A drill pipe transfer robot and a drilling rig
Patent Information
- Application Number
- CN202522339275.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-04
- Publication Date
- 2026-09-29
- Estimated Expiration
- 2035-11-04
AI Technical Summary
[0002]机械手在天井钻机施工作业过程中，通常承担着抓取钻杆并转送至主机接杆位置的任务，但部分小型矿山的作业空间狭窄，施工环境复杂恶劣，传统的机械手由于多采用直线油缸组成，外形尺寸大且工作范围受限，在小型矿山这类施工空间受限的场合，难以实现钻杆的稳定抓取和将钻杆准确转运至接杆位置，往往需要人工辅助调整钻杆位置，钻机接卸钻杆作业自动化程度低，严重影响了施工效率，并增加了生产安全隐患
通过设置依次连接的第一臂架、第二臂架、第三臂架和第四臂架，且各臂架均有活动范围，第四臂架设有用于夹持钻杆的夹持结构，使得本实施例的机械手具备多个方向调整的自由度，以使机械手能实现钻杆的抓取和转运操作；第一驱动件和/或第四驱动件通过采用旋转油缸，能缩小机械手的整体体积、增大机械手的转动范围、减少工作盲区并提高换向控制效率，使得本实施例的机械手能适用于小型矿山这类施工空间受限的场合，提升钻机在此类小型矿山内接卸钻杆作业的自动化程度，减少人工作业，降低生产安全隐患。
Smart Images
Figure CN224813771U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of mining machinery technology, and in particular to a drill pipe transfer robot and a drilling rig. Background Technology
[0002] During the operation of a well drilling rig, the robotic arm is usually responsible for grabbing the drill rod and transferring it to the main unit's rod receiving position. However, in some small mines, the working space is narrow and the construction environment is complex and harsh. Traditional robotic arms, which are mostly composed of linear hydraulic cylinders, are large in size and have a limited working range. In such situations with limited construction space, it is difficult to achieve stable grabbing of the drill rod and accurate transfer of the drill rod to the receiving position. Manual assistance is often required to adjust the position of the drill rod. The automation level of drill rod connection and unloading operations is low, which seriously affects the construction efficiency and increases the production safety hazards. Utility Model Content
[0003] To address the aforementioned technical problems, this application proposes a drill pipe transfer robot, which is suitable for small mines and other situations where construction space is limited. It has a wide working range and facilitates the automation of drill pipe handling operations.
[0004] This application also proposes a drilling machine having the aforementioned drill pipe transfer manipulator.
[0005] The drill pipe transfer robot according to the first aspect of this application includes: The first boom is rotatably mounted on the top support column; A first driving component is installed on the first boom and is connected to the top support column in a transmission manner. The first driving component drives the first boom to rotate around the top support column. The second boom is hinged to the first boom; The second driving member has its two ends hinged to the first boom and the second boom respectively, and the second driving member drives the second boom to rotate around the hinge point with the first boom; The third boom is hinged to the second boom; The third drive unit has two ends that are hinged to the first boom and the third boom respectively, and the third drive unit drives the third boom to rotate around the hinge point with the second boom; The fourth boom is axially rotatably mounted on the third boom, and the fourth boom is provided with a clamping structure for clamping the drill pipe; The fourth drive unit is installed on the third boom and connected to the fourth boom, and the fourth drive unit drives the fourth boom to rotate axially.
[0006] In some embodiments of this application, the first driving member is connected to the top support column via gear transmission.
[0007] In some embodiments of this application, the second driving member and / or the third driving member are telescopic hydraulic cylinders.
[0008] In some embodiments of this application, the first driving member and / or the fourth driving member are rotary cylinders.
[0009] In some embodiments of this application, the first boom includes a connecting hole, a copper sleeve is installed on the side wall of the connecting hole, and the top support column passes through the copper sleeve.
[0010] In some embodiments of this application, the fourth drive member is connected to the fourth boom via a connecting shaft, the first end of the connecting shaft is connected to the output end of the fourth drive member via a key drive, and the second end of the connecting shaft is connected to the fourth boom via an anti-torsion pin.
[0011] In some embodiments of this application, the third boom includes a first end plate and a second end plate spaced apart. The first end of the connecting shaft is fitted with a first bushing and connected with a pressure cap nut; the second end of the connecting shaft is fitted with a second bushing, and the middle part of the connecting shaft is fitted with a combined split copper sleeve. The first bushing abuts against the first end plate, the second bushing abuts against the second end plate, and the two ends of the combined split copper bushing abut against the first bushing and the second bushing, respectively.
[0012] In some embodiments of this application, the combined split copper sleeve is connected to the connecting shaft by a pin, the pin passing radially through the combined split copper sleeve and the connecting shaft.
[0013] In some embodiments of this application, the fourth arm is provided with a first clamping surface, the clamping structure is hinged to the fourth arm, and is provided with a second clamping surface, the second clamping surface being disposed corresponding to the first clamping surface; The drill pipe transfer manipulator also includes a fifth driving component, the two ends of which are connected to the fourth boom and the clamping structure, respectively. The fifth driving component drives the clamping structure to rotate around the hinge point with the fourth boom, so that the second clamping surface moves relative to the first clamping surface.
[0014] The drill pipe transport robot of this application embodiment has at least the following beneficial effects: By setting up a first boom, a second boom, a third boom, and a fourth boom connected in sequence, with each boom having a range of motion, and the fourth boom having a clamping structure for holding drill rods, the robot arm in this embodiment has multiple degrees of freedom for adjustment in multiple directions, enabling the robot arm to perform drill rod gripping and transfer operations. The first drive component and / or the fourth drive component, by using rotary cylinders, can reduce the overall size of the robot arm, increase the rotation range of the robot arm, reduce the blind spot in the work area, and improve the reversing control efficiency. This makes the robot arm in this embodiment suitable for small mines and other situations where construction space is limited, improving the automation level of drill rod unloading operations in such small mines, reducing manual labor, and lowering production safety hazards.
[0015] The drilling rig according to the second aspect of this application includes: The main unit includes the top support column and the machine head; Drill rod feeding device, used to transport drill rods; The aforementioned drill rod transfer robot is installed on the top support column. The drill rod transfer robot grabs the drill rod from the drill rod feeding device and transfers it to the machine head.
[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0017] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of the first side of the robotic arm according to the first aspect of this application; Figure 2 This is a schematic diagram of the second side of the robotic arm according to the first aspect of this application; Figure 3 for Figure 1 Cross-sectional view of the connection structure between the fourth boom and the fourth drive unit; Figure 4 for Figure 1 Assembly diagram of the fourth boom and the fourth drive unit; Figure 5 This is a schematic diagram of the drilling rig according to the second aspect of this application.
[0018] Icon labels: First boom 100, first drive component 110, connecting hole 111; Second boom 200, second drive unit 210; Third boom 300, third drive unit 310; Fourth boom 400, first end plate 401, second end plate 402, first clamping surface 403, fourth drive component 410, connecting shaft 420, first bushing 421, second bushing 422, pressure cap nut 423, anti-torsion pin 424, combined split copper sleeve 430, pin 431, clamping structure 440, second clamping surface 441, fifth drive component 450; Main unit 500, top support column 510, gear pair 511, machine head 520; Drill pipe feeding device 600. Detailed Implementation
[0019] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0020] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.
[0021] In the description of this application, "multiple" refers to two or more. The use of "first" and "second" is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or the order in which the technical features are indicated.
[0022] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.
[0023] Reference Figures 1 to 5 The first embodiment of this application discloses a drill pipe transfer robot, including a first boom 100, a second boom 200, a third boom 300 and a fourth boom 400 connected in sequence, and a first drive member 110 for driving the first boom 100, a second drive member 210 for driving the second boom 200, a third drive member 310 for driving the third boom 300 and a fourth drive member 410 for driving the fourth boom 400.
[0024] Specifically, refer to Figure 1 , Figure 2As shown, the first boom 100 is rotatably mounted on the top support column 510, and the first drive member 110 is mounted on the first boom 100 and is connected to the top support column 510 in a transmission manner. The first drive member 110 drives the first boom 100 to rotate around the top support column 510. The second boom 200 is hinged to the first boom 100. The two ends of the second drive member 210 are respectively hinged to the first boom 100 and the second boom 200. The second drive member 210 drives the second boom 200 to rotate around the hinge point with the first boom 100. The third boom 300 is hinged to the second boom 200. The two ends of the third drive member 310 are respectively hinged to the first boom 100 and the third boom 300. The third drive member 310 drives the third boom 300 to rotate around the hinge point with the second boom 200. The fourth boom 400 is axially rotatably mounted on the third boom 300. The fourth boom 400 is provided with a clamping structure 440 for clamping the drill pipe. The fourth drive member 410 is mounted on the third boom 300 and connected to the fourth boom 400. The fourth drive member 410 drives the fourth boom 400 to rotate axially.
[0025] The first end of the second boom 200 is connected to the first boom 100 by a pin, and the third boom 300 is connected to the second end of the second boom 200 by a pin.
[0026] In some embodiments of this application, reference is made to Figure 1 , Figure 2 As shown, the second drive component 210 and / or the third drive component 310 are telescopic cylinders, and the first drive component 110 and / or the fourth drive component 410 are rotary cylinders. Specifically, the second drive component 210 and the third drive component 310 are both linear telescopic cylinders, which have a simple structure and low failure rate; the first drive component 110 and the fourth drive component 410 are both rotary cylinders, which have a large rotation range, can reduce the overall size of the robot, increase the rotation range of the robot, reduce the blind spot, and improve the reversing control efficiency. This makes the robot of this embodiment suitable for small mines and other places with limited construction space, and improves the automation level of drilling rigs in the operation of connecting and unloading drill rods in such small mines.
[0027] In some specific embodiments of this application, reference is made to Figure 1 As shown, the first boom 100 includes a connecting hole 111, with the top support column passing through the connecting hole 111. The first drive member 110 is connected to the top support column 510 via gear transmission. A gear pair 511 is mounted on the outer surface of the top support column 510. The housing of the first drive member 110 is fixedly connected to the first boom 100. A gear is mounted on the output end of the first drive member 110, and the gear meshes with the gear pair 511. Thus, when the first drive member 110 drives the gear to rotate, the gear rotates along the gear pair 511, causing the first boom 100 and the structure mounted on the first boom 100 to rotate synchronously.
[0028] Furthermore, to improve the stability of the connection between the first boom 100 and the top support column 510, the first boom 100 is provided with two connection holes 111, which are spaced apart vertically, and the top support column 510 passes through both connection holes 111 simultaneously. To reduce wear on the top support column 510 and the first boom 100, a copper sleeve is installed on the side wall of the connection hole 111, and the top support column 510 passes through the copper sleeve; the copper sleeve can be a split copper sleeve to facilitate disassembly and assembly and reduce maintenance costs.
[0029] In some embodiments of this application, the fourth drive member 410 is connected to the fourth boom 400 via a connecting shaft 420. Specifically, refer to... Figure 3 , Figure 4 As shown, the first end of the connecting shaft 420 is connected to the output end of the fourth drive component 410 via a key drive, and the second end of the connecting shaft 420 is connected to the fourth boom 400 via an anti-torsion pin 424. The housing of the fourth drive component 410 is connected to the third boom 300 via bolts or other fasteners. The output end of the fourth drive component 410 is inserted into the first end of the connecting shaft 420, and the key connection method is simple, quick, has good transmission effect, and is low in cost. The anti-torsion pin 424 radially passes through the fourth boom 400 and the second end of the connecting shaft 420, making the connection simple, easy to assemble and disassemble, with good transmission effect and low maintenance cost. Since the fourth boom 400 needs frequent angle adjustments during actual operation, the anti-torsion pin 424 needs to have good anti-torsion performance.
[0030] In some embodiments of this application, reference is made to Figure 3 As shown, the third boom 300 includes a first end plate 401 and a second end plate 402 spaced apart. A connecting shaft 420 passes through the first end plate 401 and the second end plate 402 sequentially. The first end plate 401 has a first hole for the connecting shaft 420 to pass through, and the second end plate 402 has a second hole for the connecting shaft 420 to pass through. To reduce wear on the connecting shaft 420 and the third boom 300, a first bushing 421 is fitted onto the first end of the connecting shaft 420. The first bushing 421 is installed in the first hole, and the first bushing... 421 abuts against the first end plate 401; the second end of the connecting shaft 420 is fitted with a second bushing 422, which is installed in the second hole and abuts against the second end plate 402; a combined split copper sleeve 430 is fitted in the middle of the connecting shaft 420, and the two ends of the combined split copper sleeve 430 abut against the first bushing 421 and the second bushing 422 respectively, so as to prevent the first bushing 421 and the second bushing 422 from falling off and to improve the stability of the first bushing 421 and the second bushing 422.
[0031] The bushing installed in the middle of the connecting shaft 420 is designed as a modular split bushing for easy disassembly and assembly, reducing maintenance costs. To ensure the stability of the modular split bushing, refer to... Figure 3 , Figure 4 As shown, in this embodiment, the combined split copper sleeve 430 is connected to the connecting shaft 420 by a pin 431, and the pin 431 passes radially through the combined split copper sleeve 430 and the connecting shaft 420.
[0032] In some embodiments of this application, a pressure cap nut 423 is also connected to the first end of the connecting shaft 420. The pressure cap nut 423 is installed on the portion of the first end of the connecting shaft 420 that passes through the first end plate 401. The pressure cap nut 423 is used to connect the third boom 300 and the connecting shaft 420, but the connecting shaft 420 can still rotate relative to the third boom 300 around its own axis. In the embodiments of this application, the fourth drive component 410 is directly connected to the fourth boom 400 through the connecting shaft 420. The connection method is compact, which can reduce the size of the equipment. At the same time, the transmission effect is good, which can reduce the energy loss during the transmission process. The rotary cylinder used in the fourth drive component 410 can increase the rotation range of the fourth boom 400.
[0033] In some embodiments of this application, the fourth boom 400 is provided with a first clamping surface 403, the clamping structure 440 is hinged to the fourth boom 400, and is provided with a second clamping surface 441. The second clamping surface 441 is correspondingly provided with the first clamping surface 403, and the first clamping surface 403 and the second clamping surface 441 cooperate to clamp the drill rod; the second clamping surface 441 moves closer to the first clamping surface 403 to clamp the drill rod, and the second clamping surface 441 moves away from the first clamping surface 403 to release the drill rod. In order to improve the clamping effect on the drill rod, it is preferable that both the first clamping surface 403 and the second clamping surface 441 are provided with clamping grooves.
[0034] In some embodiments of this application, the drill pipe transfer manipulator further includes a fifth drive member 450, the two ends of which are connected to the fourth boom 400 and the clamping structure 440, respectively. The fifth drive member 450 drives the clamping structure 440 to rotate about the hinge point with the fourth boom 400, so that the second clamping surface 441 moves relative to the first clamping surface 403, thereby releasing or clamping the drill pipe.
[0035] The drill pipe transfer robot of this embodiment is configured with a first boom 100, a second boom 200, a third boom 300, and a fourth boom 400 connected in sequence, each boom having a range of motion. The fourth boom 400 is provided with a clamping structure 440 for gripping the drill pipe, giving the robot multiple degrees of freedom for adjustment in various directions, enabling it to grasp and transfer the drill pipe. The first drive unit 110 and / or the fourth drive unit 410, by employing a rotary cylinder, can reduce the overall size of the robot, increase its rotation range, reduce blind spots, and improve reversing control efficiency. This makes the robot suitable for small mines with limited construction space, improving the automation of drill pipe handling in such small mines, reducing manual labor, and lowering production safety hazards.
[0036] The drilling rig according to the second aspect of this application, referring to... Figure 5 As shown, the system includes a main unit 500, a drill rod feeding device 600, and the aforementioned drill rod transfer robot. The main unit 500 includes a head 520 and multiple support columns 510, with the head 520 mounted between the support columns 510. The drill rod feeding device 600 is used to transport drill rods. The aforementioned drill rod transfer robot is mounted on one of the support columns 510 of the main unit 500. The drill rod transfer robot picks up drill rods from the drill rod feeding device 600 and transfers them to the head 520. Since the drilling rig uses the aforementioned drill rod transfer robot, it possesses at least all the beneficial effects of a drill rod transfer robot, which will not be elaborated upon here.
[0037] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine the different embodiments or examples described in this specification.
[0038] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.
Claims
1. A drill pipe transfer robot, characterized in that, include: The first boom is rotatably mounted on the top support column; A first driving component is installed on the first boom and is connected to the top support column in a transmission manner. The first driving component drives the first boom to rotate around the top support column. The second boom is hinged to the first boom; The second driving member has its two ends hinged to the first boom and the second boom respectively, and the second driving member drives the second boom to rotate around the hinge point with the first boom; The third boom is hinged to the second boom; The third drive unit has two ends that are hinged to the first boom and the third boom respectively, and the third drive unit drives the third boom to rotate around the hinge point with the second boom; The fourth boom is axially rotatably mounted on the third boom, and the fourth boom is provided with a clamping structure for clamping the drill pipe; The fourth drive unit is installed on the third boom and connected to the fourth boom, and the fourth drive unit drives the fourth boom to rotate axially.
2. The drill pipe transfer robot according to claim 1, characterized in that, The first driving component is connected to the top support column via gear transmission.
3. The drill pipe transfer robot according to claim 1, characterized in that, The second driving component and / or the third driving component is a telescopic hydraulic cylinder.
4. The drill pipe transfer robot according to claim 1, characterized in that, The first driving component and / or the fourth driving component is a rotary hydraulic cylinder.
5. The drill pipe transfer robot according to claim 1, characterized in that, The first boom includes a connecting hole, and a copper sleeve is installed on the side wall of the connecting hole. The top support column passes through the copper sleeve.
6. The drill pipe transfer robot according to claim 1, characterized in that, The fourth drive unit is connected to the fourth boom via a connecting shaft. The first end of the connecting shaft is connected to the output end of the fourth drive unit via a key drive, and the second end of the connecting shaft is connected to the fourth boom via an anti-torsion pin.
7. The drill pipe transfer robot according to claim 6, characterized in that, The third boom includes a first end plate and a second end plate that are spaced apart. The first end of the connecting shaft is fitted with a first bushing and connected with a pressure cap nut; the second end of the connecting shaft is fitted with a second bushing, and the middle part of the connecting shaft is fitted with a combined split copper sleeve. The first bushing abuts against the first end plate, the second bushing abuts against the second end plate, and the two ends of the combined split copper bushing abut against the first bushing and the second bushing, respectively.
8. The drill pipe transfer robot according to claim 7, characterized in that, The combined split copper sleeve is connected to the connecting shaft by a pin, which passes radially through the combined split copper sleeve and the connecting shaft.
9. The drill pipe transfer robot according to claim 1, characterized in that, The fourth arm is provided with a first clamping surface, the clamping structure is hinged to the fourth arm, and is provided with a second clamping surface, the second clamping surface being provided corresponding to the first clamping surface; The drill pipe transfer manipulator also includes a fifth driving component, the two ends of which are connected to the fourth boom and the clamping structure, respectively. The fifth driving component drives the clamping structure to rotate around the hinge point with the fourth boom, so that the second clamping surface moves relative to the first clamping surface.
10. A drilling rig, characterized in that, include: The main unit includes the top support column and the machine head; Drill rod feeding device, used to transport drill rods; The drill rod transfer robot according to any one of claims 1 to 9 is installed on the top support column, and the drill rod transfer robot grabs the drill rod from the drill rod feeding device and transfers it to the machine head.