This drill pipe gripping robot solution achieves technological breakthroughs in several aspects through its innovative split structure and optimized joint combination design. Firstly, the complete separation of the robot and the drill pipe housing is the core innovation of this solution. This split structure allows for rapid replacement of the drill pipe housing independently of the robot. When switching to different drill pipe specifications, only the corresponding drill pipe housing needs to be replaced, without any adjustment or replacement of the robot. This design significantly shortens the drill pipe specification changeover time, improves equipment utilization, and significantly reduces equipment maintenance costs. Compared with traditional integral structures, the split design also effectively reduces vibration transmission during robot operation, extending the service life of the drill pipe housing.

[0020] Secondly, the modular joint assembly used in this solution has significant technical advantages. The translation joint achieves horizontal movement through the cooperation of precision tracks and sliders, ensuring the stability of the robot under heavy loads; the lifting joint adopts an inner and outer cylinder sleeve structure, combined with a hydraulic drive system, providing powerful lifting capacity and precise position control; the special design of the tilting joint allows the robot to complete posture adjustments at various angles; and the sleeve structure of the telescopic joint enables smooth delivery of drill rods. This modular design not only improves the independent performance of each joint but also optimizes the compactness of the overall structure, allowing the robot to maintain good operational flexibility even in limited spaces.

[0021] From an operational efficiency perspective, this solution's multi-joint collaborative control system automates the entire drill pipe loading and unloading process. The robotic arm can precisely locate the drill pipe, stably grasp it, and then quickly transport it to the designated position by coordinating the movements of each joint. The entire operation is smooth and efficient, significantly reducing waiting time and error rates in traditional manual operations. Particularly noteworthy is the robotic arm's excellent adaptability to large-diameter drill pipes; its structural strength and stability design meet the operational requirements of high-power directional drilling rigs.

[0022] In terms of safety and reliability, this solution also demonstrates significant advantages. The split structure avoids the impact of robot arm vibration on the drill pipe box, as is common in traditional designs, reducing the risk of equipment failure. Independent drive and sensing systems for each joint enable real-time monitoring of the movement process, effectively preventing jamming and collisions. The optimized force transmission path design ensures that the robot arm maintains accuracy even after long-term heavy-load operations. These characteristics make this robot arm particularly suitable for continuous operation requirements under harsh conditions in underground coal mines.

[0023] Finally, this solution also boasts significant economic benefits and widespread applicability. The modular design reduces the need for backup robotic arms, lowering equipment investment; the modular structure facilitates maintenance and component replacement, reducing maintenance costs; and the standardized interface design allows it to adapt to various drilling rig models, improving the product's market adaptability. These advantages collectively constitute the core competitiveness of this solution, providing a reliable technical solution for coal mine drilling automation.

[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 axis;

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

[0028] Figure 3 This is a schematic diagram of a directional drilling rig.

[0029] Figure 4 This is a partial view of the translation joint.

[0030] Reference numerals: 1. Robotic arm; 2. Drill rod box; 3. Moving platform; 4. Anchoring system; 5. Frame; 6. Gripper; 7. Hydraulic system; 8. Control system; 9. Power head; 101. Fixing mechanism; 102. Translation joint; 103. Lifting joint; 104. Tilting joint; 105. Grip joint; 106. Swing arm seat; 10101. Swing arm; 10102. Pin; 10103. Bracket; 10201. Track; 10202. Slider; 10203. Translation sensor; 10204. Translation motor; 10205. Bearing seat; 10206. Lifting cylinder; 10301. Lifting outer cylinder; 10302. Lifting inner cylinder; 10303. Tilting seat; 10401. Tilting arm; 10402. Tilting shaft; 10403. Tilting driver; 10404. Tilting cylinder; 10501. Tilting sensor; 10502. Clamping drive; 10601. 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 1-4 ,like Figure 1 As shown, this solution applies to an automatic directional drilling rig, which includes a robotic arm 1, a drill rod box 2, a moving platform 3, an anchoring system 4, a frame 5, a clamp 6, a hydraulic system 7, a control system 8, and a power head 9. The robotic arm 1 has four degrees of freedom: tilt, translation, lifting, and tilting, and transports the drill rods from the drill rod box to the drilling axis of the drilling host (frame and power head). The drill rod box 2 is an onboard drill rod storage device. The moving platform 3 supports other components and systems and also has a moving function. The anchoring system 4 is a stabilizing mechanism for the drilling rig. Pressure is applied to the tunnel roof and ground using hydraulic cylinders to ensure the rig remains stable during drilling. The frame 5 is the support for the power head, clamp, and other components, as well as the drilling feed drive device. The clamp 6 is mainly responsible for clamping the drill rods, maintaining their position within the drilled hole, and also works with the power head to connect and disconnect the drill rods using threads. The hydraulic system 7 is the drilling rig's power system, driven by an electric motor, outputting hydraulic power. The control system 8 mainly refers to the electrical control system, including the controller and its supporting functional modules, sensors, human-machine interface system, drilling trajectory measurement system, etc. The power head 9 is the drive device for rotating the drill rod, and it connects the frame and the drill rod, transmitting the feed force to the drill rod.

[0035] robotic arm structure

[0036] 1. Fixed mechanism 101

[0037] Two swing arm seats 10101 are arranged at intervals along the length of the drill rod and are fixed to the surface of the moving platform 3 by bolts; the plug seats at both ends of the rectangular tubular swing arm 10102 are hinged to the swing arm seats 10101 by pins 10103.

[0038] Swing arm base 10101: The connecting part between the entire robot and the moving platform 3. Two of them are set along the length of the robot (i.e. the length of the drill rod). They are connected to both ends of the swing arm by pins to form two rotating pairs, so that the swing arm can tilt up and down under the drive of the tilting cylinder to adjust the tilt angle of the robot.

[0039] Swing arm 10102: The main support component of the robot arm. The swing arm body is a rectangular or round tube structure. Both the front and rear ends of the swing arm body have insertion sockets for connecting to the swing arm base. The insertion sockets have insertion holes for the pin shaft to pass through (in addition to the insertion holes, two other holes are for weight reduction). An angle sensor mounting hole is provided on the bottom or side of the swing arm body. The translation joint 102 is fixedly connected to the swing arm body with bolts.

[0040] 2. Translation joint 102

[0041] The U-shaped bracket 10201 is bolted to the upper surface of the swing arm 10102; the double track 10202 is bolted to the inner side of the bracket 10201; the bearing seat 10206 is fitted onto the double track 10202 via the slider 10203; the translation motor 10205 drives the bearing seat 10206 to move horizontally via a gear and rack pair, and the translation sensor 10204 detects the displacement in real time.

[0042] The bracket 10201 is a support component for the lifting joint and also provides the mounting position for the rail. One end of the bracket is a connecting seat for fixing the bracket to the swing arm 10102. The main body of the bracket is a crossbeam structure, with a slide rail on the side facing the drill pipe box (or on the side away from the drill pipe box, the specific structure is slightly different). Slide rails are provided on both the upper and lower sides of the rail (either simultaneously or on one side), and the slide rails cooperate with the slider to form a sliding pair; a rack is provided in the middle section, and the rack pairs with the gear of the translation motor to form a rack and pinion pair. A certain space is left between the bracket and the drill pipe box to accommodate the lifting joint.

[0043] The slider is embedded in the guide rail and fixedly connected to the support 10206 on one side. Therefore, the translation motor can drive the support to move the lifting joint horizontally via a gear and rack pair. The support is the connecting part between the translation joint and the lifting joint. The translation sensor 10204 is used to measure the displacement change value during the translation process of the lifting joint.

[0044] 3. Lifting and lowering joint 103

[0045] The outer lifting cylinder 10302 is flanged and connected to the bearing seat 10206; the inner lifting cylinder 10303 is slidably engaged with the outer lifting cylinder 10302 via an inner slide rail; the cylinder barrel of the lifting cylinder 10301 is fixed to the bottom of the outer lifting cylinder 10302, and the piston rod is connected to the inner lifting cylinder 10303.

[0046] The lifting outer cylinder 10302 is connected to the carrier seat of the translation joint. The lifting outer cylinder has a detachable inner slide rail for guiding the movement of the inner cylinder. The cylinder of the lifting cylinder is connected to the bottom of the lifting outer cylinder, and the piston rod is fixedly connected to the lifting inner cylinder or the tilting joint. The extension and retraction of the piston rod drives the inner cylinder or the tilting joint to rise and fall. The lifting inner cylinder is the moving component for lifting. Its lower end has a slider that matches the inner slide rail of the lifting outer cylinder, which is inserted into the lifting outer cylinder and guided by the guide rail to reduce offset during lifting. Its upper end is fixedly connected to the tilting joint, transmitting the lifting motion to the tilting joint.

[0047] 4. Rotate joint 104

[0048] The flip seat 10401 is flanged and connected to the top of the lifting inner cylinder 10303; the flip shaft 10403 is mounted on the flip seat 10401 via a bearing; one end of the flip arm 10402 is keyed to the flip shaft 10403, and the other end is flanged and connected to the telescopic joint 105; the flip drive 10404 (hydraulic motor) drives the flip shaft 10403 to rotate.

[0049] The left side of the tilting seat has a mounting flange for the tilting drive, and a flange-connected end cover with an inner cavity for mounting the tilting shaft. After the end cover is fixedly mounted on the tilting seat, it can limit the axial movement of the tilting shaft.

[0050] The basic structure of the tilting shaft is a cylindrical shaft with a flange at its right end for connection to the tilting arm, and a connecting structure, such as a spline or key, at its left end for connection to the tilting actuator. The tilting arm is a long rod or tubular part used to connect the tilting shaft and the telescopic joint. A hollow tubular shape is preferred for ease of machining and weight control.

[0051] 5. Telescopic joint 105

[0052] The outer cylinder flange is connected to the end of the tilting arm 10402; the inner cylinder slides with the outer cylinder through the guide rail; the cylinder barrel of the telescopic cylinder 10501 is fixed to the top of the outer cylinder, and the piston rod is connected to the inner cylinder; the telescopic sensor 10502 detects the displacement of the inner cylinder.

[0053] The telescopic joint has an inner and outer sleeve structure similar to a lifting joint. A telescopic cylinder 10501 is mounted on its top. The cylinder barrel is connected to the top of the outer cylinder, and the piston rod is fixedly connected to the inner cylinder or the gripper joint. The extension and retraction of the piston rod causes the gripper joint to move up and down. A telescopic sensor 10502 is installed on the telescopic joint to measure the change in telescopic displacement.

[0054] 6. Hand and claw joints 106

[0055] The base bolts are fixed to the top of the inner cylinder of the telescopic joint 105; the clamping drive 10601 (hydraulic cylinder) drives the jaws to open and close. The jaw joint can be various types of clamping mechanisms, and the clamping drive 10601 can be various linear or rotating elements (such as hydraulic cylinders, motors, etc.). The clamping drive drives the jaws to clamp and release, realizing the clamping and releasing of the drill rod. In this application, the clamping drive is preferably a linear hydraulic cylinder.

[0056] Workflow

[0057] Initial state: Robotic arm 1 is in the non-interference position, and gripper joint 106 is released;

[0058] Column selection: Control system 8 selects the column containing drill rods in drill rod box 2;

[0059] Lowering: The lifting cylinder 10301 drives the gripper joint 106 to descend to the grasping position;

[0060] Gripping: The clamping drive component 10601 closes the gripper to grip the drill rod;

[0061] Lifting: The lifting joint 103 and the telescopic joint 105 lift the drill rod and disengage it from the drill rod box 2;

[0062] Translation: Translation motor 10205 drives bearing seat 10206 to move outward, causing the drill pipe to move out of the drill pipe box 2 area;

[0063] Tilting: The tilting driver 10404 drives the drill pipe to rotate 90° to the drilling axis direction;

[0064] Telescopic: Telescopic cylinder 10501 pushes the drill rod to the drilling axis of frame 5;

[0065] Connection: The power head 9 and the clamp 6 work together to complete the threaded connection of the drill rod.

[0066] 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, characterized in that, include: Fixed mechanism (101): Two spaced connection points are fixed to the mobile platform (3); The swing arm (10102) has its two ends fixedly connected to the connection point; A horizontal displacement mechanism, comprising: A bracket (10201) is fixed to the swing arm (10102). A linear guide assembly mounted on the bracket (10201); The carrier (10206) is slidably assembled via the linear guide assembly. A linear drive assembly that drives the carrier (10206) to move horizontally; The drill rod gripping robot and the drill rod box (2) adopt a split structure, which allows the drill rod box (2) to be replaced independently, thereby adapting to drill rods of different diameters and lengths.

2. The drill pipe gripping robot according to claim 1, characterized in that, Also includes: The lifting joint (103) has its fixed end connected to the bearing seat (10206). A tilting joint (104) has its base connected to the output end of a lifting joint (103); The telescopic joint (105) has its fixed end connected to the output end of the flip joint (104); The hand-claw joint (106) is installed at the output end of the axial telescopic joint (105).

3. The drill pipe gripping robot according to claim 1, characterized in that: The fixing mechanism consists of two swing arm seats (10101) spaced apart along the length of the drill pipe, which are fixed to the moving platform (3).

4. The drill pipe gripping robot according to claim 1, characterized in that: The horizontal displacement mechanism is a translation joint (102), comprising: The track (10202) and the translation motor (10205) are mounted on the bracket (10201); The support (10206) is driven to move horizontally by a translation motor (10205).

5. The drill pipe gripping robot according to claim 4, characterized in that: The support (10206) is slidably connected to the track (10202) via a slider (10203) and is driven to move horizontally by a translation motor (10205).

6. The drill pipe gripping robot according to claim 4, characterized in that: The lifting joint (103) includes a lifting outer cylinder (10302) and a lifting inner cylinder (10303), wherein the lifting outer cylinder (10302) is fixedly connected to the support seat (10206).

7. The drill pipe gripping robot according to claim 6, characterized in that: The flip joint (104) includes a flip seat (10401) and a flip arm (10402), wherein the flip seat (10401) is fixedly connected to the top of the lifting inner cylinder (10303).

8. The drill pipe gripping robot according to claim 7, characterized in that: The telescopic joint (105) includes an outer cylinder and an inner cylinder, with the outer cylinder fixedly connected to the end of the flip arm (10402).

9. The drill pipe gripping robot according to claim 8, characterized in that: The gripper joint (106) includes a clamping drive (10601) and a gripper, which are fixedly connected to the top of the inner cylinder of the telescopic joint (105).

10. The drill pipe gripping robot according to claim 1, characterized in that: The two ends of the swing arm (10102) are hinged to the two swing arm seats (10101) respectively through the pin (10103).

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