A mechanical hand for a raise borer and a raise borer

Abstract

The utility model relates to a mechanical hand, concretely is a kind of roof rig mechanical hand, including support seat, drive mechanism is installed on support seat, the gripper that moves with its operation is provided at the output end of drive mechanism, and drive mechanism includes first driver and the output end connection of first driver's propelling plate, mobile seat is fixedly connected at the end of propelling plate away from first driver, gripper includes two active arms and the second driver located in the side of two active arms, both ends of second driver are equipped with rotating shaft, and second driver is connected with mobile seat and connecting seat respectively by the rotating shaft of both ends, and the active claw that the drill rod of roof rig is actively surrounded is fixed in the end of connecting seat away from second driver. The roof rig mechanical hand sets up mobile seat and connecting seat, so that the position of second driver does not conflict with drill rod or other structure on rig, increase the space of avoidance when the actual operation of the mechanical hand, so that the activity angle of mechanical hand is larger.

Description

Technical Field

[0001] This utility model relates to a robotic arm, specifically a hoisting robot and a hoisting machine. Background Technology

[0002] A raise drill rig is a type of mechanical equipment used for shaft excavation that utilizes rotary drilling to break rocks and create holes, and can also reverse the hole to enlarge it. It is mainly used in underground mines and other engineering projects in rock formations to drill pilot holes in the forward direction and then enlarge them in the reverse direction to form ventilation shafts, filling shafts, pipeline shafts, etc. It can also be used to excavate large-section raises and ore passes. One of the most important structures on a raise drill rig is the robotic arm, mainly used for automated connection and disconnection of drill rods, solving the problems of low efficiency and high safety risks associated with traditional manual operation.

[0003] Existing hoist manipulators have complex structures and unreasonable designs. The gripper structures on these manipulators typically rely on threaded drives for movement, requiring manual rotation of a handwheel to achieve thread engagement. This results in low gripper movement efficiency, poor automation, and thread wear after repeated use, leading to decreased accuracy. Furthermore, existing manipulators only use C-shaped active claws to grasp or clamp the drill rod, resulting in a small contact area and low friction, posing a risk of slippage and detachment. Therefore, the inventors have improved the structure of the hoist manipulator. Utility Model Content

[0004] The purpose of this utility model is to provide a hoisting robot for a hoisting rig. This hoisting robot has a simple structure and reasonable design. It improves the movement efficiency of the gripper and does not require manual operation, thus increasing the degree of automation. It avoids the decrease in accuracy caused by repeated movement. It uses the fastening jaw plate on the active gripper and the friction rack on the inward turning seat to clamp the drill rod simultaneously. The contact area between the gripper and the drill rod is larger, the friction is greater, and the clamping effect is better. It is less likely to slip or fall off during use, thus solving the problems mentioned in the above-mentioned technical background.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a hoisting robot, which includes a support base, a drive mechanism mounted on the support base, and a gripper that moves with the drive mechanism at its output end. The drive mechanism includes a first driver and a push plate connected to the output end of the first driver. A movable base is fixedly connected to the end of the push plate away from the first driver. The gripper is mounted on the movable base and includes two active arms and a second driver located on one side of the two active arms. Rotating shafts are mounted at both ends of the second driver, and the second driver is connected to the movable base and a connecting base respectively through the rotating shafts at both ends. An active claw that actively surrounds the drill rod of the hoisting robot is fixed at the end of the connecting base away from the second driver. A third driver is provided between the two active arms. Rotating shafts are mounted at both ends of the third driver, and the third driver is connected to the movable base and an inward turning base respectively through the rotating shafts at both ends. The inward turning base is connected to the two active arms through a rotating shaft, and the two ends of the rotating shaft are rotatably connected to the two active arms respectively.

[0006] Preferably, the drive mechanism further includes a telescopic rod and a telescopic sleeve disposed on the outside of the telescopic rod. The telescopic rod and the telescopic sleeve are coaxially arranged, and the telescopic rod is fixed to the end of the support seat near the gripper.

[0007] Preferably, the push plate is slidably mounted on the telescopic rod, and the movable seat is slidably mounted on the telescopic sleeve. The movable seat is symmetrically mounted on the telescopic sleeve, and a limit plate is fixed at the end of the telescopic sleeve away from the support seat. The limit plate is used to limit the movement range of the movable seat and prevent the movable seat from falling off the telescopic sleeve.

[0008] Preferably, the two active arms are arranged in parallel, and both active arms are fixed on the movable base.

[0009] Preferably, the active claw is C-shaped, and multiple fastening jaws are fixed on the inner wall of the active claw. The multiple fastening jaws protrude from the inner wall surface of the active claw and are used to contact and connect with the drill rod of the riser drilling rig to clamp the drill rod and prevent the drill rod from slipping.

[0010] Preferably, the inward-turning seat is located between the active claw and the moving seat, and multiple friction racks are fixed at the end of the inward-turning seat away from the third driver. Each friction rack has several tooth grooves spaced apart on its surface, so that the friction rack can generate a large friction force with the drill rod after contacting it, ensuring the stability of the drill rod in the hoisting state.

[0011] Preferably, one end of the movable seat (23) is hinged to the fixed end of the active arm (31), and the other end of the movable seat (23) is hinged to the fixed end of the second driver (32).

[0012] Preferably, one end of the connecting seat (33) is fixedly connected to the movable end of the active arm (31), and the other end is hinged to the movable end of the second driver (32).

[0013] Preferably, the telescopic rod (24) has a square shaft structure, the telescopic sleeve (25) has a square sleeve structure, and the telescopic rod (24) and the telescopic sleeve (25) are clearance-fitted.

[0014] This utility model also includes a well drilling rig, comprising the robotic arm described in any of the above claims.

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

[0016] 1. This utility model provides a hoisting robot for a well drilling rig. The robot includes a support base, on which a drive mechanism is mounted. A gripper that moves with the drive mechanism's operation is located at its output end. The overall structure is simple and rationally designed. The drive mechanism includes a first driver and a push plate connected to the output end of the first driver. A movable base is fixedly connected to the end of the push plate away from the first driver, and the gripper is mounted on the movable base. This utility model's hoisting robot, with its movable base and connecting base, ensures that the position of the second driver does not conflict with the drill rod or other structures on the drilling rig, increasing the robot's clearance during actual operation and allowing for a wider range of motion. The gripper's linear movement ensures the integrity of the gripper structure and guarantees its stability during movement, preventing a decrease in accuracy due to repeated movement, thus demonstrating strong practicality.

[0017] 2. The gripper in this utility model includes two active arms and a second driver located on one side of the two active arms. Both ends of the second driver are equipped with rotating shafts, and the second driver is connected to a movable seat and a connecting seat respectively via these rotating shafts. An active gripper that actively surrounds the drill rod of the well drilling rig is fixed to the end of the connecting seat away from the second driver. A third driver is arranged between the two active arms, with rotating shafts installed at both ends. The third driver is connected to a movable seat and an inward-turning seat respectively via these rotating shafts. A friction rack is fixed on the inward-turning seat, and the inward-turning seat is connected to the two active arms via rotating shafts. Both ends of the rotating shafts are rotatably connected to the two active arms. Through the cooperation of the two drivers, the drill rod is simultaneously clamped using the fastening jaws on the active gripper and the friction rack on the inward-turning seat. This results in a larger contact area with the drill rod, greater friction, and a better clamping effect. It is less prone to slippage and detachment during use, making it suitable for widespread application. Attached Figure Description

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

[0019] Figure 2 This is one of the overall structural diagrams of this utility model.

[0020] Figure 3 This is the second overall structural diagram of this utility model.

[0021] Figure 4 This is a schematic diagram of the gripper of this utility model.

[0022] Figure 5 This is a structural diagram of the well drilling rig and the robotic arm assembled according to this utility model.

[0023] The reference numerals and names in the figure are as follows:

[0024] 1. Support base; 2. Drive mechanism; 21. First driver; 22. Push plate; 23. Moving base; 24. Telescopic rod; 25. Telescopic sleeve; 26. Limiting plate; 3. Gripper; 31. Active arm; 32. Second driver; 33. Connecting base; 34. Active gripper; 35. Fastening jaw plate; 36. Third driver; 37. Inward turning base; 38. Friction rack; 39. Rotating shaft. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] 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.

[0028] Please see Figure 1 One embodiment of this utility model is a hoisting robot, which includes a support base 1, a drive mechanism 2 mounted on the support base 1, and a gripper 3 that moves with the operation of the drive mechanism 2 at its output end.

[0029] Please see Figure 2 The drive mechanism 2 includes a first driver 21 and a push plate 22 connected to the output end of the first driver 21. A movable seat 23 is fixedly connected to the end of the push plate 22 away from the first driver 21, and the gripper 3 is disposed on the movable seat 23.

[0030] Please refer to it again. Figure 2The gripper 3 includes two active arms 31 and a second driver 32 located on one side of the two active arms 31. The two active arms 31 are arranged in parallel and are both fixed to the movable base 23. Rotary shafts are installed at both ends of the second driver 32, and the second driver 32 is connected to the movable base 23 and the connecting base 33 respectively through its rotating shafts. An active gripper 34 that actively surrounds the drill rod of the well drilling rig is fixed to the end of the connecting base 33 away from the second driver 32. A third driver 36 is arranged between the two active arms 31. In this embodiment, the first driver 21, the second driver 32, and the third driver 36 are all hydraulic cylinders. Rotary shafts are installed at both ends of the third driver 36, and the third driver 36 is connected to the movable base 23 and the inward-turning base 37 respectively through its rotating shafts. The inward-turning base 37 is located between the active gripper 34 and the movable base 23. In this invention, the inner flip seat 37 is fixed with multiple friction racks 38 at the end away from the third driver 36. Each friction rack 38 has several tooth grooves spaced apart on its surface, so that the friction rack 38 can generate a large friction force with the drill rod after contacting it, ensuring the stability of the drill rod in the hoisting state. Compared with the traditional solution that uses a threaded drive mechanism, the movement efficiency of the gripper 3 in this invention is higher and does not require manual operation. The linear movement method ensures the integrity of the gripper 3 structure and can ensure the stability of the gripper 3 structure during movement, avoiding the decrease in accuracy caused by repeated movement. The inner flip seat 37 is connected to the two active arms 31 through a rotating shaft 39. The two ends of the rotating shaft 39 are rotatably connected to the two active arms 31 respectively. The installation method and operating principle of the rotating shaft 39 are existing technologies and will not be described in detail here.

[0031] Please see Figure 3 The drive mechanism 2 also includes a telescopic rod 24 and a telescopic sleeve 25 disposed on the outside of the telescopic rod 24. The telescopic rod 24 and the telescopic sleeve 25 are coaxially arranged, and the telescopic rod 24 is fixed to the end of the support base 1 near the gripper 3. The push plate 22 is slidably disposed on the telescopic rod 24, and the moving seat 23 is slidably disposed on the telescopic rod 24. The moving seat 23 is symmetrically disposed on the telescopic rod 24. A limit plate 26 is fixed at the end of the telescopic rod 24 away from the support base 1. The limit plate 26 is used to limit the movement range of the moving seat 23 to prevent the moving seat 23 from falling off the telescopic rod 24. One end of the moving seat 23 is hinged to the fixed end of the active arm (31), and the other end of the moving seat 23 is hinged to the fixed end of the second driver 32. One end of the connecting seat 33 is fixedly connected to the movable end of the active arm 31, and the other end is hinged to the movable end of the second driver 32. The telescopic rod 24 has a square shaft structure, and the telescopic sleeve 25 has a square sleeve structure. The telescopic rod 24 and the telescopic sleeve 25 are fitted with a clearance.

[0032] This utility model also includes a well drilling rig, comprising the robotic arm described in any of the above claims.

[0033] Please see Figure 4 The active claw 34 is C-shaped, and multiple fastening jaw plates 35 are fixed on the inner wall of the active claw 34. The multiple fastening jaw plates 35 protrude from the inner wall surface of the active claw 34 and are used to contact and connect with the drill rod of the riser drilling rig to clamp the drill rod and prevent the drill rod from slipping.

[0034] Please see Figure 5 When the robotic arm is installed on the well drilling rig, the support base 1, drive mechanism 2, and gripper 3 are all located at the front end of the well drilling rig. The two sets of robotic arms operate simultaneously, and the active grippers 34 on the two sets of robotic arms are set facing each other, respectively located at both ends of the drill rod, forming a surround around the drill rod. The two second drives 32 operate, driving the two active grippers 34 to approach the two sides of the drill rod. The fastening jaws 35 on the two active grippers 34 actively clamp the drill rod. Then, the third drive 36 is driven to work, performing a secondary clamping of the drill rod, which increases the contact area with the drill rod, achieves greater friction, and has a better clamping effect. It is not easy for slippage and detachment to occur during use. It can simultaneously surround both sides of the drill rod, ensuring the structural stability of the drill rod. In addition, the structure of the well drilling rig is existing technology and will not be described in detail here.

[0035] 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 hoisting robot, comprising a support base (1), characterized in that: A drive mechanism (2) is mounted on the support base (1). The output end of the drive mechanism (2) is provided with a gripper (3) that moves with its operation. The drive mechanism (2) includes a first driver (21) and a push plate (22) connected to the output end of the first driver (21). A movable base (23) is fixedly connected to one end of the push plate (22) away from the first driver (21). The gripper (3) is disposed on the movable base (23). The gripper (3) includes two active arms (31) and a second driver (32) located on one side of the two active arms (31). Both ends of the second driver (32) are equipped with... There is a rotating shaft, and the second driver (32) is connected to the moving seat (23) and the connecting seat (33) respectively through the rotating shafts at both ends. The connecting seat (33) is fixed with an active claw (34) that actively surrounds the drill rod of the well drilling rig at one end away from the second driver (32). A third driver (36) is provided between the two active arms (31). The third driver (36) is equipped with rotating shafts at both ends, and the third driver (36) is connected to the moving seat (23) and the inverting seat (37) respectively through the rotating shafts at both ends. The inverting seat (37) is connected to the two active arms (31) through a rotating shaft (39).

2. The hoisting robot according to claim 1, characterized in that: The drive mechanism (2) also includes a telescopic rod (24) and a telescopic sleeve (25) disposed on the outside of the telescopic rod (24). The telescopic rod (24) and the telescopic sleeve (25) are coaxially arranged, and the telescopic rod (24) is fixed to one end of the support base (1) near the gripper (3).

3. The hoisting robot according to claim 2, characterized in that: The push plate (22) is slidably mounted on the telescopic rod (24), the movable seat (23) is slidably mounted on the telescopic sleeve (25), and a limit plate (26) is fixed at one end of the two telescopic sleeves (25) away from the support seat (1).

4. The hoisting robot according to claim 1, characterized in that: The two active arms (31) are arranged in parallel, and both active arms (31) are fixed on the movable seat (23).

5. The hoisting robot according to claim 1, characterized in that: The active claw (34) is C-shaped, and multiple fastening jaw plates (35) are fixed on the inner wall of the active claw (34).

6. The hoisting robot according to claim 1, characterized in that: The inward-turning seat (37) is disposed between the active claw (34) and the moving seat (23), and a plurality of friction racks (38) are fixed at the end of the inward-turning seat (37) away from the third driver (36).

7. A hoisting robot according to claim 1, characterized in that: One end of the movable seat (23) is hinged to the fixed end of the active arm (31), and the other end of the movable seat (23) is hinged to the fixed end of the second driver (32).

8. The hoisting robot according to claim 1, characterized in that: One end of the connecting seat (33) is fixedly connected to the movable end of the active arm (31), and the other end is hinged to the movable end of the second driver (32).

9. A hoisting robot according to claim 2, characterized in that: The telescopic rod (24) has a square shaft structure, and the telescopic sleeve (25) has a square sleeve structure. The telescopic rod (24) and the telescopic sleeve (25) are fitted with a clearance.

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

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