Drilling Machine Proximal and Distal Joint Mechanism
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Solution Overview
Problem
Current small diameter drilling machines face limitations in achieving various drilling configurations due to complex and unstable mechanisms, which result in reduced precision, increased cost, and weight, particularly when attempting to rotate the mast from a horizontal to a vertical position or achieving configurations like C.3 and C.2.
Innovation Solution
A drilling machine with a proximal joint allowing tilting around three orthogonal axes and a distal joint providing two degrees of rotational freedom, utilizing linear actuators for precise control and reduced weight, enabling all necessary drilling configurations without introducing unnecessary complexity or instability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If complex mechanisms with multiple joints and actuators are used to achieve various drilling configurations, then the machine can perform more drilling operations, but the device complexity increases and stability deteriorates
Solution Approach 1:
The mechanism is divided into two independent joint systems: proximal joints (between arm and machine body) and distal joints (between mast and arm). Each joint has clearly defined rotational axes and degrees of freedom, separating the complexity into manageable segments that can be controlled independently.
Solution Approach 2:
The combination of three proximal joints and two distal joints creates a universal mechanism that can achieve all six drilling configurations (vertical, tilted, transverse, side-drilling) through coordinated movement of the arm and mast, making the machine adaptable to multiple drilling operations without requiring separate mechanisms for each configuration.
2Adaptability or versatility
If multiple rotation joints and actuators are added to achieve mast rotation from horizontal to vertical position, then the machine can reach more drilling positions, but the weight increases
Solution Approach 1:
The mechanism uses dynamic coordination between the three proximal joints and two distal joints to achieve mast positioning. Rather than adding fixed rotational joints at every possible axis, the system dynamically achieves the required mast orientations through coordinated movement of the existing joints, reducing the need for additional heavy actuators.
3Device complexity
If the mechanism is simplified to reduce weight and complexity, then the machine becomes more stable and cheaper, but the capability to achieve various drilling configurations is reduced
Solution Approach 1:
The function of multiple separate joints is merged into a coordinated five-joint system where the three proximal joints and two distal joints work together to achieve all required drilling configurations. This merging reduces the total number of joints compared to having independent joints for each degree of freedom, while maintaining full capability through coordinated control.
4Adaptability or versatility
If joints are positioned higher and further from the machine body to enable mast rotation, then the machine can achieve more configurations, but the stability deteriorates
Solution Approach 1:
The mechanism achieves mast rotation capability not by positioning joints higher vertically, but by introducing a new dimensional approach through the coordination of three proximal joints with the mast's two distal joints. This allows the mast to rotate from horizontal to vertical positions while keeping all joints positioned low on the machine body, maintaining stability through proper joint placement rather than elevated positioning.
Data Source
Figure 1~2
Figure 3~4
Figure 5~6A
AI summary
In the drilling machine (100) according to the invention the proximal joint (103) allows the arm (4) to vary its orientation with respect to the machine body by rotating around at least a first (20), a second (23) and a third (22) proximal axis. The first (20) and the third (22) proximal axis are substantially orthogonal to each other and integral with at least the support mechanism (19). The second proximal axis (23) is non-orthogonal to the plane defined by the other two axes (20) and (22). The distal joint (104) allows to rotate the drilling mast (1) with respect to the mechanical arm (4) around a first distal axis (9) and a second (3) distal axis, wherein the first (9) and the second (3) distal axes are orthogonal to each other and the mast (1) extends perpendicularly with respect to the first distal axis 9; the support mechanism (19) may perform rotations on itself around the first proximal axis (20), substantially equal to or greater than 90° oriented in a single direction. The machine (100) is arranged for driving the distal joint (104) allowing the mast (1) to perform rotations around the first distal axis (9), by at least 90° oriented in a single direction.