Multifunctional manipulator for downhole operations

Abstract

This utility model is a multi-functional manipulator for downhole operations, including a gripper (1), a flexible contact pad (2), several connecting arms (3), several telescopic rods (4), and a rotating base (5). The rotating base (5) is set on the working surface. The connecting arms (3) are rigid rods that are linearly hinged to each other. The two ends of the telescopic rods (4) are respectively hinged to two adjacent connecting arms (3). One free end of the connecting arm (3) is connected to the output end of the rotating base (5), and the other end is connected to the gripper (1). The contact surface of the gripper (1) is provided with a flexible contact pad (2). The multi-functional manipulator for downhole operations described in this utility model adopts an elastic structure, so that the contact surface and contact point of the clamped structure are within an adjustable range, in order to cope with the use scenarios of clamping non-standard products.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, and in particular to a multifunctional robotic arm for downhole operations. Background Technology

[0002] The development of mining enterprises plays a pivotal role in my country's national economic development, and its development is directly related to the development of the metallurgical industry. The rapid development of the mining and metallurgical industry has a profound impact on human society. From the overall perspective of the mining and production process, how to improve productivity, shorten production time, and increase the quantity and quality of ore has become a focus of attention.

[0003] Current mining processes use robotic arms to replace manual labor, but due to the unique nature of the products being mined, the shape of the ore after extraction is often difficult to control. Furthermore, due to the uncertainty of the ore's weight, center of gravity, and surface shape, conventional grippers often experience unstable gripping motions, leading to loosening of the grippers during dragging operations.

[0004] There is a need for a mining robot that can be used in gold mines and has high stability, high degree of mechanization, high efficiency and high safety. Summary of the Invention

[0005] This invention addresses the problem that, due to the unique characteristics of mining products, the shape of mined ore is often difficult to control. Furthermore, the uncertainty of ore weight, center of gravity, and surface shape often leads to unstable gripping action when using conventional grippers, resulting in the grippers loosening during dragging. This invention provides a multi-functional underground manipulator that solves the above problems.

[0006] This utility model provides a multifunctional manipulator for downhole operations, including grippers, flexible contact pads, several connecting arms, several telescopic rods, and a rotating base. The rotating base is set on the working surface. The connecting arms are rigid rods that are linearly hinged to each other. The two ends of the telescopic rods are respectively hinged to two adjacent connecting arms. One free end of the connecting arm is connected to the output end of the rotating base, and the other end is connected to the gripper. The gripper is a two-piece gripper with a flexible contact pad on the mating surface. A rigid gripper engagement mechanism is set on the outer edge of the gripper mating surface to completely close the outer surface of the flexible contact pad. The rigid gripper engagement mechanism is composed of independent parts at the front ends of two gripper pieces. The rigid engagement mechanism on the gripper changes from open to mutually locked and then back to open depending on the size of the mating surface of the two gripper parts.

[0007] This utility model provides a multifunctional manipulator for downhole operations. In a preferred embodiment, the gripper includes a first gripper piece, a second gripper piece, a first connecting piece, and a second connecting piece. The first and second gripper pieces are two identical U-shaped structures. The first and second gripper pieces are combined to form an annular structure with an opening. The contact ends of the first and second gripper pieces are hinged to the free end of the connecting arm. The first connecting piece is located at the other end of the first gripper piece, and the second connecting piece is located at the other end of the second gripper piece. The combined thickness of the first and second connecting pieces is less than the thickness of the position where the first gripper connects to the first connecting piece and the thickness of the position where the second gripper connects to the second connecting piece. The first and second connecting pieces are locked in contact with each other. The outer surfaces of the first connecting piece and the first gripper piece are coplanar, as are the outer surfaces of the second connecting piece and the second gripper piece. A flexible contact pad fills the thickness difference between the first and second connecting pieces and the first and second grippers after they are combined. The flexible contact pad is separate along the joint seam between the first gripper, the second gripper, and the first and second connecting pieces.

[0008] This utility model provides a multifunctional manipulator for downhole operations. In a preferred embodiment, the first connecting piece includes a first housing, a first inner cavity, a first connecting block, a first locking ball, and a first servo motor. The first housing is a flat block, and the first inner cavity is disposed inside the housing. The opening of the first inner cavity and the first connecting block are both disposed at the front end of the first housing. The first locking ball is a hemispherical structure disposed inside the first connecting block at the opening of the first inner cavity. The first servo motor is disposed inside the first housing, and its output end is connected to the first connecting block. In its natural state, the plane of the first locking ball and the inner surface of the first connecting block are coplanar.

[0009] This utility model provides a multifunctional manipulator for downhole operations. In a preferred embodiment, the second connecting piece includes a second housing, a second inner cavity, a second connecting block, a second locking ball, and a second servo motor. The second housing is a flat block, and the second inner cavity is disposed within the housing. The opening of the second inner cavity and the second connecting block are both located at the front end of the second housing. The second locking ball is a hemispherical structure disposed within the second connecting block at the opening of the second inner cavity. The second servo motor is disposed within the second housing, and its output end is connected to the second connecting block. The second connecting block mates with the first cavity, and the first connecting block mates with the second inner cavity. The mating surfaces of the first and second connecting blocks are planar, and the first and second locking balls mate with each other.

[0010] This utility model provides a multi-functional manipulator for downhole operations. In a preferred embodiment, the top of the connecting block is provided with a sharp corner.

[0011] The beneficial effects of this utility model are as follows:

[0012] This device employs a closed gripper structure. When the gripper tips contact, a locking ball is rotated to lock the gripper, combining the two halves into a single unit. Simultaneously, the gripper incorporates an internal elastic structure, ensuring that the contact surface and contact points of the clamped structure are adjustable to accommodate non-standardized product clamping scenarios. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a multi-functional manipulator for downhole operations;

[0014] Figure 2 A schematic diagram of a multi-functional robotic gripper for downhole operations;

[0015] Figure 3 This is a schematic diagram of the first connecting piece of a multi-functional manipulator for downhole operations;

[0016] Figure 4 This is a schematic diagram of the second connecting piece of a multi-functional manipulator for downhole operations.

[0017] Figure label:

[0018] 1. Gripper; 11. First gripper piece; 12. Second gripper piece; 13. First connecting piece; 131. First housing; 132. First inner cavity; 133. First connecting block; 134. First locking ball; 135. First servo motor; 14. Second connecting piece; 141. Second housing; 142. Second inner cavity; 143. Second connecting block; 144. Second locking ball; 145. Second servo motor; 2. Flexible contact pad; 3. Connecting arm; 4. Telescopic rod; 5. Rotating base. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Example 1

[0020] like Figure 1As shown, a multi-functional manipulator for downhole operations includes a gripper 1, a flexible contact pad 2, several connecting arms 3, several telescopic rods 4, and a rotating base 5. The rotating base 5 is set on the working surface. The connecting arms 3 are rigid rods that are linearly hinged to each other. The two ends of the telescopic rods 4 are respectively hinged to two adjacent connecting arms 3. One free end of the connecting arm 3 is connected to the output end of the rotating base 5, and the other end is connected to the gripper 1. The gripper 1 is a two-piece gripper 1. The flexible contact pad 2 is provided on the mating surface. The outer edge of the mating surface of the gripper 1 is provided with a rigid connecting mechanism that completely closes the outer surface of the flexible contact pad 2. The rigid connecting mechanism of the gripper 1 is composed of the independent parts of the front end of the two gripper 1 pieces. The rigid connecting mechanism on the gripper 1 changes from open to mutually locked and then back to open depending on the size of the mating surface of the two gripper 1 parts.

[0021] like Figure 2 As shown, the gripper 1 includes a first gripper piece 11, a second gripper piece 12, a first connecting piece 13, and a second connecting piece 14. The first gripper piece 11 and the second gripper piece 12 are two U-shaped structures of the same shape. The first gripper piece 11 and the second gripper piece 12 are combined to form an annular structure with an opening. The contact ends of the first gripper piece 11 and the second gripper piece 12 are hinged to the free end of the connecting arm 3. The other end of the first gripper piece 11 is provided with the first connecting piece 13, and the other end of the second gripper piece 12 is provided with the second connecting piece 14. The combined thickness of the first connecting piece 13 and the second connecting piece 14 is less than that of the first connecting piece 14. The thickness of the gripper 1 at the position where it connects to the first connecting piece 13 and the thickness of the gripper 1 at the position where it connects to the second connecting piece 14 are such that the first connecting piece 13 and the second connecting piece 14 are in contact and locked together. The outer surfaces of the first connecting piece 13 and the first gripper piece 11 are coplanar, and the outer surfaces of the second connecting piece 14 and the second gripper piece 12 are coplanar. The flexible contact pad 2 fills the thickness difference between the first connecting piece 13 and the second connecting piece 14 and the first gripper 1 and the second gripper 1 after they are joined together. The flexible contact pad 2 is separated along the joint seam between the first gripper 1, the second gripper 1, the first connecting piece 13 and the second connecting piece 14.

[0022] like Figure 3 As shown, the first connecting piece 13 includes a first housing 131, a first inner cavity 132, a first connecting block 133, a first locking ball 134, and a first servo motor 135. The first housing 131 is a flat block, and the first inner cavity 132 is disposed inside the housing. The opening of the first inner cavity 132 and the first connecting block 133 are both disposed at the front end of the first housing 131. The first locking ball 134 is a hemispherical structure disposed inside the first connecting block 133 at the opening of the first inner cavity 132. The first servo motor 135 is disposed inside the first housing 131, and its output end is connected to the first connecting block 133. In its natural state, the plane of the first locking ball 134 and the inner surface of the first connecting block 133 are coplanar.

[0023] like Figure 4As shown, the second connecting piece 14 includes a second housing 141, a second inner cavity 142, a second connecting block 143, a second locking ball 144, and a second servo motor 145. The second housing 141 is a flat block, and the second inner cavity 142 is disposed inside the housing. The opening of the second inner cavity 142 and the second connecting block 143 are both disposed at the front end of the second housing 141. The second locking ball 144 is a hemispherical structure disposed inside the second connecting block 143 at the opening of the second inner cavity 142. The second servo motor 145 is disposed inside the second housing 141, and its output end is connected to the second connecting block 143. The second connecting block 143 cooperates with the second inner cavity 142, and the first connecting block 133 cooperates with the second inner cavity 142. The mating surface of the first connecting block 133 and the second connecting block 143 is a plane, and the first locking ball 134 and the second locking ball 144 cooperate.

[0024] The top ends of the first connecting block 133 and the second connecting block 143 are provided with sharp corners.

[0025] The above description is only a preferred 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 technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A multi-functional manipulator for downhole operations, characterized in that: The device includes a gripper (1), a flexible contact pad (2), several connecting arms (3), several telescopic rods (4), and a rotating base (5). The rotating base (5) is set on the working surface. The connecting arms (3) are rigid rods that are linearly hinged to each other. The two ends of the telescopic rods (4) are respectively hinged to two adjacent connecting arms (3). One free end of the connecting arm (3) is connected to the output end of the rotating base (5), and the other end is connected to the gripper (1). The gripper (1) is a two-piece gripper (1). The flexible contact pad (2) is set on the mating surface. The outer edge of the mating surface of the gripper (1) is provided with a rigid connecting mechanism of the gripper (1) to completely close the outer surface of the flexible contact pad (2). The rigid connecting mechanism of the gripper (1) is composed of the independent parts of the front end of the two gripper (1) pieces. The rigid connecting mechanism on the gripper (1) changes from open to mutually locked and then back to open according to the size of the mating surface of the two gripper (1) components.

2. The multi-functional manipulator for downhole operations according to claim 1, characterized in that: The gripper (1) includes a first gripper piece (11), a second gripper piece (12), a first connecting piece (13), and a second connecting piece (14). The first gripper piece (11) and the second gripper piece (12) are two U-shaped structures with the same shape. The first gripper piece (11) and the second gripper piece (12) are combined into an annular structure with an opening. The contact end of the first gripper piece (11) and the second gripper piece (12) is hinged to the free end of the connecting arm (3). The first clamping piece (13) is provided at the other end of the first clamping piece (11), and the second clamping piece (14) is provided at the other end of the second clamping piece (12). The combined thickness of the first connecting piece (13) and the second connecting piece (14) is less than the thickness of the first clamp (1) connecting the first connecting piece (13) and the thickness of the second clamp (1) connecting the second connecting piece (14); The first connecting piece (13) and the second connecting piece (14) are locked in contact with each other. The outer surfaces of the first connecting piece (13) and the first gripper piece (11) are coplanar, and the outer surfaces of the second connecting piece (14) and the second gripper piece (12) are coplanar. The flexible contact pad (2) fills the thickness difference between the first bonding piece (13) and the second bonding piece (14) after they are bonded and the first gripper (1) and the second gripper (1). The flexible contact pad (2) is separated along the joint seam between the first clamp (1), the second clamp (1), the first connecting piece (13), and the second connecting piece (14).

3. The multi-functional manipulator for downhole operations according to claim 2, characterized in that: The first connecting piece (13) includes a first housing (131), a first inner cavity (132), a first connecting block (133), a first locking ball (134), and a first servo motor (135). The first housing (131) is a flat block. The first inner cavity (132) is disposed inside the housing. The opening of the first inner cavity (132) and the first connecting block (133) are both disposed at the front end of the first housing (131). The first locking ball (134) is a hemispherical structure disposed inside the first connecting block (133) at the opening position of the first inner cavity (132). The first servo motor (135) is disposed inside the first housing (131) and its output end is connected to the first connecting block (133). In its natural state, the plane of the first locking ball (134) and the inner surface of the first connecting block (133) are coplanar.

4. The multi-functional manipulator for downhole operations according to claim 3, characterized in that: The second connecting piece (14) includes a second housing (141), a second inner cavity (142), a second connecting block (143), a second locking ball (144), and a second servo motor (145). The second housing (141) is a flat block. The second inner cavity (142) is disposed inside the housing. The opening of the second inner cavity (142) and the second connecting block (143) are both disposed at the front end of the second housing (141). The second locking ball (144) is a hemispherical structure disposed inside the second connecting block (143) at the opening position of the second inner cavity (142). The second servo motor (145) is disposed inside the second housing (141) and its output end is connected to the second connecting block (143). The second connecting block (143) cooperates with the second inner cavity (142). The first connecting block (133) cooperates with the second inner cavity (142). The mating surface of the first connecting block (133) and the second connecting block (143) is a plane. The first locking ball (134) and the second locking ball (144) cooperate.

5. A multi-functional manipulator for downhole operations according to claim 4, characterized in that: The first connecting block (133) and the second connecting block (143) are provided with sharp corners at their top ends.

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