A cutting slot raise drill machine mechanical arm and cutting slot raise drill machine

Abstract

The utility model relates to a mechanical hand, concretely is a kind of cutting slot roof drill machine mechanical hand, this cutting slot roof drill machine mechanical hand includes drive mechanism and the gripper mechanism driven by drive mechanism, wherein drive mechanism includes driver and the output end fixed connection of driver's lifting rod, lifting rod rotates around its own axis, and lifting rod is installed with lifting seat, gripper mechanism is set up at the side of lifting seat, and gripper mechanism includes the support arm that moves with lifting seat and moves and sets up on the oil cylinder of support arm, the telescopic end of oil cylinder is connected with movable part, movable part includes two oppositely arranged turnover seat, and two turnover seats are moved at the both ends of support arm.The drive mechanism and gripper mechanism on this cutting slot roof drill machine mechanical hand are all set up at the front end of cutting slot roof drill machine, and the design of lifting seat and lifting rod makes mechanical hand have better precision and torsion force, also can prevent to be stuck with residue.

Description

Technical Field

[0001] This utility model relates to a robotic arm, specifically a cutting groove well drilling rig robotic arm and a cutting groove well drilling rig. Background Technology

[0002] A cutting groove riser is a mechanized piece of equipment specifically designed for constructing cut risers in underground mines. It directly breaks through rock to create holes, replacing traditional manual drilling and blasting methods, significantly improving construction efficiency and safety. Cutting groove risers typically use a robotic arm to hold the drill rod in place and move it.

[0003] The existing manipulator for cutting groove wellhead drilling rigs has a complex structure and unreasonable design. The manipulator is usually located inside multiple drill rods on the drilling rig, or in the space between two drill rods. This results in a confined space for the manipulator, limited range of motion, small angle of movement, and limited space for maneuvering during actual operation. Furthermore, it is prone to motion interference and jamming during movement. Therefore, the inventors have improved the structure of the manipulator for cutting groove wellhead drilling rigs. Utility Model Content

[0004] The purpose of this utility model is to provide a cutting groove well drilling rig robot. This cutting groove well drilling rig robot has a simple structure and reasonable design. Its drive mechanism and gripper mechanism are both located at the front end of the cutting groove well drilling rig. Their positions do not conflict with the drill rod or other structures on the drilling rig, which increases the clearance space of the robot during actual operation, makes the robot's range of motion larger, and avoids interference and slag jamming. This gives the robot a larger operating space and more flexible operation in actual work, and solves the problems mentioned in the above technical background.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a cutting groove well drilling rig manipulator, which includes a drive mechanism and a gripper mechanism driven by the drive mechanism. The drive mechanism includes a driver and a lifting rod fixedly connected to the output end of the driver. The lifting rod rotates around its own axis and a lifting seat is installed on the lifting rod. The gripper mechanism is located on one side of the lifting seat and includes a support arm that moves with the lifting seat and a hydraulic cylinder installed on the support arm. The telescopic end of the hydraulic cylinder is connected to a movable part, which includes two opposing tilting seats. The two tilting seats move at both ends of the support arm, and a gripper body is provided at the end of each tilting seat away from the hydraulic cylinder.

[0006] Preferably, the drive mechanism is provided with an upper support and a lower support at the end away from the gripper mechanism. The upper support and the lower support are arranged in parallel. The drive is fixed on the upper support. The two ends of the lifting rod are rotatably mounted on the upper support and the lower support, respectively. The drive is supported by the upper support to make the structure of the drive stable. The upper support and the lower support keep the rotation path of the lifting rod stable. Both the upper support and the lower support are fixed to the front end of the cutting groove riser.

[0007] Preferably, the drive mechanism further includes two extension seats, the support arm is fixed on the two extension seats, both extension seats are slidably disposed on the guide rod, the guide rod is arranged parallel to the lifting rod, and the two ends of the guide rod are fixedly connected to the upper support and the lower support respectively.

[0008] Preferably, the support arm is U-shaped, and the fixed end of the hydraulic cylinder is inserted into the interior of the support arm and fixed to the support arm.

[0009] Preferably, each flipping seat is provided with a rotating shaft at both ends, and the flipping seat is movably connected to the oil cylinder and the gripper body respectively through the rotating shaft at both ends. The end of the gripper body away from the flipping seat is mounted on the steering shaft, and the steering shaft is rotatably mounted on the support arm. When the flipping seat flips under the push of the oil cylinder, the flipping seat will also drive the gripper body to rotate along the steering shaft, thereby completing the opening or closing action of the two gripper bodies.

[0010] Preferably, the two gripper bodies are arranged opposite each other, and both gripper bodies are located at the end of the support arm away from the lifting rod. Both gripper bodies are C-shaped, and multiple locking blocks are fixed on the inner wall of both gripper bodies. The multiple locking blocks are evenly distributed on the gripper bodies.

[0011] Preferably, a one-way check valve is fixed on the support arm, and the one-way check valve is coupled to the oil cylinder.

[0012] Preferably, the lifting seat is sleeved on the lifting rod, the lifting rod is a regular hexagonal shaft, and a regular hexagonal sleeve is provided inside the lifting seat, with the regular hexagonal shaft of the lifting rod and the regular hexagonal sleeve of the lifting seat having a clearance fit.

[0013] Preferably, a buffer spring is provided at both ends of the lifting seat, the buffer spring is sleeved on the lifting rod, the fixed end of the buffer spring is provided on the lifting seat, and the movable end of the buffer spring abuts against the upper support or the lower support respectively according to the working state.

[0014] A slotted well drilling rig includes a robotic arm as described in any of the preceding claims.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] 1. This utility model provides a cutting groove well drilling rig robot, which includes a drive mechanism and a gripper mechanism driven by the drive mechanism. The overall structure is simple and reasonably designed. The drive mechanism includes a driver and a lifting rod fixedly connected to the output end of the driver. The lifting rod rotates around its own axis and a lifting seat is installed on the lifting rod. The gripper mechanism is set on one side of the lifting seat. Both the drive mechanism and the gripper mechanism are set at the front end of the cutting groove well drilling rig. The design of the lifting seat and the lifting rod gives the robot better precision and torque, and can also prevent slag jamming.

[0017] 2. The gripper mechanism of this utility model includes a support arm that moves with the lifting seat and a hydraulic cylinder mounted on the support arm. The telescopic end of the hydraulic cylinder is connected to a movable part, which includes two opposing tilting seats. The two tilting seats move at both ends of the support arm, and a gripper body is provided at the end of each tilting seat away from the hydraulic cylinder. All structures of the gripper mechanism can move freely and can move freely within a certain range under the drive of the drive mechanism, giving the robot a larger operating space and more flexible operation in actual work, making it suitable for widespread use. Attached Figure Description

[0018] Figure 1 This is the front view of the present utility model.

[0019] Figure 2 This is a structural diagram of the present utility model.

[0020] Figure 3 This is a top view of the present invention.

[0021] Figure 4 This is a structural diagram of the well drilling rig of this utility model.

[0022] The reference numerals and names in the figure are as follows:

[0023] 1. Upper support; 2. Lower support; 3. Drive mechanism; 31. Driver; 32. Lifting rod; 33. Lifting seat; 34. Extension seat; 35. Guide rod; 4. Gripper mechanism; 41. Support arm; 42. Hydraulic cylinder; 43. Tilting seat; 44. Gripper body; 45. Locking block; 46. Steering shaft; 47. One-way check valve. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] In the description of the embodiments of this utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the embodiments of this utility model and simplifying the description. They 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this utility model, "multiple" means two or more, unless otherwise explicitly specified.

[0026] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.

[0027] Please see Figure 1 The present invention provides an embodiment of a cutting groove well drilling rig manipulator, which includes a drive mechanism 3 and a gripper mechanism 4 driven by the drive mechanism 3. An upper support 1 and a lower support 2 are provided at the end of the drive mechanism 3 away from the gripper mechanism 4. The upper support 1 and the lower support 2 are arranged in parallel, and both the upper support 1 and the lower support 2 are fixed to the front end of the cutting groove well drilling rig.

[0028] Please see Figures 2 to 3The drive mechanism 3 includes a driver 31 and a lifting rod 32 fixedly connected to the output end of the driver 31. In this embodiment, the driver 31 is a swing cylinder, specifically a swing hydraulic cylinder, which can convert linear motion into rotational motion. The driver 31 is fixed on the upper support 1. The two ends of the lifting rod 32 are rotatably mounted on the upper support 1 and the lower support 2, respectively. The driver 31 is supported by the upper support 1 to make the structure of the driver 31 stable. The upper support 1 and the lower support 2 keep the rotation path of the lifting rod 32 stable. The lifting rod 32 rotates around its own axis, and a lifting seat 33 is installed on the lifting rod 32. The drive mechanism 3 also includes two extension seats 34. The support arm 41 is fixed on the two extension seats 34. The two extension seats 34 are slidably arranged on the guide rod 35. The guide rod 35 is parallel to the lifting rod 32, and the two ends of the guide rod 35 are fixedly connected to the upper support 1 and the lower support 2, respectively. The lifting seat 31 is sleeved on the lifting rod 32. The lifting rod 32 is a regular hexagonal shaft. A regular hexagonal sleeve is provided inside the lifting seat 31. The regular hexagonal shaft of the lifting rod 32 and the regular hexagonal sleeve of the lifting seat 31 are in clearance fit.

[0029] The lifting seat 31 is provided with buffer springs at both ends. The buffer springs are sleeved on the lifting rod 32. The fixed end of the buffer spring is provided on the lifting seat 31. The movable end of the buffer spring abuts against the upper support 1 or the lower support 2 according to the working state.

[0030] Please refer to it again. Figure 2The gripper mechanism 4 is located on one side of the lifting seat 33. The gripper mechanism 4 includes a support arm 41 that moves with the lifting seat 33 and a hydraulic cylinder 42 mounted on the support arm 41. The support arm 41 is U-shaped. The fixed end of the hydraulic cylinder 42 passes into the interior of the support arm 41 and is fixed thereto. The telescopic end of the hydraulic cylinder 42 is connected to a movable part, which includes two opposing tilting seats 43. The two tilting seats 43 move at both ends of the support arm 41, and each tilting seat 43 has a gripper body 44 at its end away from the hydraulic cylinder 42. Each tilting seat 43 has a rotating shaft at both ends, and the tilting seat 43 is movably connected to the hydraulic cylinder 42 and the gripper body 44 respectively via the rotating shafts at both ends. The end of the gripper body 44 away from the tilting seat 43 is mounted on a steering shaft 46, which is rotatably mounted on the support arm 41. When the tilting seat 43 is tilted by the hydraulic cylinder 42, the tilting seat 43... 3 will also drive the gripper body 44 to rotate along the steering shaft 46, thereby completing the opening or closing action of the two gripper bodies 44. The two gripper bodies 44 are arranged opposite each other, and both gripper bodies 44 are located at the end of the support arm 41 away from the lifting rod 32. Both gripper bodies 44 are C-shaped, and multiple locking blocks 45 are fixed on the inner wall of both gripper bodies 44. The multiple locking blocks 45 are evenly distributed on the gripper bodies 44. Each locking block 45 has several tooth grooves spaced apart on its surface, so that the locking block 45 can generate a large friction force with the drill rod after contacting it, ensuring the stability of the drill rod in the hoisting state. In addition, a one-way check valve 47 is fixed on the support arm 41. The one-way check valve 47 is coupled to the oil cylinder 42. In this embodiment, the one-way check valve 47 realizes the stroke control of the oil cylinder 42 by cooperating with the component. The structure of the component is the prior art, and will not be described in detail here.

[0031] Please see Figure 4 When the robotic arm is installed on the well drilling rig, the upper support 1, lower support 2, drive mechanism 3, and gripper mechanism 4 are all located at the front end of the cutting groove well drilling rig, avoiding the position occupied by the drill rod on the drilling rig and avoiding conflict with the drill rod or other structures on the drilling rig. This increases the clearance space for the robotic arm during actual operation, allowing for a larger range of motion. All structures on the gripper mechanism 4 can move freely, and can move freely within a certain range under the drive of the drive mechanism 3, avoiding interference and jamming. This gives the robotic arm a larger operating space and makes operation more flexible in actual work.

[0032] Working principle: Please refer to the following again. Figures 1 to 4In operation, the driver 31 drives the lifting rod 32 to rotate, causing the lifting seat 33 to rise and fall accordingly. The two extension seats 34 slide on the guide rod 35, thereby driving the gripper mechanism 4 to rise and fall accordingly, moving to the specified height. The one-way check valve 47 controls the operation of the oil cylinder 42. When the oil cylinder 42 retracts, it drives the two flipping seats 43 to move accordingly, causing the two flipping seats 43 to drive the two gripper bodies 44 to move accordingly. The two gripper bodies 44 flip with the steering shaft 46 on them and move towards each other, so that the two gripper bodies 44 clamp and fix the two ends of the drill rod respectively, realizing the positioning of the drill rod.

[0033] The present invention also includes a slotting well drilling rig that uses the robotic arm described in any of the above claims.

[0034] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A robotic arm for a cutting groove well drilling rig, characterized in that: The device includes a drive mechanism (3) and a gripper mechanism (4) driven by the drive mechanism (3). The drive mechanism (3) includes a driver (31) and a lifting rod (32) fixedly connected to the output end of the driver (31). The lifting rod (32) rotates around its own axis and a lifting seat (33) is installed on the lifting rod (32). The gripper mechanism (4) is located on one side of the lifting seat (33) and includes a support arm (41) that moves with the lifting seat (33) and a hydraulic cylinder (42) on the support arm (41). The telescopic end of the hydraulic cylinder (42) is connected to a movable part. The movable part includes two opposing flip seats (43). The two flip seats (43) move at both ends of the support arm (41), and a gripper body (44) is provided at the end of each flip seat (43) away from the hydraulic cylinder (42).

2. The cutting groove well drilling robot according to claim 1, characterized in that: The drive mechanism (3) is provided with an upper support (1) and a lower support (2) at the end away from the gripper mechanism (4). The upper support (1) and the lower support (2) are arranged in parallel. The driver (31) is fixed on the upper support (1). The two ends of the lifting rod (32) are rotatably installed on the upper support (1) and the lower support (2) respectively.

3. The cutting groove well drilling rig robot according to claim 2, characterized in that: The drive mechanism (3) also includes two extension seats (34), the support arm (41) is fixed on the two extension seats (34), the two extension seats (34) are slidably arranged on the guide rod (35), the guide rod (35) is arranged parallel to the lifting rod (32), and the two ends of the guide rod (35) are fixedly connected to the upper support (1) and the lower support (2) respectively.

4. The cutting groove well drilling rig robot according to claim 1, characterized in that: The support arm (41) is U-shaped, and the fixed end of the oil cylinder (42) is inserted into the interior of the support arm (41) and fixed to the support arm (41).

5. The cutting groove well drilling rig robot according to claim 1, characterized in that: Each of the flipping seats (43) is provided with a rotating shaft at both ends, and the flipping seat (43) is movably connected to the oil cylinder (42) and the gripper body (44) respectively through the rotating shafts at both ends. The end of the gripper body (44) away from the flipping seat (43) is mounted on the steering shaft (46), and the steering shaft (46) is rotatably mounted on the support arm (41).

6. The cutting groove well drilling rig robot according to claim 1, characterized in that: The two gripper bodies (44) are arranged opposite to each other, and both gripper bodies (44) are located at the end of the support arm (41) away from the lifting rod (32). Both gripper bodies (44) are C-shaped, and multiple locking blocks (45) are fixed on the inner wall of both gripper bodies (44). The multiple locking blocks (45) are evenly distributed on the gripper bodies (44).

7. The cutting groove well drilling robot according to claim 1, characterized in that: A one-way check valve (47) is fixed on the support arm (41), and the one-way check valve (47) is coupled to the oil cylinder (42).

8. The cutting groove well drilling rig robot according to claim 1, characterized in that: The lifting seat (33) is sleeved on the lifting rod (32). The lifting rod (32) is a regular hexagonal shaft. A regular hexagonal sleeve is provided inside the lifting seat (33). The regular hexagonal shaft of the lifting rod (32) and the regular hexagonal sleeve of the lifting seat (33) are in clearance fit.

9. The cutting groove well drilling rig robot according to claim 1, characterized in that: The lifting seat (33) is provided with buffer springs at both ends. The buffer springs are sleeved on the lifting rod (32). The fixed end of the buffer spring is provided on the lifting seat (33). The movable end of the buffer spring abuts against the upper support (1) or the lower support (2) according to the working state.

10. A cutting groove well drilling rig, characterized in that: Including the robotic arm as described in any one of claims 1 to 9.

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