CN108756786A - A kind of manipulator of underground drilling machine is from moving lever apparatus - Google Patents
A kind of manipulator of underground drilling machine is from moving lever apparatus Download PDFInfo
- Publication number
- CN108756786A CN108756786A CN201810604896.2A CN201810604896A CN108756786A CN 108756786 A CN108756786 A CN 108756786A CN 201810604896 A CN201810604896 A CN 201810604896A CN 108756786 A CN108756786 A CN 108756786A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- drilling machine
- drilling rod
- drilling
- oil cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 115
- 238000003466 welding Methods 0.000 claims description 10
- 239000003245 coal Substances 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 30
- 238000011017 operating method Methods 0.000 description 2
- WSNMPAVSZJSIMT-UHFFFAOYSA-N COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 Chemical compound COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 WSNMPAVSZJSIMT-UHFFFAOYSA-N 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/18—Connecting or disconnecting drill bit and drilling pipe
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention belongs to the technical field of the design and manufacture of equipment component in coal mine drilling machine, the manipulator of specifically a kind of underground drilling machine moves lever apparatus certainly.It solves machine and bar is captured using manipulator, but its precision is not high, and drilling rod storehouse design structure is unreasonable, error is larger when manipulator being caused to capture, efficiency low problem when causing to match, including drilling machine, drilling rod bin device, manipulator rotating device, clamper and drilling machine fixed seat, drilling machine is mounted on one end of drilling machine fixed seat, drilling rod bin device for storing drilling rod is installed in drilling machine fixed seat, the manipulator rotating device that drilling rod for will go to operating position takes out is installed, clamper is mounted on the other end of drilling machine fixed seat in drilling machine fixed seat.The present invention realizes grabs bar automatically, puts bar and moves back the inverse operation during bar.And the drilling rod bin device for proposing double ratchet wheels control, substantially increases crawl precision.
Description
Technical field
The invention belongs to the technical field of the design and manufacture of equipment component in coal mine drilling machine, specifically a kind of underground is bored
The manipulator of machine moves lever apparatus certainly.
Background technology
Existing drilling machine installs drilling rod additional and mostly uses artificial progress greatly, and required labor workload is big, and labor intensity is high, efficiency
Low, there is also some potential safety problemss.The country also has small part drilling machine to capture bar using manipulator, but its precision is not high, and
Drilling rod storehouse design structure is unreasonable, and error is larger when manipulator being caused to capture, and efficiency is low when causing to match.
Invention content
The present invention captures bar to solve drilling machine using manipulator, but its precision is not high, and drilling rod storehouse design structure is not
Rationally, error is larger when causing manipulator to capture, efficiency low problem when causing to match, and provides a kind of machine of underground drilling machine
Tool hand moves lever apparatus certainly
The present invention takes following technical scheme：A kind of manipulator of underground drilling machine is from moving lever apparatus, including drilling machine, drilling rod binning
It sets, manipulator rotating device, clamper and drilling machine fixed seat, the setting of drilling machine fixed seat are pacified on drilling machine top, drilling machine fixed seat
Equipped with the drilling rod bin device for storing drilling rod, it is equipped with what the drilling rod for will go to operating position took out in drilling machine fixed seat
Manipulator rotating device, the drilling machine other end are provided with clamper.
Drilling rod bin device includes ratchet passage oil cylinder, ratchet I, ratchet II, turntable and drilling rod storehouse shaft, in the shaft of drilling rod storehouse
Lower both ends are respectively arranged with turntable, and drilling rod storehouse shaft is fixed in drilling machine fixed seat；It is set above the turntable of drilling rod storehouse shaft upper end
It is equipped with the ratchet I being sleeved in the shaft of drilling rod storehouse, one end of ratchet I is hinged with one end of ratchet passage oil cylinder, ratchet passage oil cylinder
The other end be fixed in drilling machine fixed seat, turntable one end of drilling rod storehouse shaft lower end is provided with ratchet structure II.
Manipulator rotating device includes manipulator, rotary shaft, manipulator passage oil cylinder I, manipulator passage oil cylinder II, rotation
Seat and toggle, rotating seat cover in the shaft of drilling rod storehouse, rotating seat respectively with manipulator passage oil cylinder I and manipulator passage oil cylinder
II is hinged, and manipulator one end passage oil cylinder I is hinged with drilling machine fixed seat, one end of the manipulator one end passage oil cylinder II and toggle
Hinged, the toggle other end is fixed with manipulator rotary shaft, and manipulator is provided in manipulator rotary shaft.
Manipulator includes the manipulator clamping device for stepping up hydraulic oil cylinder driving by manipulator.
Turntable includes the panel of two pieces of settings symmetrical above and below, and two panels are welded on panel welding base, panel welding base
It is fixed in manipulator rotary shaft by connecting key, panel welding base passes through preceding snap ring, rear snap ring and card with manipulator rotary shaft
Spring axial limiting, panel flexible column installed above, elastic axis pin and split pin are fixed between two panel panels, pin
It is provided with bushing between axis and elastic, is provided with washer on the downside of elastic, arc groove is provided with above panel, there are two arc grooves
Specification can place the drilling rod of two kinds of different sizes respectively, then with elastic by its clamping.
Compared with prior art, the present invention realizes grabs bar automatically, puts bar and moves back the inverse operation during bar.It proposes
The drilling rod storehouse of double ratchet wheels control, substantially increases crawl precision, and drilling rod bin device is designed to install two kinds of drilling rods
Form, installed the drilling rod for playing anchor cable additional, expanded the use scope of drilling machine.The labor intensity of the worker greatly mitigated, carries
High drilling efficiency.
Description of the drawings
Fig. 1 is structure of the invention figure；
Fig. 2 is the partial view changed when lever apparatus puts bar；
Fig. 3 is manipulator rotating device view；
Fig. 4 is robot manipulator structure schematic diagram；
Fig. 5 is drilling rod storehouse view；
Fig. 6 is turntable sectional view；
Fig. 7 is turntable interconnecting piece partial cutaway view；
Fig. 8 is turntable partial cutaway view；
1- drilling machines in figure, 2- drilling machine fixed seats, 3- drilling rod bin devices, 4- clampers, 5- manipulator rotating devices, the rotation of 6- manipulators
Turn oil cylinder I, 7- rotating seat, 8- manipulator rotary oil cylinder II, 9- toggles, 10- manipulator rotary shafts, 11- manipulators, 12- machines
Tool hand steps up oil cylinder, and 13, manipulator clamping device, 14- ratchet passage oil cylinders, 15- ratchets I, 16- turntable, 17 drilling rod storehouses turn
Axis, 18- ratchets II, 19-22 specification drilling rods, 20-50 specification drilling rods, 21- split pins, 22- axis pins, 23- elastics, the faces 24-
Plate, 25- panel welding bases, 26- connecting keys, snap ring before 27-, snap ring after 28-, 29- clamp springs.
Specific implementation mode
Below in conjunction with attached drawing, the present invention will be further described.
As shown in Figure 1, a kind of manipulator of underground drilling machine moves lever apparatus, including drilling machine 1, drilling machine fixed seat 2, drilling rod certainly
Bin device 3, clamper 4, manipulator rotating device 5.Wherein drilling machine is fixed in drilling machine fixed seat, drilling rod bin device and manipulator
Rotating device is also secured in drilling machine fixed seat.
Shown in Fig. 2, drilling machine is before drilling rod, by adjusting manipulator rotary oil cylinder I6's and manipulator rotary oil cylinder II8
Stroke, by the rotation of manipulator 11 at turntable 16, then adjust the manipulator clamping device 13 of the control of manipulator clamping cylinder 12 into
Row takes 50 specification drilling rods 20, takes bar after the completion again by the row of adjusting manipulator rotary oil cylinder I6 and manipulator rotary oil cylinder II8
The bar taken is aligned at 1 head of drilling machine by journey, and device 4 to be held will adjust manipulator clamping cylinder 12 after drill-rod clamping make manipulator
The loose bar of clamping device 13 is completed to put bar at this time, by the stroke for adjusting manipulator rotary oil cylinder I6 and manipulator rotary oil cylinder II8
Manipulator 11 is set to lift, drilling machine carries out bore operation.After the completion of the drilling for waiting for a bar, ratchet passage oil cylinder 14 pushes ratchet
I15 rotates the angle of a tooth, so that manipulator 11 is returned and ensures that the bar in drilling rod storehouse is in place when taking bar.By the above operating procedure weight
The multiple one time dress bar work for completing next bar, until the drilling rod in turntable 16 is taken（Drilling rod can be placed and be bored by midway manually
In bar storehouse）And complete whole bore operations.Ratchet II18 drives turntable reversion when preventing the pawl of ratchet I5 from turning round, so as to complete
At better centering.Bar is moved back, waits for needing to move back bar after the completion of drilling rod operation, above-mentioned steps contrary operation will be bored with manipulator 11
Bar placing rotary disk 16, a cycle terminate, and realize automatic crawl and change bar operation.
When playing anchor cable, take 22 specification drilling rods 19, remaining operating procedure all identical.
As shown in figure 3, manipulator rotating device is mainly by manipulator 11, manipulator rotary shaft 10, manipulator passage oil cylinder
I6, manipulator passage oil cylinder II8, rotating seat 7 and toggle 9 form, and two manipulators 11 are connect with rotary shaft 10, rotary shaft 10
It is connect with toggle 9, toggle 9 is connect with manipulator passage oil cylinder II8, rotating seat 7 and manipulator passage oil cylinder I6 and machinery
The II8 connections of hand passage oil cylinder.
As shown in figure 4, manipulator steps up oil cylinder 12 by manipulator and manipulator clamping device 13 forms, manipulator clamps oil
The flexible clamping and release for directly driving manipulator clamping device 13 of cylinder 12, to realize picking and placeing for drilling rod.
Such as Fig. 5, drilling rod bin device 5 is mainly by ratchet passage oil cylinder 14, ratchet I15, ratchet II18 and turntable 16, drilling rod storehouse
Shaft 17 forms, and 14 one end of ratchet passage oil cylinder is connected with ratchet I15, and the other end is connected with drilling machine fixed seat 2, two ratchets and
Drilling rod storehouse shaft 17 is connected, and is respectively placed in the both ends of shaft, and two turntables 16 are mounted on the centre position of shaft, are bored for placing
Bar.Drilling rod storehouse must rotate a certain angle after taking bar every time ensures to get bar next time, and the rotation of turntable is to pass through ratchet
Passage oil cylinder 14 is realized.
As Fig. 6 Fig. 7 Fig. 8 can be seen that the panel 24 that turntable 16 includes two pieces of settings symmetrical above and below, two panel welding
On panel welding base 25, then panel welding base 25 is fixed to by connecting key 26 in manipulator rotary shaft 17, then before using
Snap ring 27, rear snap ring 28 and clamp spring 29 are by its axial limiting.The flexible column 30 installed above of turntable 16, elastic is with 22 He of axis pin
Split pin 21 is fixed between two panels, since when picking and placeing bar, elastic can rotate, so increasing 31 He of bushing in spy
Washer 32.Arc groove is provided on panel 16, there are two specifications for arc groove, can place the drilling rod of two kinds of different sizes respectively,
Then use elastic 30 by its clamping.
Claims (5)
1. a kind of manipulator of underground drilling machine moves lever apparatus certainly, it is characterised in that：Including drilling machine (1), drilling rod bin device (3),
Manipulator rotating device (5), clamper (4) and drilling machine fixed seat (2), drilling machine (1) are mounted on one end of drilling machine fixed seat (2),
Drilling rod bin device (3) for storing drilling rod is installed in drilling machine fixed seat (2), is equipped in drilling machine fixed seat (2) for inciting somebody to action
The manipulator rotating device (5) that the drilling rod of operating position takes out is gone to, clamper (4) is mounted on the another of drilling machine fixed seat (2)
End.
2. the manipulator of underground drilling machine according to claim 1 moves lever apparatus certainly, it is characterised in that：The drilling rod binning
It sets including ratchet passage oil cylinder (14), ratchet I (15), ratchet II (18), turntable (16) and drilling rod storehouse shaft (17), drilling rod storehouse turns
Axis (17) upper and lower ends are respectively arranged with turntable（16）, drilling rod storehouse shaft (17) is fixed on drilling machine fixed seat（2）On；Drilling rod storehouse turns
The turntable of axis (17) upper end（16）Top is provided with the ratchet I being sleeved in drilling rod storehouse shaft (17)（15）, ratchet I（15）One end
Hinged with one end of ratchet passage oil cylinder (14), the other end of ratchet passage oil cylinder (14) is fixed on drilling machine fixed seat（2）On, it bores
Bar storehouse shaft (17) lower end turntable（16）The other end be provided with ratchet II（18）.
3. the manipulator of underground drilling machine according to claim 2 moves lever apparatus certainly, it is characterised in that：The manipulator rotation
Rotary device (5) includes manipulator (11), manipulator rotary shaft (10), manipulator passage oil cylinder I (6), manipulator passage oil cylinder II
(8), rotating seat（7）With toggle (9), rotating seat（7）It is sleeved in drilling rod storehouse shaft (17), rotating seat（7）Respectively with manipulator
Passage oil cylinder I (6) and manipulator passage oil cylinder II (8) is hinged, (6) one end manipulator passage oil cylinder I and drilling machine fixed seat（2）Hinge
It connects, (8) one end manipulator passage oil cylinder II and one end of toggle (9) are hinged, toggle (9) other end and manipulator rotary shaft
(10) fixed, manipulator rotary shaft is provided with manipulator on (10)（11）.
4. the manipulator of underground drilling machine according to claim 3 moves lever apparatus certainly, it is characterised in that：The manipulator
（11）Including stepping up oil cylinder by manipulator（12）The manipulator clamping device of driving（13）.
5. the manipulator of underground drilling machine according to claim 3 or 4 moves lever apparatus certainly, it is characterised in that：Described turns
Disk（16）Include the panel of two pieces of settings symmetrical above and below（24）, two panels（24）It is welded on panel welding base（25）On, panel
Welding base（25）Pass through connecting key（26）Fixed to manipulator rotary shaft（17）On, panel welding base（25）With manipulator rotary shaft
（17）Pass through preceding snap ring（27）, rear snap ring（28）And clamp spring（29）Axial limiting, panel（24）Flexible column installed above（30）,
Elastic（30）Use axis pin（22）And split pin（21）It is fixed on two panel panels（24）Between, axis pin（22）With elastic
（30）Between be provided with bushing（31）, elastic（30）Downside is provided with washer（32）, panel（16）It is provided with arc groove above, circle
There are two specifications for arc slot, can place the drilling rod of two kinds of different sizes respectively, then use elastic（30）By its clamping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810604896.2A CN108756786B (en) | 2018-06-13 | 2018-06-13 | Automatic rod changing device for mechanical arm of underground drilling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810604896.2A CN108756786B (en) | 2018-06-13 | 2018-06-13 | Automatic rod changing device for mechanical arm of underground drilling machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108756786A true CN108756786A (en) | 2018-11-06 |
| CN108756786B CN108756786B (en) | 2020-02-14 |
Family
ID=64022095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810604896.2A Active CN108756786B (en) | 2018-06-13 | 2018-06-13 | Automatic rod changing device for mechanical arm of underground drilling machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108756786B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108952602A (en) * | 2018-08-16 | 2018-12-07 | 河北国峰重工机械有限公司 | A kind of clean-out machine hydraulic efficiency manipulator handler |
| CN109681117A (en) * | 2018-12-05 | 2019-04-26 | 中国煤炭科工集团太原研究院有限公司 | A kind of automatic anchor cable drill carriage of coal mine hydraulic single-arm |
| CN111021967A (en) * | 2019-11-25 | 2020-04-17 | 北京建研机械科技有限公司 | Rod replacing drilling machine capable of automatically disassembling and assembling drill rod and using method |
| CN113236155A (en) * | 2021-06-03 | 2021-08-10 | 江苏徐工工程机械研究院有限公司 | Automatic rod replacing device of drilling machine and drilling machine |
| CN113338827A (en) * | 2021-07-12 | 2021-09-03 | 浙江杰亚机械制造有限公司 | Rod replacing system for drilling machine |
| WO2021213140A1 (en) * | 2020-04-20 | 2021-10-28 | 江苏省无锡探矿机械总厂有限公司 | Automatic rod storage mechanism for drilling machine |
| CN114183068A (en) * | 2022-02-16 | 2022-03-15 | 山东省煤田地质局第五勘探队 | Data rapid acquisition device for mine underground geophysical prospecting |
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| CN102704869A (en) * | 2012-06-05 | 2012-10-03 | 重庆迪马工业有限责任公司 | Rod connecting and disconnecting device applicable to drill rod |
| EP2799661A2 (en) * | 2013-04-30 | 2014-11-05 | Arctic Drilling Company Oy Ltd | Automatic drill rod handling |
| CN204920853U (en) * | 2015-08-26 | 2015-12-30 | 马鞍山唐拓凿岩机械有限公司 | Hydraulic cylinder driven automatic unload drilling rod mechanism and all -hydraulic rock drilling rig |
| CN105239938A (en) * | 2015-11-12 | 2016-01-13 | 中煤科工集团西安研究院有限公司 | Automatic rod replacing device of underground drill rig for mines |
| CN106401506A (en) * | 2016-10-31 | 2017-02-15 | 张家口宣化华泰矿冶机械有限公司 | Mechanical rod change mechanism of rock drilling machine |
-
2018
- 2018-06-13 CN CN201810604896.2A patent/CN108756786B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102704869A (en) * | 2012-06-05 | 2012-10-03 | 重庆迪马工业有限责任公司 | Rod connecting and disconnecting device applicable to drill rod |
| EP2799661A2 (en) * | 2013-04-30 | 2014-11-05 | Arctic Drilling Company Oy Ltd | Automatic drill rod handling |
| CN204920853U (en) * | 2015-08-26 | 2015-12-30 | 马鞍山唐拓凿岩机械有限公司 | Hydraulic cylinder driven automatic unload drilling rod mechanism and all -hydraulic rock drilling rig |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108952602A (en) * | 2018-08-16 | 2018-12-07 | 河北国峰重工机械有限公司 | A kind of clean-out machine hydraulic efficiency manipulator handler |
| CN109681117A (en) * | 2018-12-05 | 2019-04-26 | 中国煤炭科工集团太原研究院有限公司 | A kind of automatic anchor cable drill carriage of coal mine hydraulic single-arm |
| CN109681117B (en) * | 2018-12-05 | 2021-09-14 | 中国煤炭科工集团太原研究院有限公司 | Hydraulic single-arm automatic anchor cable drill carriage for coal mine |
| CN111021967A (en) * | 2019-11-25 | 2020-04-17 | 北京建研机械科技有限公司 | Rod replacing drilling machine capable of automatically disassembling and assembling drill rod and using method |
| WO2021213140A1 (en) * | 2020-04-20 | 2021-10-28 | 江苏省无锡探矿机械总厂有限公司 | Automatic rod storage mechanism for drilling machine |
| CN113236155A (en) * | 2021-06-03 | 2021-08-10 | 江苏徐工工程机械研究院有限公司 | Automatic rod replacing device of drilling machine and drilling machine |
| CN113338827A (en) * | 2021-07-12 | 2021-09-03 | 浙江杰亚机械制造有限公司 | Rod replacing system for drilling machine |
| CN113338827B (en) * | 2021-07-12 | 2023-08-22 | 浙江杰亚机械制造有限公司 | Rod replacing system for drilling machine |
| CN114183068A (en) * | 2022-02-16 | 2022-03-15 | 山东省煤田地质局第五勘探队 | Data rapid acquisition device for mine underground geophysical prospecting |
| CN114183068B (en) * | 2022-02-16 | 2022-04-15 | 山东省煤田地质局第五勘探队 | Data rapid acquisition device for mine underground geophysical prospecting |
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|---|---|
| CN108756786B (en) | 2020-02-14 |
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