CN108868681B - Bridge construction drill bit fishing machine - Google Patents
Bridge construction drill bit fishing machine Download PDFInfo
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- CN108868681B CN108868681B CN201810710727.7A CN201810710727A CN108868681B CN 108868681 B CN108868681 B CN 108868681B CN 201810710727 A CN201810710727 A CN 201810710727A CN 108868681 B CN108868681 B CN 108868681B
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- 238000010276 construction Methods 0.000 title claims abstract description 12
- 238000007599 discharging Methods 0.000 claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 239000010802 sludge Substances 0.000 claims abstract description 20
- 210000000078 claw Anatomy 0.000 claims description 12
- 241000242541 Trematoda Species 0.000 claims description 6
- 241000935974 Paralichthys dentatus Species 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- 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
- E21B31/00—Fishing for or freeing objects in boreholes or wells
- E21B31/12—Grappling tools, e.g. tongs or grabs
- E21B31/18—Grappling tools, e.g. tongs or grabs gripping externally, e.g. overshot
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- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Crushing And Pulverization Processes (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention relates to a bridge construction drill bit fishing machine, which comprises: the mud discharging device comprises a grabbing mechanism, a main machine body, eight sliding modules, an auxiliary machine body and four mud discharging mechanisms, wherein two locking seats on a grabbing seat of the grabbing mechanism are respectively sleeved on two locking rods of the main machine body; the four sludge discharge mechanisms are respectively and fixedly arranged on the four sludge discharge seats on the inner wall of the main machine body through respective sludge discharge bottom plates; the lower end face of an auxiliary frame of the auxiliary machine body is fixedly connected with the upper end face of a main machine frame of the main machine body; according to the invention, the grabbing mechanism is adopted to grab the drill bit, and then the drill bit clamped by the drill bit is loosened through rotation and vibration, so that the drill bit can be grabbed accurately and efficiently, the robot can be kept in a vertical state in the hole through the sliding module, the mud discharging mechanism is used for assisting the robot to lift, the drill bit can be conveniently and efficiently fished out, the cost is saved, and the operation safety is improved.
Description
Technical Field
The invention relates to the technical field of buildings and robots, in particular to a drill salvaging machine for bridge construction.
Background
The bored pile is widely applied to the bridge and building industries, a drill bit can be stuck, broken and fall off due to geological changes, misoperation and the like during drilling operation, if the drill bit cannot be fished out, the pile hole can be scrapped, great loss is caused to the whole project, the existing fishing mode often has certain defects, and fishing personnel are very easy to cause danger when the pile is fished by manual submergence; when the hook claw is used for fishing, the drill bit is easy to incline and clamp in the hole, and even the pile hole is damaged; the efficiency of sucking out the drill bit by using a magnet after the drill bit is crushed by the impact drill is very low, and the drill bit is likely to fall off in the crushing process, so that greater loss is easily caused; therefore, a drill bit fishing robot is needed.
Disclosure of Invention
In order to solve the problems, the invention provides a bridge construction drill bit fishing machine, a grabbing mechanism is adopted to tightly grasp a drill bit, then the drill bit clamped by the drill bit is loosened through rotation and vibration, a robot can be kept in a vertical state in a hole through a sliding module, a mud discharging mechanism is used for assisting the robot to lift, the drill bit can be conveniently and efficiently fished out, the cost is saved, and the operation safety is improved.
The technical scheme adopted by the invention is as follows: a bridge construction drill bit fishing machine, includes: the mud discharging device comprises a grabbing mechanism, a main machine body, eight sliding modules, an auxiliary machine body and four mud discharging mechanisms, wherein two locking seats on a grabbing seat of the grabbing mechanism are respectively sleeved on two locking rods of the main machine body; the four sludge discharge mechanisms are respectively and fixedly arranged on the four sludge discharge seats on the inner wall of the main machine body through respective sludge discharge bottom plates; the lower end face of an auxiliary frame of the auxiliary machine body is fixedly connected with the upper end face of a main machine frame of the main machine body; and four groups of eight sliding modules are fixedly arranged on the periphery of a main frame of the main machine body and the periphery of an auxiliary frame of the auxiliary machine body through sliding bottom plates at the bottoms of the eight sliding modules respectively, and adjacent sliding modules in the four sliding modules in each group are spaced by 90 degrees.
The grabbing mechanism comprises a grabbing seat, four first electric cylinders, four large arms, eight eccentric blocks, four first motors, four protection plates, four first clamping jaws, four second electric cylinders, four second clamping jaws, four third electric cylinders and two locking seats, wherein the grabbing seat is annular, the two locking seats with conical inner holes are arranged on the grabbing seat, the bottoms of the four large arms are hinged to a hinged support at the lower end face of the grabbing seat, the four large arms are uniformly distributed at intervals of 90 degrees around the axis of the grabbing seat, one ends of the four first electric cylinders are respectively hinged to hinged supports at the middle parts of the four large arms, and the other ends of the four first electric cylinders are respectively hinged to hinged supports at the lower end face of the grabbing seat; the two ends of each first motor are provided with output shafts, the four first motors are respectively and fixedly arranged on the rear end surfaces of the four large arms, the output shafts on the two sides of each first motor are respectively provided with an eccentric block, and the four protection plates are respectively and fixedly arranged on the rear end surfaces of the four large arms and cover the four first motors; second electric jar, third electric jar telescopic link tip be equipped with magnet, first jack catch articulate and close to the big arm and snatch a one end, the second jack catch articulates and keeps away from in the big arm and snatch a one end, big arm middle part is close to and snatchs a one end and is equipped with the second electric jar, second electric jar telescopic link tip adsorbs together with first jack catch, big arm middle part is kept away from and is snatchs a one end and be equipped with the third electric jar, third electric jar telescopic link tip adsorbs together with the second jack catch.
The main machine body comprises a main machine frame, a supporting plate, two locking rods, two clamping claws, two fourth electric cylinders, four air bags, two fifth electric cylinders and four mud discharging seats; the main frame is cylindrical, a bottom plate with a circular hole in the center is arranged on the lower end face of the main frame, two fourth electric cylinders and a circular support plate coaxial with the main frame are arranged on the bottom plate on the lower end face of the main frame, and two clamping claws are fixedly arranged at the end parts of telescopic rods of the two fourth electric cylinders respectively; the inner wall of the main rack is uniformly provided with four mud discharging seats, the two fifth electric cylinders are fixedly arranged on a bottom plate on the lower end face of the inner part of the main rack, telescopic rods of the fifth electric cylinders extend out of the lower end face of the main rack, the two locking rods are respectively and fixedly arranged at the end parts of the telescopic rods of the two fifth electric cylinders, and the end parts of the locking rods are provided with conical surfaces with the same inclination as the inner conical surfaces of the locking seats; the four air bags are distributed around the main frame at intervals of 90 degrees, and the air bags are at intervals of 45 degrees with the sliding module which is arranged on the main machine body and is adjacent to the air bags.
The sliding module comprises a sliding bottom plate, four first connecting rods, a first connecting shaft, a sixth electric cylinder and a sliding plate, one ends of the four first connecting rods are hinged to the upper end face of the sliding bottom plate respectively, the other ends of the four first connecting rods are hinged to four corners of the lower end face of the sliding plate respectively, the two ends of the sliding plate are cambered surfaces, the first connecting shaft is fixedly connected to the two first connecting rods at the lower end of the sliding module, one end of the sixth electric cylinder is hinged to the upper end of the sliding bottom plate, and the other end of the sixth electric cylinder is hinged.
The auxiliary machine body comprises an auxiliary machine frame, a sliding groove, two first pushing shafts, a rotating seat, a sliding ring, two second pushing shafts, four seventh electric cylinders, four anchor claws, a connecting seat, a lifting ring and two eighth electric cylinders, the auxiliary machine frame is in a circular ring shape, the sliding groove is formed in the inner wall of the auxiliary machine frame, and the two first pushing shafts are fixedly arranged on the upper end face of the auxiliary machine frame; the rotating seat is cylindrical, a sliding ring is arranged on the outer side of the rotating seat, and the two second pushing shafts are fixedly arranged on the upper end face of the rotating seat; the bottom of the rotating seat is provided with a cross-shaped connecting seat, and the hanging ring is fixedly connected with the connecting seat; the middle sections of the four anchor flukes are respectively hinged on four hinged supports at the upper part of the rotating seat at intervals of 90 degrees; one sections of the four seventh electric cylinders are respectively hinged at the rear end parts of the four anchor flukes, and the other ends of the four seventh electric cylinders are respectively hinged on four hinged supports at the lower part of the rotating seat at intervals of 90 degrees; the rotating seat is rotatably arranged in a sliding groove of the auxiliary frame through a sliding ring; one ends of the two eighth electric cylinders are respectively rotatably installed on the two first pushing shafts, and the other ends of the two eighth electric cylinders are respectively rotatably installed on the two second pushing shafts.
The mud discharging mechanism comprises a mud discharging bottom plate, four second connecting rods, a second connecting shaft, a ninth electric cylinder, a wheel carrier, a second motor, a first gear, an eccentric wheel, a rotating wheel, a second gear, six telescopic grooves and six mud discharging plates, wherein one ends of the four second connecting rods are respectively hinged to four hinged supports on the mud discharging bottom plate, and the other ends of the four second connecting rods are respectively hinged to two sides of the wheel carrier; the second connecting shafts are fixedly arranged on two second connecting rods at the upper end of the sludge discharge mechanism, one end of the ninth electric cylinder is hinged to the bottom of the sludge discharge bottom plate, and the other end of the ninth electric cylinder is hinged to the second connecting shafts; the second motor is fixedly arranged on the side surface of the rotary wheel frame, a motor shaft faces the inner side of the rotary wheel frame, and the first gear is fixedly arranged on an output shaft of the second motor; the eccentric wheel shaft of the eccentric wheel is fixedly arranged on the rotating wheel frame, the connecting line of the highest point of the eccentric wheel and the axis of the eccentric wheel is vertical to the mud discharging bottom plate, and the highest point of the eccentric wheel is positioned at one side far away from the mud discharging bottom plate relative to the axis of the eccentric wheel; the rotating wheel is in a circular ring shape and is rotatably arranged on an eccentric wheel shaft of the eccentric wheel through a central bracket, the second gear is fixedly arranged on the bracket on the side surface of the rotating wheel, and the second gear is meshed with the first gear; six mud discharging plates are respectively installed in six telescopic grooves in the rotating wheel in a sliding mode through respective sliding rods, and pulleys at the end portions of the mud discharging plates are matched with eccentric grooves of the eccentric wheels.
Furthermore, two sides of the end part of the fluke are respectively provided with an outward extending tooth.
Furthermore, the eccentric wheel comprises an eccentric wheel shaft, an eccentric disc and an eccentric groove; the eccentric wheel shaft is provided with a circular eccentric disc eccentric to the eccentric wheel shaft, and the eccentric disc is provided with an eccentric groove concentric with the eccentric disc.
Furthermore, the shape of the telescopic groove close to the axis direction of the rotating wheel is that the main body is a square, the middle part of the main body is provided with a long-strip-shaped opening, and the part far away from the axis of the rotating wheel is provided with a long-strip-shaped opening.
Further, arrange mud board include baffle, slide bar, pulley, the baffle be the rectangle sheet metal, fixed mounting is at the slide bar top, the last rotational mounting of slide bar bottom support has the pulley.
The invention has the beneficial effects that: (1) according to the invention, the grabbing mechanism is adopted to grab the drill bit, and then the drill bit clamped by the drill bit is loosened through rotation and vibration, so that the drill bit can be grabbed accurately and efficiently; (2) can make the robot keep vertical state in the hole through the slip module, go up and down through mud discharging mechanism auxiliary robot, can convenient efficient salvage out the drill bit, practice thrift the security that the cost has improved the operation simultaneously.
Drawings
Fig. 1, 2 and 3 are schematic overall structural diagrams of the present invention.
Fig. 4 is an assembly view of the main body and the mud discharging mechanism of the present invention.
Fig. 5 is a schematic structural view of the grasping mechanism of the present invention.
FIG. 6 is a schematic view of the present invention with the gripping mechanism removed.
Fig. 7 is a schematic structural diagram of the main body of the present invention.
Fig. 8 and 9 are schematic structural views of the sub-body according to the present invention.
Fig. 10 is an enlarged view of a portion of fig. 9 of the present invention.
Fig. 11 and 12 are schematic structural views of parts of the sub-body according to the present invention.
Fig. 13 is a schematic structural view of the sludge discharge mechanism of the present invention.
Fig. 14, 15 and 16 are schematic structural views of parts of the mud discharging mechanism.
Fig. 17 is a schematic structural view of the eccentric wheel of the present invention.
Fig. 18 is a schematic structural view of the mud discharging plate of the present invention.
Reference numerals: 1-a gripping mechanism; 2-a main machine body; 3-a sliding module; 4-auxiliary body; 5-a sludge discharge mechanism; 101-a gripping seat; 102-a first electric cylinder; 103-big arm; 104-eccentric mass; 105-a first motor; 106-protective plate; 107-a first jaw; 108-a second electric cylinder; 109-a second jaw; 110-a third electric cylinder; 111-a locking seat; 201-main frame; 202-a support plate; 203-a locking lever; 204-clamping jaw; 205-a fourth electric cylinder; 206-an air bag; 207-fifth electric cylinder; 208-a mud discharging seat; 301-a sliding bottom plate; 302-a first link; 303 — first connecting shaft; 304-a sixth electric cylinder; 305-a slide plate; 401-sub-chassis; 402-a chute; 403-a first pushing shaft; 404-a rotating seat; 405-a slip ring; 406-a second pushing shaft; 407-seventh electric cylinder; 408-a fluke; 409-a connecting seat; 410-a hoisting ring; 411-eighth electric cylinder; 501-a mud discharging bottom plate; 502-a second link; 503-a second connection shaft; 504-ninth electric cylinder; 505-a wheel carriage; 506-a second motor; 507-a first gear; 508-eccentric wheel; 509-rotating wheel; 510-a second gear; 511-telescopic slot; 512-mud discharging plate; 50801-eccentric axle; 50802-eccentric disc; 50803-eccentric groove; 51201-baffle; 51202-sliding bar; 51203-Pulley.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
Example (b): as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17 and 18, the fishing machine for bridge construction drill bits comprises: the mud discharging device comprises a grabbing mechanism 1, a main machine body 2, eight sliding modules 3, an auxiliary machine body 4 and four mud discharging mechanisms 5, wherein two locking seats 111 on a grabbing seat 101 of the grabbing mechanism 1 are respectively sleeved on two locking rods 203 of the main machine body 2; the four sludge discharge mechanisms 5 are respectively and fixedly arranged on the four sludge discharge seats 208 on the inner wall of the main body 2 through respective sludge discharge bottom plates 501; the lower end face of an auxiliary frame 401 of the auxiliary machine body 4 is fixedly connected with the upper end face of a main machine frame 201 of the main machine body 2; four of the eight sliding modules 3 are fixedly mounted around the main frame 201 of the main body 2 and around the auxiliary frame 401 of the auxiliary body 4 through the bottom sliding bottom plate 301, and the adjacent sliding modules 3 of the four sliding modules 3 in each group are spaced by 90 °.
The grabbing mechanism 1 comprises a grabbing seat 101, four first electric cylinders 102, four large arms 103, eight eccentric blocks 104, four first motors 105, four protection plates 106, four first clamping jaws 107, four second electric cylinders 108, four second clamping jaws 109, four third electric cylinders 110 and two locking seats 111, wherein the grabbing seat 101 is annular, the grabbing seat 101 is provided with the locking seats 111 with two conical inner holes, the bottoms of the four large arms 103 are hinged on a hinged support at the lower end face of the grabbing seat 101, the four large arms 103 are uniformly distributed at intervals of 90 degrees around the axis of the grabbing seat 101, one ends of the four first electric cylinders 102 are respectively hinged on hinged supports at the middle parts of the four large arms 103, and the other ends of the four first electric cylinders are respectively hinged on the hinged support at the lower end face of the grabbing seat 101; output shafts are arranged at two ends of each first motor 105, four first motors 105 are fixedly arranged on the rear end faces of the four large arms 103 respectively, an eccentric block 104 is arranged on each output shaft at two sides of each first motor 105, four protection plates 106 are fixedly arranged on the rear end faces of the four large arms 103 respectively, and the four first motors 105 are covered; second electric jar 108, the telescopic link tip of third electric jar 110 is equipped with magnet, first jack catch 107 articulates big arm 103 and is close to and snatchs seat 101 one end, second jack catch 109 articulates big arm 103 and keeps away from and snatchs seat 101 one end, big arm 103 middle part is close to and snatchs seat 101 one end and is equipped with second electric jar 108, the telescopic link tip of second electric jar 108 adsorbs together with first jack catch 107, big arm 103 middle part is kept away from and is snatched seat 101 one end and be equipped with third electric jar 110, the telescopic link tip of third electric jar 110 adsorbs together with second jack catch 109.
The main machine body 2 comprises a main machine frame 201, a supporting plate 202, two locking rods 203, two clamping claws 204, two fourth electric cylinders 205, four air bags 206, two fifth electric cylinders 207 and four mud discharging seats 208; the main frame 201 is cylindrical, a bottom plate with a circular hole in the center is arranged on the lower end face of the main frame 201, two fourth electric cylinders 205 and a circular supporting plate 202 which is coaxial with the main frame 201 are arranged on the bottom plate on the lower end face of the main frame 201, and two clamping claws 204 are fixedly arranged at the end parts of telescopic rods of the two fourth electric cylinders 205 respectively; four mud discharging seats 208 are uniformly distributed on the inner wall of the main frame 201, two fifth electric cylinders 207 are fixedly arranged on a bottom plate on the lower end face of the inner part of the main frame 201, telescopic rods of the fifth electric cylinders 207 extend out from the lower end face of the main frame 201, two locking rods 203 are respectively fixedly arranged at the end parts of the telescopic rods of the two fifth electric cylinders 207, and the end parts of the locking rods 203 are provided with conical surfaces with the same inclination as the inner conical surfaces of the locking seats 111; the four air bags 206 are distributed around the main frame 201 at intervals of 90 degrees, and the air bags 206 are arranged at intervals of 45 degrees with the sliding module 3 which is installed at the main body 2 and is adjacent to the air bags 206.
The sliding module 3 comprises a sliding bottom plate 301, four first connecting rods 302, a first connecting shaft 303, a sixth electric cylinder 304 and a sliding plate 305, wherein one ends of the four first connecting rods 302 are respectively hinged to the upper end face of the sliding bottom plate 301, the other ends of the four first connecting rods 302 are respectively hinged to four corners of the lower end face of the sliding plate 305, two ends of the sliding plate 305 are cambered surfaces, the first connecting shaft 303 is fixedly connected to the two first connecting rods 302 at the lower end of the sliding module 3, one end of the sixth electric cylinder 304 is hinged to the upper end of the sliding bottom plate 301, and the other end of the sixth.
The auxiliary machine body 4 comprises an auxiliary machine frame 401, a sliding groove 402, two first pushing shafts 403, a rotating seat 404, a sliding ring 405, two second pushing shafts 406, four seventh electric cylinders 407, four anchor claws 408, a connecting seat 409, a lifting ring 410 and two eighth electric cylinders 411, wherein the auxiliary machine frame 401 is circular, the inner wall of the auxiliary machine frame is provided with the sliding groove 402, and the two first pushing shafts 403 are fixedly arranged on the upper end surface of the auxiliary machine frame 401; the rotating seat 404 is cylindrical, a sliding ring 405 is arranged on the outer side of the rotating seat 404, and the two second pushing shafts 406 are fixedly arranged on the upper end face of the rotating seat 404; the bottom of the rotating seat 404 is provided with a cross-shaped connecting seat 409, and the hanging ring 410 is fixedly connected with the connecting seat 409; the middle sections of the four anchor flukes 408 are respectively hinged on four hinged supports at the upper part of the rotating seat 404 at intervals of 90 degrees; one section of each of the four seventh electric cylinders 407 is hinged to the rear end of each of the four anchor flukes 408, and the other end of each of the four seventh electric cylinders is hinged to four hinge brackets at the lower part of the rotating base 404 at intervals of 90 degrees; the rotating seat 404 is rotatably installed in the sliding groove 402 of the sub-frame 401 through a sliding ring 405; one ends of the two eighth electric cylinders 411 are respectively and rotatably mounted on the two first pushing shafts 403, and the other ends are respectively and rotatably mounted on the two second pushing shafts 406.
The mud discharging mechanism 5 comprises a mud discharging bottom plate 501, four second connecting rods 502, a second connecting shaft 503, a ninth electric cylinder 504, a wheel carrier 505, a second motor 506, a first gear 507, an eccentric wheel 508, a rotating wheel 509, a second gear 510, six telescopic grooves 511 and six mud discharging plates 512, wherein one ends of the four second connecting rods 502 are respectively hinged to four hinged supports on the mud discharging bottom plate 501, and the other ends of the four second connecting rods are respectively hinged to two sides of the wheel carrier 505; a second connecting shaft 503 is fixedly arranged on two second connecting rods 502 at the upper end of the sludge discharge mechanism 5, one end of a ninth electric cylinder 504 is hinged to the bottom of the sludge discharge bottom plate 501, and the other end of the ninth electric cylinder is hinged to the second connecting shaft 503; the second motor 506 is fixedly arranged on the side surface of the rotating wheel frame 505, the motor shaft faces the inner side of the rotating wheel frame 505, and the first gear 507 is fixedly arranged on the output shaft of the second motor 506; an eccentric wheel shaft 50801 of the eccentric wheel 508 is fixedly arranged on the rotating wheel frame 505, the connecting line of the highest point of the eccentric wheel 508 and the axle center of the eccentric wheel 508 is vertical to the mud discharging bottom plate 501, and the highest point of the eccentric wheel 508 is positioned at one side far away from the mud discharging bottom plate 501 relative to the axle center of the eccentric wheel 508; the rotating wheel 509 is circular, and is rotatably mounted on an eccentric wheel shaft 50801 of the eccentric wheel 508 through a central bracket, the second gear 510 is fixedly mounted on a bracket on the side surface of the rotating wheel 509, and the second gear 510 is meshed with the first gear 507; six mud discharging plates 512 are respectively and slidably installed in six telescopic grooves 511 in the rotating wheel 509 through respective sliding rods 51202, and pulleys 51203 at the ends of the mud discharging plates 512 are matched with an eccentric groove 50803 of the eccentric wheel 508.
Each side of the end of fluke 408 has an outwardly extending tooth. The eccentric 508 includes an eccentric shaft 50801, an eccentric disc 50802, an eccentric groove 50803; the eccentric shaft 50801 is provided with a circular eccentric plate 50802 eccentric to the eccentric shaft 50801, and the eccentric plate 50802 is provided with an eccentric groove 50803 concentric to the eccentric plate 50802. The shape of the slot 511 near the axis of the wheel 509 is a square with a strip-shaped opening in the middle, and a strip-shaped opening away from the axis of the wheel 509. The mud discharging plate 512 comprises a baffle 51201, a sliding rod 51202 and a pulley 51203, wherein the baffle 51201 is a rectangular thin plate and is fixedly installed at the top of the sliding rod 51202, and the pulley 51203 is rotatably installed on a bracket at the bottom of the sliding rod 51202.
The working principle of the invention is as follows: when the invention is used, the lifting ring 410 of the robot is connected to the rope of the crane; the first gear 507 is driven to rotate by the second motor 506, the rotating wheel 509 is driven to rotate by the second gear 510, the mud discharging plate 512 rotates along with the rotating wheel 509 as the rotating wheel 509 rotates, meanwhile, the pulley 51203 rotates in the eccentric groove 50803, the mud discharging plate 512 continuously stretches in the telescopic groove 511 while the rotating wheel 509 rotates, mud is discharged in the direction opposite to the moving direction of the robot, the mud discharging speed is adjusted by changing the length of the ninth electric cylinder 504 to change the distance between the four mud discharging mechanisms 5, and the moving resistance of the robot is reduced; the robot is driven to lift in a pile hole by a crane, the distance between a sliding plate 305 and the pile hole is telescopically adjusted by a sixth electric cylinder 304, the robot is enabled to be close to the wall of the pile hole to prevent the robot from inclining, the robot is enabled to be tightly attached in the pile hole by inflating an air bag 206 after falling to the bottom to improve the stability, a seventh electric cylinder 407 extends to enable an anchor claw 408 to be inserted into the inner wall of the pile hole to prevent the robot from rotating left and right, four first electric cylinders extend to enable four big arms 103 to grab a drill bit, a second electric cylinder 108 and a third electric cylinder 110 extend to enable a first clamping jaw 107 and a second clamping jaw 109 to clamp the drill bit to prevent shaking, two fifth electric cylinders 207 extend to enable two locking rods 203 to be separated from two locking seats 111, two fourth electric cylinders 205 extend to enable two clamping jaws 204 to loosen the grabbing seats 101 to enable the grabbing mechanism 1 to be in clearance fit with a main machine body 2, and a first motor 105 on the grabbing mechanism 1 drives an eccentric block 104 to rotate to enable the grabbing mechanism, the drill bit is loosened with the surrounding soil and rock, the two fifth electric cylinders 207 are shortened, the two locking rods 203 are locked by the two locking seats 111 again, the two fourth electric cylinders 205 are shortened, the two clamping claws 204 clamp the grabbing seat 101, and the grabbing mechanism 1 is fixed with the main machine body 2 again; the length of the two eighth electric cylinders 411 is changed, so that the auxiliary frame 401 rotates relative to the rotating seat 404 to drive the grabbing mechanism 1 to rotate, the drill bit is separated from surrounding soil and rocks, the seventh electric cylinder 407 is shortened to enable the anchor fluke 408 to be retracted from the inner wall of the pile hole, the air bag 206 is deflated, and the robot is lifted to the ground through the crane.
Claims (5)
1. A bridge construction drill bit fishing machine, includes: snatch mechanism (1), host computer body (2), eight sliding module (3), vice organism (4), four mud discharging mechanism (5), its characterized in that: two locking seats (111) on the grabbing seat (101) of the grabbing mechanism (1) are respectively sleeved on two locking rods (203) of the main machine body (2); the four sludge discharging mechanisms (5) are respectively and fixedly arranged on the four sludge discharging seats (208) on the inner wall of the main machine body (2) through respective sludge discharging bottom plates (501); the lower end face of an auxiliary frame (401) of the auxiliary machine body (4) is fixedly connected with the upper end face of a main machine frame (201) of the main machine body (2); four of the eight sliding modules (3) are fixedly arranged on the periphery of a main frame (201) of the main machine body (2) and the periphery of an auxiliary frame (401) of the auxiliary machine body (4) through a sliding bottom plate (301) at the bottom, and adjacent sliding modules (3) in the four sliding modules (3) in each group are spaced by 90 degrees;
the grabbing mechanism (1) comprises a grabbing seat (101), four first electric cylinders (102), four large arms (103), eight eccentric blocks (104), four first motors (105), four protection plates (106), four first clamping jaws (107), four second electric cylinders (108), four second clamping jaws (109), four third electric cylinders (110) and two locking seats (111), the grabbing seat (101) is annular, two locking seats (111) with conical inner holes are arranged on the grabbing seat (101), the bottoms of four large arms (103) are hinged to a hinged support on the lower end face of the grabbing seat (101), the four large arms (103) are uniformly distributed around the axis of the grabbing seat (101) at intervals of 90 degrees, one ends of four first electric cylinders (102) are respectively hinged to hinged supports in the middle of the four large arms (103), and the other ends of the four first electric cylinders are respectively hinged to hinged supports on the lower end face of the grabbing seat (101); the two ends of the first motor (105) are respectively provided with an output shaft, the four first motors (105) are respectively and fixedly arranged on the rear end surfaces of the four large arms (103), the output shafts on the two sides of each first motor (105) are respectively provided with an eccentric block (104), the four protection plates (106) are respectively and fixedly arranged on the rear end surfaces of the four large arms (103), and the four first motors (105) are covered; the end parts of telescopic rods of the second electric cylinder (108) and the third electric cylinder (110) are provided with magnets, the first clamping jaw (107) is hinged to one end, close to the grabbing seat (101), of the large arm (103), the second clamping jaw (109) is hinged to one end, far away from the grabbing seat (101), of the large arm (103), the second electric cylinder (108) is arranged at one end, close to the grabbing seat (101), of the middle part of the large arm (103), the end part of the telescopic rod of the second electric cylinder (108) is adsorbed with the first clamping jaw (107), the third electric cylinder (110) is arranged at one end, far away from the grabbing seat (101), of the middle part of the large arm (103), and the end part of the telescopic rod of the third electric cylinder (110) is adsorbed with the second clamping jaw (;
the main machine body (2) comprises a main frame (201), a supporting plate (202), two locking rods (203), two clamping claws (204), two fourth electric cylinders (205), four air bags (206), two fifth electric cylinders (207) and four mud discharging seats (208); the main frame (201) is cylindrical, a bottom plate with a circular hole in the center is arranged on the lower end face of the main frame (201), two fourth electric cylinders (205) and a circular supporting plate (202) which is coaxial with the main frame (201) are arranged on the bottom plate on the lower end face of the main frame (201), and two clamping claws (204) are fixedly arranged at the end parts of telescopic rods of the two fourth electric cylinders (205) respectively; four mud discharging seats (208) are uniformly distributed on the inner wall of the main frame (201), the two fifth electric cylinders (207) are fixedly installed on a bottom plate of the lower end face of the inner part of the main frame (201), telescopic rods of the fifth electric cylinders (207) extend out of the lower end face of the main frame (201), the two locking rods (203) are respectively and fixedly installed at the end parts of the telescopic rods of the two fifth electric cylinders (207), and the end parts of the locking rods (203) are provided with conical surfaces with the same inclination as the inner conical surfaces of the locking seats (111); the four air bags (206) are distributed around the main frame (201) at intervals of 90 degrees, and the air bags (206) are separated from the adjacent sliding modules (3) arranged on the main machine body (2) at intervals of 45 degrees;
the sliding module (3) comprises a sliding bottom plate (301), four first connecting rods (302), a first connecting shaft (303), a sixth electric cylinder (304) and a sliding plate (305), wherein one ends of the four first connecting rods (302) are respectively hinged to the upper end face of the sliding bottom plate (301), the other ends of the four first connecting rods (302) are respectively hinged to four corners of the lower end face of the sliding plate (305), two ends of the sliding plate (305) are cambered surfaces, the first connecting shafts (303) are fixedly connected to the two first connecting rods (302) at the lower end of the sliding module (3), one end of the sixth electric cylinder (304) is hinged to the upper end of the sliding bottom plate (301), and the other end of the sixth electric cylinder is hinged to the first;
the auxiliary machine body (4) comprises an auxiliary machine frame (401), a sliding groove (402), two first pushing shafts (403), a rotating seat (404), a sliding ring (405), two second pushing shafts (406), four seventh electric cylinders (407), four anchor claws (408), a connecting seat (409), a hanging ring (410) and two eighth electric cylinders (411), wherein the auxiliary machine frame (401) is annular, the sliding groove (402) is formed in the inner wall of the auxiliary machine frame, and the two first pushing shafts (403) are fixedly mounted on the upper end face of the auxiliary machine frame (401); the rotating seat (404) is cylindrical, a sliding ring (405) is arranged on the outer side of the rotating seat (404), and the two second pushing shafts (406) are fixedly arranged on the upper end surface of the rotating seat (404); the bottom of the rotating seat (404) is provided with a cross-shaped connecting seat (409), and the lifting ring (410) is fixedly connected with the connecting seat (409); the middle sections of the four anchor flukes (408) are respectively hinged on four hinged supports at the upper part of the rotating seat (404) at intervals of 90 degrees; one ends of four seventh electric cylinders (407) are respectively hinged at the rear end parts of the four anchor flukes (408), and the other ends of the four seventh electric cylinders are respectively hinged on four hinged supports at the lower part of the rotating seat (404) at intervals of 90 degrees; the rotating seat (404) is rotatably arranged in a sliding groove (402) of the auxiliary frame (401) through a sliding ring (405); one ends of the two eighth electric cylinders (411) are respectively and rotatably arranged on the two first pushing shafts (403), and the other ends of the two eighth electric cylinders are respectively and rotatably arranged on the two second pushing shafts (406);
the mud discharging mechanism (5) comprises a mud discharging bottom plate (501), four second connecting rods (502), a second connecting shaft (503), a ninth electric cylinder (504), a wheel rotating frame (505), a second motor (506), a first gear (507), an eccentric wheel (508), a rotating wheel (509), a second gear (510), six telescopic grooves (511) and six mud discharging plates (512), wherein one ends of the four second connecting rods (502) are respectively hinged to four hinged supports on the mud discharging bottom plate (501), and the other ends of the four second connecting rods are respectively hinged to two sides of the wheel rotating frame (505); a second connecting shaft (503) is fixedly arranged on two second connecting rods (502) at the upper end of the sludge discharge mechanism (5), one end of a ninth electric cylinder (504) is hinged to the bottom of the sludge discharge bottom plate (501), and the other end of the ninth electric cylinder is hinged to the second connecting shaft (503); the second motor (506) is fixedly arranged on the side surface of the rotary wheel frame (505), the motor shaft faces the inner side of the rotary wheel frame (505), and the first gear (507) is fixedly arranged on the output shaft of the second motor (506); an eccentric wheel shaft (50801) of the eccentric wheel (508) is fixedly arranged on the wheel carrier (505), the connecting line of the highest point of the eccentric wheel (508) and the axle center of the eccentric wheel (508) is vertical to the mud discharging bottom plate (501), and the highest point of the eccentric wheel (508) is positioned on one side far away from the mud discharging bottom plate (501) relative to the axle center of the eccentric wheel (508); the rotating wheel (509) is circular, and is rotatably mounted on an eccentric wheel shaft (50801) of the eccentric wheel (508) through a central bracket, the second gear (510) is fixedly mounted on a bracket on the side surface of the rotating wheel (509), and the second gear (510) is meshed with the first gear (507); six mud discharging plates (512) are respectively installed in six telescopic grooves (511) in a rotating wheel (509) in a sliding mode through respective sliding rods (51202), and pulleys (51203) at the end portions of the mud discharging plates (512) are matched with eccentric grooves (50803) of eccentric wheels (508).
2. The bridge construction drill bit fishing machine of claim 1, characterized in that: two sides of the end part of the anchor fluke (408) are respectively provided with an outward extending tooth.
3. The bridge construction drill bit fishing machine of claim 1, characterized in that: the eccentric wheel (508) comprises an eccentric wheel shaft (50801), an eccentric disc (50802) and an eccentric groove (50803); the eccentric wheel shaft (50801) is provided with a circular eccentric disc (50802) eccentric to the eccentric wheel shaft (50801), and the eccentric disc (50802) is provided with an eccentric groove (50803) concentric to the eccentric disc (50802).
4. The bridge construction drill bit fishing machine of claim 1, characterized in that: the two ends of the telescopic groove (511) are strip-shaped openings, and the middle of the telescopic groove is a rectangular opening.
5. The bridge construction drill bit fishing machine of claim 1, characterized in that: the mud discharging plate (512) comprises a baffle (51201), a sliding rod (51202) and a pulley (51203), wherein the baffle (51201) is a rectangular thin plate and is fixedly installed at the top of the sliding rod (51202), and the pulley (51203) is rotatably installed on a support at the bottom of the sliding rod (51202).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810710727.7A CN108868681B (en) | 2018-07-03 | 2018-07-03 | Bridge construction drill bit fishing machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810710727.7A CN108868681B (en) | 2018-07-03 | 2018-07-03 | Bridge construction drill bit fishing machine |
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| Publication Number | Publication Date |
|---|---|
| CN108868681A CN108868681A (en) | 2018-11-23 |
| CN108868681B true CN108868681B (en) | 2021-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810710727.7A Active CN108868681B (en) | 2018-07-03 | 2018-07-03 | Bridge construction drill bit fishing machine |
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| CN (1) | CN108868681B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113153201B (en) * | 2021-06-15 | 2022-11-22 | 山东辛丁技术有限公司 | Fishing tool for downhole operation |
| CN114412404B (en) * | 2022-03-31 | 2022-05-31 | 胜利油田胜华实业有限责任公司 | Fishing tool for oil field |
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| CN108214535A (en) * | 2017-12-29 | 2018-06-29 | 南京理工大学 | A kind of Synchronization Control manipulator |
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| US20170095880A1 (en) * | 2015-10-06 | 2017-04-06 | G.E. Schmidt, Inc. | Swing arm assembly for interacting with a spot welding tip |
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| US7117939B1 (en) * | 2002-11-20 | 2006-10-10 | Gregory Dee Hawley | Percussion hammer bit retainer apparatus |
| CN201301678Y (en) * | 2008-12-01 | 2009-09-02 | 中铁大桥局集团第四工程有限公司 | Bored pile drill bit picker |
| CN202706971U (en) * | 2012-08-07 | 2013-01-30 | 中铁六局集团天津铁路建设有限公司 | Bit fisher |
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| CN108868681A (en) | 2018-11-23 |
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Effective date of registration: 20210128 Address after: No. 198, No. 129, Haibu Road, economic and Technological Development Zone, Weihai City, Shandong Province Applicant after: Weihai shauer automation equipment Co.,Ltd. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Applicant before: Feng Ruixin |
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