A rod changing robot device

Abstract

The utility model relates to tunnel construction technology field, concretely relates to a kind of rod replacement manipulator device, including gripper rotating assembly and the gripper clamping assembly of installation on gripper rotating assembly;Gripper rotating assembly includes support frame and slewing ring, and swing cylinder for driving slewing ring relative rotation of support frame is arranged on support frame, and slewing ring is connected with support frame by slewing component;Gripper clamping assembly includes fixed frame and the clamping part of setting on fixed frame, and fixed frame is connected with slewing ring, and clamping part includes fixed jaw tooth and the movable jaw tooth that relative fixed jaw tooth opening and closing.This utility model can replace manpower rod replacement, reduce construction personnel labor intensity, avoid the physical fatigue and damage to health caused by long time high intensity operation;Significantly improve construction efficiency, meet the requirement of engineering fast advance, shorten construction cycle, reduce engineering cost;While effectively reduce construction risk.

Description

Technical Field

[0001] This utility model relates to the field of tunnel construction technology, specifically to a pole-changing robotic arm device. Background Technology

[0002] In the field of tunnel and underground engineering, the drilling of exploratory boreholes and the precise positioning of anchor bolt support holes are core aspects of ensuring construction safety and the smooth progress of the project. To achieve the goal of medium-deep hole construction, multiple drill rods must be connected sequentially. Currently, during drilling operations, repeatedly connecting and disconnecting drill rods is an essential procedure to meet the needs of drilling deep holes; however, this procedure is extremely complex. In some cases, manual rod-changing operations still rely on manual labor, which brings many serious problems. Construction workers need to expend enormous physical strength to lift, place, and retrieve drill rods. Prolonged high-intensity work easily leads to fatigue, affecting not only the quality of work but also harming the health of the workers. In terms of efficiency, manual rod-changing is slow and far from meeting the requirements of rapid project progress. Each rod-changing operation takes a considerable amount of time, extending the entire construction cycle and increasing project costs. More importantly, the working environment is extremely dangerous. Due to the smooth surface of the drill rods, they are prone to slipping during manual operation, and workers could easily be injured by falling drill rods. Moreover, drill pipe changing operations are usually carried out close to the working face, where unexpected situations such as collapses and rockfalls can occur at any time, constantly threatening the personal safety of construction workers. Therefore, it is imperative to develop a drill pipe robotic arm device that can replace manual drill pipe changing, improve construction efficiency, and reduce risks. Summary of the Invention

[0003] To address the issue that manual drilling rod replacement still exists in some drilling rig construction sites, resulting in low efficiency and safety concerns due to drill rod slippage, this invention proposes a drill rod replacement robot. This robot can replace manual drill rod replacement, significantly reducing the labor intensity of construction workers and preventing physical fatigue and health damage caused by prolonged high-intensity work. It also significantly improves construction efficiency, meeting the requirements for rapid project advancement, shortening the construction cycle, and reducing project costs. Furthermore, it effectively reduces construction hazards, minimizing threats to the personal safety of construction workers caused by drill rod slippage and unexpected situations at the drilling face.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows: A drill rod changing manipulator includes a gripper rotation assembly and a gripper clamping assembly mounted on the gripper rotation assembly. The gripper rotation assembly includes a support frame and a rotating frame. A swing cylinder for driving the rotating frame to rotate relative to the support frame is mounted on the support frame. The rotating frame is connected to the support frame via the rotation assembly. The gripper clamping assembly includes a fixed frame and a clamping part mounted on the fixed frame. The fixed frame is connected to the rotating frame. The clamping part includes fixed claw teeth and movable claw teeth that open and close relative to the fixed claw teeth. This drill rod changing manipulator is applied to tunnel and underground engineering machinery equipment. Through the coordinated action of the gripper rotation assembly and the gripper clamping assembly, it achieves automatic clamping, pushing, and retrieval of drill rods, improving work efficiency, reducing manual intervention, and lowering labor intensity.

[0005] Furthermore, the support frame is provided with corresponding bolt connection holes, and the swing cylinder has a fixed flange and an ear flange. The fixed flange and ear flange of the swing cylinder are respectively connected to the bolt connection holes on the support frame by bolts. The fixed flange and ear flange of the swing cylinder are respectively connected to the support frame by bolts to form a double flange connection support structure, which has better rigidity and higher torsional strength and stability compared to the cantilever beam structure support frame.

[0006] Furthermore, the rotary assembly includes a central shaft, a bearing, and a bushing. The central shaft is fixedly mounted on a support frame, and the axis of the central shaft is concentric with the axis of the swing cylinder. The bearing seat has an assembly hole that matches the outer diameter of the bushing, the bushing is assembled in the assembly hole, and the bearing seat is fixed to the rotating frame by bolts. The swing cylinder also has a rotating flange. The rotating frame is connected to the rotating flange of the swing cylinder by bolts. The bushing is provided with a mating hole that matches the outer diameter of the central shaft. The bushing is fitted onto the central shaft through the mating hole with clearance fit.

[0007] Furthermore, the support frame is also equipped with limit screws.

[0008] Furthermore, the fixed claw teeth are connected to the fixed frame by bolts, and the movable claw teeth are hinged to the fixed frame by a pin. A retaining plate is provided on the fixed frame, and the retaining plate is fixed to the fixed frame by bolts, contacting the pin. The retaining plate prevents the pin from rotating or moving.

[0009] Furthermore, the gripper assembly also includes a gripping cylinder. One end of the cylinder barrel of the gripping cylinder is provided with an ear plate, and the fixing frame is provided with a corresponding mounting hole. A pin is inserted through both the ear plate and the mounting hole. A connecting ear is provided on the movable claw teeth, and one end of the cylinder rod of the gripping cylinder is connected to the connecting ear on the movable claw teeth through a pin.

[0010] Furthermore, a bushing two is provided between the movable claw tooth and the first pin.

[0011] Furthermore, a set screw is threaded onto the movable claw tooth, and the set screw is used to fix the pin three onto the movable claw tooth.

[0012] Furthermore, it also includes oil cup one and oil cup two. Both the bearing seat and the pin one are provided with lubricating oil holes. Oil cup one is connected to the lubricating oil hole on the bearing seat through an internal channel, and oil cup two is connected to the lubricating oil hole on the pin one through an internal channel.

[0013] Furthermore, the fixed frame is positioned with the rotary frame using a rectangular positioning groove. Elongated holes are provided on both sides of the rectangular positioning groove on the fixed frame, and adjusting bolts for connecting to the rotary frame are inserted into these holes. The rectangular positioning groove ensures the positioning accuracy of the fixed frame and the rotary frame, improving their parallelism. The elongated holes and adjusting bolts allow for fine-tuning of the gripper clamping assembly position, improving the drill rod's centering.

[0014] The beneficial effects of this utility model through the above technical solution are as follows: The drill rod changing manipulator provided by this utility model is applied to tunnel and underground engineering machinery equipment. Through the coordinated action of the gripper rotation component and the gripper clamping component, it realizes the automatic clamping, pushing, and retrieval of drill rods, improving work efficiency, reducing manual intervention, and lowering labor intensity. The gripper rotation component is equipped with a swing cylinder to drive the rotary frame to rotate relative to the support frame, allowing the gripper clamping component to flexibly adjust its angle to adapt to the drill rod clamping needs of different working scenarios. The gripper clamping component includes fixed teeth and movable teeth. Through the opening and closing action of the movable teeth relative to the fixed teeth, it can stably clamp the drill rod, preventing the drill rod from slipping or shifting during pushing or retrieval. Attached Figure Description

[0015] Figure 1 This utility model provides a three-dimensional rod-changing robotic arm device. Figure 1 ; Figure 2 This utility model provides a three-dimensional rod-changing robotic arm device. Figure 2 ; Figure 3 This is a right view of a lever-changing robotic arm device according to the present invention; Figure 4 This is a rear view of a lever-changing robotic arm device according to the present invention; Figure 5 This utility model relates to a lever-changing robotic arm device. Figure 3 Sectional view at point AA; Figure 6 This utility model relates to a lever-changing robotic arm device. Figure 4 Sectional view at point BB; Figure 7 This is a schematic diagram showing the connection relationship between the gripper rotation component and the gripper clamping component in a lever-changing robotic arm device of this utility model.

[0016] The numbers in the attached diagram are: 1. Support frame; 2. Rotary frame; 3. Fixed frame; 4. Fixed claw teeth; 5. Movable claw teeth; 6. Swing cylinder; 7. Bushing two; 8. Pin one; 9. Pin two; 10. Clamping plate; 11. Pin three; 12. Set screw; 13. Central shaft; 14. Shaft seat; 15. Bushing one; 16. Oil cup one; 17. Clamping cylinder; 18. Limit screw; 19. Oil cup two. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments: like Figures 1-7 As shown, this embodiment provides a lever-changing manipulator device, including a gripper rotation assembly and a gripper clamping assembly mounted on the gripper rotation assembly; the gripper rotation assembly includes a support frame 1 and a rotating frame 2, the support frame 1 is provided with a swing cylinder 6 for driving the rotating frame 2 to rotate relative to the support frame 1, and the rotating frame 2 is connected to the support frame 1 through the rotation assembly; the gripper clamping assembly includes a fixed frame 3 and a clamping part provided on the fixed frame 3, the fixed frame 3 is connected to the rotating frame 2, and the clamping part includes fixed claw teeth 4 and movable claw teeth 5 that open and close relative to the fixed claw teeth 4.

[0018] The drill rod changing manipulator provided by this utility model is applied to tunnel and underground engineering machinery equipment. Through the coordinated action of the gripper rotation component and the gripper clamping component, it realizes automatic clamping, pushing, and retrieval of drill rods, improving work efficiency, reducing manual intervention, and lowering labor intensity. The gripper rotation component is equipped with a swing cylinder 6, which drives the rotary frame 2 to rotate relative to the support frame 1, allowing the gripper clamping component to flexibly adjust its angle to adapt to the drill rod clamping requirements of different working scenarios. The gripper clamping component includes fixed claw teeth 4 and movable claw teeth 5. Through the opening and closing action of the movable claw teeth 5 relative to the fixed claw teeth 4, it can stably clamp the drill rod, preventing the drill rod from slipping or shifting during pushing or retrieval.

[0019] In this embodiment, the support frame 1 has corresponding bolt connection holes, and the swing cylinder 6 has a fixed flange and an ear flange. The fixed flange and ear flange of the swing cylinder 6 are connected to the bolt connection holes on the support frame 1 by bolts. The fixed flange and ear flange of the swing cylinder 6 are respectively bolted to the support frame 1 to form a double flange connection support structure, which has better rigidity and higher torsional strength and stability compared to the cantilever beam structure support frame 1.

[0020] In this example, the rotary assembly includes a central shaft 13, a bearing 14, and a bushing 15. The central shaft 13 is fixedly mounted on the support frame 1, and the axis of the central shaft 13 is concentric with the axis of the swing cylinder 6. This design ensures the accuracy of the rotary assembly during rotation and reduces rotational errors caused by axis offset.

[0021] Specifically, the bearing seat 14 has an assembly hole inside that matches the outer diameter of the bushing 15. The bushing 15 is assembled in this assembly hole, and the bearing seat 14 is fixed to the rotating frame 2 with bolts. The swing cylinder 6 also has a rotating flange. The rotating frame 2 is connected to the rotating flange of the swing cylinder 6 with bolts. The bushing 15 has a mating hole that matches the outer diameter of the central shaft 13. The bushing 15 is fitted onto the central shaft 13 through this mating hole with a clearance fit. This assembly method ensures both the free rotation of the bushing 15 within the bearing seat 14 and the stability of the assembly.

[0022] In this invention, the support frame 1 is also equipped with a limiting screw 18. The initial position is ensured by the dead point of the swing cylinder 6, and the position of the clamping rod is ensured by the limiting screw 18.

[0023] In this embodiment, the fixed claw tooth 4 is connected to the fixed frame 3 by bolts, and the movable claw tooth 5 is hinged to the fixed frame 3 by a pin 8; this hinged structure allows the movable claw tooth 5 to rotate freely around the pin 8; a retaining plate 10 is provided on the fixed frame 3, and the retaining plate 10 is fixed to the fixed frame 3 by bolts, and the retaining plate 10 is in contact with the pin 8. The retaining plate 10 prevents the pin 8 from rotating or moving.

[0024] In this embodiment, the gripper assembly further includes a gripping cylinder 17. One end of the cylinder barrel of the gripping cylinder 17 is provided with a lug plate, and the fixing frame 3 is provided with a corresponding mounting hole. A pin 9 passes through both the lug plate and the mounting hole. A connecting lug is provided on the movable claw tooth 5, and one end of the cylinder rod of the gripping cylinder 17 is connected to the connecting lug on the movable claw tooth 5 via a pin 11. When the gripping cylinder 17 extends or retracts, the power is directly applied to the movable claw tooth 5, enabling it to quickly and accurately perform opening and closing actions, cooperating with the fixed claw tooth 4 to achieve rapid gripping and release of the drill rod.

[0025] A bushing 7 is provided between the movable claw tooth 5 and the first pin 8. The bushing 7 transforms the friction between the movable claw tooth 5 and the first pin 8 into friction between the bushing 7 and the first pin 8. The bushing 7 is made of wear-resistant material, which can effectively reduce the direct wear between the movable claw tooth 5 and the first pin 8.

[0026] Furthermore, a set screw 12 is threaded onto the movable claw tooth 5, and the set screw 12 is used to fix the pin 11 onto the movable claw tooth 5. The set screw 12, through its threaded connection with the movable claw tooth 5, abuts against the pin 11, thereby stopping the pin 11 and effectively preventing the pin 11 from slipping and rotating.

[0027] This invention also includes an oil cup 16 and an oil cup 19. Both the bearing seat 14 and the pin 8 are provided with lubricating oil holes. The oil cup 16 is connected to the lubricating oil hole on the bearing seat 14 via an internal channel, and the oil cup 19 is connected to the lubricating oil hole on the pin 8 via an internal channel. The oil cups 16 and 19 can continuously supply lubricating oil through their internal channels. This continuous lubrication method can effectively reduce wear and extend the service life of the components.

[0028] It should be noted that the fixed frame 3 is positioned with the rotary frame 2 using a rectangular positioning groove. The fixed frame 3 has elongated holes on both sides of the rectangular positioning groove, and adjusting bolts for connecting to the rotary frame 2 are inserted into these elongated holes. The rectangular positioning groove ensures the positioning accuracy of the fixed frame 3 and the rotary frame 2, improving their parallelism. The elongated holes and adjusting bolts allow for fine-tuning of the gripper clamping assembly position, improving drill rod alignment and reducing the problem of misalignment between the robot arm center and the first drill rod caused by insufficient machining precision.

[0029] It is worth mentioning that in this utility model, the clamping cylinder 17 is connected to a three-position hydraulic control circuit through a hydraulic pipeline. This circuit can control the clamping cylinder 17 to achieve three states: clamping, releasing, and floating. When it is in the floating position, the cylinder rod of the clamping cylinder 17 can have a certain amount of extension and retraction relative to the cylinder barrel and the oil pressure is low, which is used to reduce the resistance of the robot arm when pushing / pulling the drill rod, maintain the centering of the drill rod, and protect the robot arm.

[0030] The working principle of this utility model is as follows: The drill rod changing manipulator provided by this utility model is applied to tunnel and underground engineering machinery and equipment. Its basic principle is to realize the automatic clamping, pushing and retrieval of drill rods through the coordinated action of the gripper rotation component and the gripper clamping component, thereby improving work efficiency, reducing manual intervention and reducing labor intensity.

[0031] In the gripper rotation assembly, a swing cylinder 6 is installed on the support frame 1. Its fixed flange and ear plate flange are connected to the bolt holes on the support frame 1 to form a double flange connection support structure, which has better rigidity, stronger torsional resistance and higher stability. The swing cylinder 6 drives the rotary frame 2 to rotate relative to the support frame 1. The central shaft 13 in the rotation assembly is fixed on the support frame 1 and is concentric with the axis of the swing cylinder 6. The bearing seat 14 is fixed on the rotary frame 2 by bolts. The bushing 15 is assembled in the bearing seat 14 and connected to the rotating flange of the swing cylinder 6. At the same time, it is fitted with the central shaft 13 with clearance fit to ensure the accuracy and stability of the rotation.

[0032] In the gripper assembly, the fixed claw tooth 4 is bolted to the fixed frame 3, and the movable claw tooth 5 is hinged to the fixed frame 3 via a pin 8. The clamping plate 10 prevents the pin 8 from rotating or moving. When the clamping cylinder 17 extends or retracts, the power is directly applied to the movable claw tooth 5, causing it to cooperate with the fixed claw tooth 4 to achieve rapid clamping and release of the drill rod.

[0033] The embodiments described above are merely preferred embodiments of this utility model and are not intended to limit the scope of implementation of this utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the patent claims of this utility model should be included within the scope of the patent application of this utility model.

Claims

1. A lever-changing robotic arm device, characterized in that, The gripper includes a gripper rotation assembly and a gripper clamping assembly mounted on the gripper rotation assembly; the gripper rotation assembly includes a support frame (1) and a rotating frame (2), the support frame (1) is provided with a swing cylinder (6) for driving the rotating frame (2) to rotate relative to the support frame (1), the rotating frame (2) is connected to the support frame (1) through the rotation assembly; the gripper clamping assembly includes a fixed frame (3) and a clamping part provided on the fixed frame (3), the fixed frame (3) is connected to the rotating frame (2), and the clamping part includes fixed claw teeth (4) and movable claw teeth (5) that open and close relative to the fixed claw teeth (4).

2. The lever-changing robotic arm device according to claim 1, characterized in that, The support frame (1) has corresponding bolt connection holes. The swing cylinder (6) has a fixed flange and an ear plate flange. The fixed flange and the ear plate flange of the swing cylinder (6) are respectively connected to the bolt connection holes on the support frame (1) by bolts.

3. The lever-changing robotic arm device according to claim 1, characterized in that, The rotary assembly includes a central shaft (13), a bearing seat (14), and a bushing (15). The central shaft (13) is fixedly mounted on the support frame (1), and the axis of the central shaft (13) is concentric with the axis of the swing cylinder (6). The bearing seat (14) has an assembly hole inside that matches the outer diameter of the bushing (15). The bushing (15) is assembled in the assembly hole. The bearing seat (14) is fixed to the rotating frame (2) by bolts. The swing cylinder (6) also has a rotating flange. The rotating frame (2) is connected to the rotating flange of the swing cylinder (6) by bolts. The bushing (15) is provided with a mating hole that matches the outer diameter of the central shaft (13). The bushing (15) is fitted onto the central shaft (13) through the clearance fit of the mating hole.

4. The lever-changing robotic arm device according to claim 1, characterized in that, The support frame (1) is also equipped with limit screws (18).

5. A lever-changing robotic arm device according to claim 1, characterized in that, The fixed claw tooth (4) is connected to the fixed frame (3) by bolts. The movable claw tooth (5) is hinged on the fixed frame (3) by a pin (8). A clamping plate (10) is provided on the fixed frame (3). The clamping plate (10) is fixed on the fixed frame (3) by bolts and is in contact with the pin (8).

6. The lever-changing robotic arm device according to claim 1, characterized in that, The gripper assembly also includes a gripping cylinder (17). One end of the cylinder of the gripping cylinder (17) is provided with an ear plate. The fixing frame (3) is provided with a corresponding mounting hole. The ear plate and the mounting hole are both provided with a pin (9). The movable claw tooth (5) is provided with a connecting ear. One end of the cylinder rod of the gripping cylinder (17) is connected to the connecting ear on the movable claw tooth (5) through a pin (11).

7. The lever-changing robotic arm device according to claim 5, characterized in that, A bushing 2 (7) is provided between the movable claw tooth (5) and the first pin (8).

8. The lever-changing robotic arm device according to claim 6, characterized in that, The movable claw tooth (5) is threaded with a set screw (12), which is used to fix the pin shaft three (11) on the movable claw tooth (5).

9. A lever-changing robotic arm device according to claim 3, characterized in that, It also includes oil cup one (16) and oil cup two (19). Both the bearing seat (14) and the pin one (8) are provided with lubricating oil holes. The oil cup one (16) is connected to the lubricating oil hole on the bearing seat (14) through an internal channel. The oil cup two (19) is connected to the lubricating oil hole on the pin one (8) through an internal channel.

10. A lever-changing robotic arm device according to claim 1, characterized in that, The fixed frame (3) is positioned with the rotating frame (2) using a rectangular positioning groove. The fixed frame (3) has elongated holes on both sides of the rectangular positioning groove, and adjusting bolts for connecting with the rotating frame (2) are inserted into the elongated holes.

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