CN111878013A - Universal shaft type overturning manipulator structure with adjustable inclination angle - Google Patents
Universal shaft type overturning manipulator structure with adjustable inclination angle Download PDFInfo
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- CN111878013A CN111878013A CN202010766179.7A CN202010766179A CN111878013A CN 111878013 A CN111878013 A CN 111878013A CN 202010766179 A CN202010766179 A CN 202010766179A CN 111878013 A CN111878013 A CN 111878013A
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- overturning
- shaft
- inclination angle
- angle adjusting
- transmission shaft
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- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 238000005553 drilling Methods 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 36
- 230000007306 turnover Effects 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 abstract description 2
- 238000006243 chemical reaction Methods 0.000 abstract 1
- 230000036544 posture Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
- 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
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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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/10—Slips; Spiders ; Catching devices
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- 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 relates to a universal shaft type inclination-adjustable overturning manipulator structure which comprises a mechanical arm mechanism, wherein the mechanical arm mechanism comprises a transmission shaft, a clamping arm and a clamping hand, the clamping arm is connected with two ends of the transmission shaft, and the clamping hand is hinged with the clamping arm; the device also comprises a turnover driving mechanism and an inclination angle adjusting mechanism; the overturning driving mechanism and the inclination angle adjusting mechanism are both connected with the side surface of a drill frame of the drilling machine; the overturning driving mechanism is connected with one end of the transmission shaft through a universal shaft; the inclination angle adjusting mechanism is connected with the other end of the transmission shaft through a universal shaft. The universal shaft type inclination-adjustable overturning manipulator structure can realize the mutual conversion of the postures that a transmission shaft is parallel to a drill rig and the ground, is convenient for the operations of filling a drill rod into the manipulator and unloading the drill rod from the manipulator, is suitable for long-stroke drilling machines, ensures that the gravity center of the drill rod falls on the inner sides of the two manipulator arms when the long drill rod is clamped, and ensures the stress balance of the drill rod.
Description
Technical Field
The invention relates to the field of trenchless drilling machines, in particular to a universal shaft type overturning manipulator structure with an adjustable inclination angle.
Background
Trenchless drilling typically uses a horizontal pilot drill. The working principle of the horizontal guide drilling machine is as follows: during construction, according to the designed arc drilling track, a drilling machine capable of drilling from the earth surface is adopted to drill a guide hole which is approximately horizontal, then a large-diameter expanding bit and a to-be-laid working pipeline with the diameter smaller than that of the expanding bit are replaced after the guide bit, then reverse expanding is carried out, the to-be-laid pipeline is pulled back into the drill hole, and when all drill rods are pulled back, the pipe laying work is completed at the same time.
In a specific drilling process, a drill frame of the guide drilling machine is obliquely arranged at a small angle relative to the ground, and a power head on the drill frame drives a drill bit to rotate and feed so that the drill bit performs drilling operation. During the feeding process, as the drilling length increases, the drill rods need to be inserted one by one. The drill rod is connected with a power head and a drill bit on the drill frame, and the drill bit enters the ground while drilling for transmitting power. Under the working state of the drill rod, the front part of the drill rod is connected with the rear part of the drill bit and is connected with the power head on the drill frame.
The handling operation of the drill rod is realized by a turnover manipulator on the drilling machine. In the former turnover manipulator, the transmission shaft is parallel to the drill frame of the drilling machine. Because the drill frame is inclined at a small angle relative to the ground in a working state, the manipulator is also inclined, and the drill rod is also in a low-front and high-rear state in the same process during loading and unloading. Therefore, the drill rod needs to be lifted up and placed on the manipulator in an inclined mode, and the labor intensity of workers is undoubtedly increased.
The existing rotary manipulator can rotate from a posture parallel to a drill frame to a posture parallel to the ground when a drill rod is overturned to be assembled and disassembled, so that the drill rod can be conveniently fed, then the drill rod is clamped to be lifted up and overturned, the drill rod is enabled to be parallel to the drill frame, and finally the drill rod is assembled.
However, the above-mentioned conventional rotary manipulators are all installed on the side of the drill frame in the range from the front end of the drill traveling crawler of the drilling machine to the gripper; for a long drill rod for a long-stroke drilling machine, the poor phenomenon that the center of gravity of the drill rod falls outside two mechanical arms can be caused in the clamping and overturning processes, the stress balance of the drill rod is poor, and the drill rod has deformation risks.
Disclosure of Invention
The purpose of the invention is: the utility model provides an upset manipulator structure that universal shaft formula inclination is adjustable can realize the interconversion of the gesture that the transmission shaft is parallel with the rig and is parallel with ground, conveniently loads the operation of drilling rod to the manipulator and unloads the drilling rod from the manipulator, reduces manpower intensity of labour to upset actuating mechanism and inclination guiding mechanism are located the both ends of transmission shaft respectively, not only are fit for short stroke rig, also are fit for long stroke rig, guarantee that the drilling rod focus falls in two manipulator inboard when centre gripping long drilling rod, guarantee drilling rod atress equilibrium.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a universal shaft type overturning manipulator structure with an adjustable inclination angle comprises a mechanical arm mechanism, wherein the mechanical arm mechanism comprises a transmission shaft, a clamping arm and a clamping hand, the clamping arm is connected with two ends of the transmission shaft, the clamping hand is hinged with the clamping arm, a clamping oil cylinder is arranged on the clamping arm, and a piston rod of the clamping oil cylinder is hinged with the clamping hand; the device also comprises a turnover driving mechanism and an inclination angle adjusting mechanism; the overturning driving mechanism and the inclination angle adjusting mechanism are both connected with the side surface of a drill frame of the drilling machine; the overturning driving mechanism is connected with one end of the transmission shaft through a universal shaft; the inclination angle adjusting mechanism is connected with the other end of the transmission shaft through a universal shaft.
Further, the overturning driving mechanism comprises a first fixed seat, a sliding seat and an overturning shaft; the first fixed seat is detachably connected with the side surface of the drill frame; a turnover driving oil cylinder is arranged in the first fixed seat; the sliding seat is movably arranged in the first fixed seat and is connected with a piston rod of the turnover driving oil cylinder.
Further, a rack is arranged on the sliding seat; the turnover shaft is movably connected with a bearing seat at the top end of the first fixed seat through a bearing, a gear is coaxially arranged on the turnover shaft, and the gear is meshed with the rack; the turnover shaft is connected with one end of the transmission shaft through a universal shaft.
Further, the inclination angle adjusting mechanism comprises a second fixed seat, an inclination angle adjusting oil cylinder and a bearing box; the second fixed seat is detachably connected with the side surface of the drill frame; the second fixed seat is provided with a connecting frame; the inclination angle adjusting oil cylinder is positioned on the connecting frame, and the bearing box is connected with a piston rod of the inclination angle adjusting oil cylinder through a connecting rod.
Furthermore, the bearing box is T-shaped, the connecting frame is provided with guide posts, and the guide posts penetrate through two sides of the bearing box; and one end of the transmission shaft, which is far away from the overturning driving mechanism, is movably connected with the bearing box through a bearing.
Furthermore, the universal shaft is specifically a telescopic cross shaft universal coupling.
The invention has the beneficial effects that: the utility model provides an universal shaft type inclination adjustable upset manipulator structure, through the cooperation use of robotic arm mechanism, upset actuating mechanism, inclination guiding mechanism and cardan shaft, can realize the interconversion of the gesture that the transmission shaft is parallel with the rig and is parallel with ground, the operation of conveniently loading the drilling rod to the manipulator and unloading the drilling rod from the manipulator, thereby can reduce manpower intensity of labour, and upset actuating mechanism and inclination guiding mechanism are located the both ends of transmission shaft respectively, not only be fit for short stroke rig, also be fit for long stroke rig, guarantee the focus of drilling rod and fall in two manipulator inboard when centre gripping long drilling rod, guarantee the equilibrium of drilling rod atress, thereby avoid long drilling rod to appear the deformation phenomenon because of the atress is uneven.
Drawings
Fig. 1 is a structural schematic diagram of a universal shaft type inclination-adjustable overturning manipulator structure for clamping a drill rod at a low position and enabling the drill rod to be parallel to the ground.
Fig. 2 is a schematic axial view of the structure of fig. 1.
Fig. 3 is a structural schematic diagram of the universal shaft type inclination angle adjustable overturning manipulator structure for clamping a drill rod at a low position and enabling the drill rod to be parallel to a drill frame.
Fig. 4 is a schematic axial view of the structure of fig. 3.
Fig. 5 is a structural schematic diagram of the universal shaft type inclination angle adjustable turnover manipulator structure for clamping a drill rod at a high position and enabling the drill rod to be parallel to a drill frame.
Fig. 6 is an isometric view of the structure of fig. 5.
Fig. 7 is a schematic view of a turning driving mechanism of a universal shaft type tilt angle adjustable turning manipulator structure of the invention.
Fig. 8 is a schematic diagram of an inclination angle adjusting mechanism of a universal shaft type inclination angle adjustable turnover manipulator structure of the invention.
Fig. 9 is a partial structural schematic view of a mechanical arm mechanism of a universal shaft type tilt-angle adjustable manipulator structure according to the present invention.
In the figure: 1. a drilling frame; 2. a drilling machine crawler belt; 3. a robotic arm mechanism; 31. a drive shaft; 32. clamping an arm; 33. clamping a hand; 34. clamping the oil cylinder; 4. a turnover driving mechanism; 41. a first fixed seat; 42. turning over the driving oil cylinder; 43. a sliding seat; 44. a rack; 45. a gear; 46. a turning shaft; 47. a bearing seat; 5. an inclination angle adjusting mechanism; 51. a second fixed seat; 52. a connecting frame; 53. an inclination angle adjusting oil cylinder; 54. a connecting rod; 55. a bearing cartridge; 56. a guide post; 6. a cardan shaft; 7. and (5) drilling a rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 9, a universal shaft type tilt-angle-adjustable turning manipulator structure comprises a manipulator mechanism 3, wherein the manipulator mechanism 3 comprises a transmission shaft 31, a clamping arm 32 and a clamping hand 33, the clamping arm 32 is connected with two ends of the transmission shaft 31, the clamping hand 33 is hinged to the clamping arm 32, a clamping cylinder 34 is arranged on the clamping arm 32, a piston rod of the clamping cylinder 34 is hinged to the clamping hand 33, and the clamping cylinder 34 is used for driving the clamping hand 33 to clamp or loosen a drill rod 7; the overturning mechanism is characterized by further comprising an overturning driving mechanism 4 and an inclination angle adjusting mechanism 5, wherein the overturning driving mechanism 4 is used for realizing the up-and-down overturning of the mechanical arm mechanism 3, and the inclination angle adjusting mechanism 5 is used for realizing the requisition adjustment of the mechanical arm mechanism 3 relative to the horizontal plane; the overturning driving mechanism 4 and the inclination angle adjusting mechanism 5 are both connected with the side surface of the drill frame 1 of the drilling machine 7; the overturning driving mechanism 4 is connected with one end of a transmission shaft 31 through a universal shaft 6; the inclination angle adjusting mechanism 5 is connected with the other end of the transmission shaft 31 through a universal shaft 6, and the universal shaft 6 is used for movably connecting and transmitting the transmission shaft 31, the overturning driving mechanism 4 and the inclination angle adjusting mechanism 5.
The overturning driving mechanism 42 comprises a first fixed seat 41, a sliding seat 43 and an overturning shaft 46; the first fixed seat 41 is detachably connected with the side surface of the drill frame 1; an overturning driving oil cylinder 42 is arranged in the first fixed seat 41; the sliding seat 43 is movably disposed in the first fixing seat 41, the sliding seat 43 is connected to a piston rod of the turnover driving cylinder 42, and the turnover driving cylinder 42 is configured to drive the sliding seat 43 to slide relative to the first fixing seat 41.
The sliding seat 43 is provided with a rack 44; the overturning shaft 46 is movably connected with a bearing seat 47 at the top end of the first fixed seat 41 through a bearing, a gear 45 is coaxially arranged on the overturning shaft 46, the gear 45 is meshed with the rack 44, and the rack 44 slides along with the sliding seat 43 and is used for driving the gear 45 to rotate so as to further realize the rotation of the overturning shaft 46; the turning shaft 46 is connected with one end of the transmission shaft 31 through a universal shaft 6, and the turning shaft 46 can drive the transmission shaft 31 to rotate through the universal shaft 6.
The tilt angle adjusting mechanism 5 comprises a second fixed seat 51, a tilt angle adjusting oil cylinder 53 and a bearing box 55; the second fixed seat 51 is detachably connected with the side surface of the drill frame 1; the second fixed seat 51 is provided with a connecting frame 52; the tilt angle adjusting cylinder 53 is located on the connecting frame 52, the bearing box 55 is connected with a piston rod of the tilt angle adjusting cylinder 53 through a connecting rod 54, and the tilt angle adjusting cylinder 53 drives the bearing box 55 to move up and down through the connecting rod 54.
The bearing box 55 is in a T shape, the connecting frame 52 is provided with guide posts 56, the guide posts 56 penetrate through two sides of the bearing box 55, and the guide posts 56 are used for guiding the up-and-down movement of the bearing box 55; one end of the transmission shaft 31, which is far away from the turnover driving mechanism 42, is movably connected with the bearing box 55 through a bearing, the bearing is positioned in the bearing box 55, and the bearing plays a role in connection and power transmission blocking.
The universal shaft 6 is specifically a telescopic cross shaft universal coupling, can enable the transmission shaft 31 to deflect a certain angle relative to the turning shaft 46 and the bearing box 55, transmits rotary power under the condition of the deflection angle, and can allow a certain degree of axial expansion and contraction; the telescopic cross shaft universal coupling is the existing mature technology.
The working principle of the invention is as follows: when a drill rod 7 needs to be supplied to the drill frame 1 of the drilling machine, the mechanical arm mechanism 3 is in a low position at the moment, the drill rod 7 is placed into the clamping hand 33 at the end of the clamping arm 32, and the clamping oil cylinder 34 drives the clamping hand 33 to clamp the drill rod 7, so that the posture of the drill rod 7 is parallel to the ground, as shown in fig. 1 and 2.
Then, the piston rod of the tilt cylinder 53 of the tilt mechanism 5 extends upwards, the bearing box 55 is driven by the connecting rod 54 to slide upwards along the guide post 56, the bearing box 55 moves one end of the transmission shaft 31 upwards, the universal shaft 6 between the transmission shaft 31 and the bearing box 55 deflects, and the transmission shaft 31 generates a tilt angle relative to the horizontal plane until the drill rod 7 is parallel to the straight line of the drill rig 1, as shown in fig. 3 and 4.
Then, a piston rod of the turnover driving oil cylinder 42 of the turnover driving mechanism 4 extends outwards, and drives the sliding seat 43 to slide outwards relative to the first fixed seat 41, so that the rack 44 drives the gear 45 and the turnover shaft 46 to rotate, and further, the universal shaft 6 drives the transmission shaft 31 to rotate, so that the clamping arm 32 turns upwards, and the clamping arm 32 is in a high position, and at the same time, the drill rod 7 is still parallel to the straight line of the drill rig 1, as shown in fig. 5 and 6; at the moment, the clamping cylinder 34 can drive the clamping hand 33 to loosen the drill rod 7, so that the drill rod 7 can fall to a designated position on the drilling rig 1, and the automatic drill rod feeding operation is completed.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The above examples are intended to further illustrate the present invention, but are not intended to limit the invention to these specific embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be understood to be within the protection scope of the present invention.
Claims (6)
1. The universal shaft type inclination-adjustable overturning manipulator structure comprises a mechanical arm mechanism (3), wherein the mechanical arm mechanism (3) comprises a transmission shaft (31), a clamping arm (32) and a clamping hand (33), the clamping arm (32) is connected with two ends of the transmission shaft (31), the clamping hand (33) is hinged to the clamping arm (32), a clamping oil cylinder (34) is arranged on the clamping arm (32), and a piston rod of the clamping oil cylinder (34) is hinged to the clamping hand (33); the method is characterized in that: the device also comprises a turnover driving mechanism (4) and an inclination angle adjusting mechanism (5); the overturning driving mechanism (4) and the inclination angle adjusting mechanism (5) are both connected with the side surface of the drill frame (1) of the drilling machine (7); the overturning driving mechanism (4) is connected with one end of the transmission shaft (31) through a universal shaft (6); the inclination angle adjusting mechanism (5) is connected with the other end of the transmission shaft (31) through a universal shaft (6).
2. The universal shaft type inclination-adjustable overturning manipulator structure as claimed in claim 1, wherein: the overturning driving mechanism (42) comprises a first fixed seat (41), a sliding seat (43) and an overturning shaft (46); the first fixed seat (41) is detachably connected with the side surface of the drilling rig (1); a turnover driving oil cylinder (42) is arranged in the first fixed seat (41); the sliding seat (43) is movably arranged in the first fixed seat (41), and the sliding seat (43) is connected with a piston rod of the turnover driving oil cylinder (42).
3. The universal shaft type inclination-adjustable overturning manipulator structure as claimed in claim 2, wherein: a rack (44) is arranged on the sliding seat (43); the overturning shaft (46) is movably connected with a bearing seat (47) at the top end of the first fixed seat (41) through a bearing, a gear (45) is coaxially arranged on the overturning shaft (46), and the gear (45) is meshed with the rack (44); the overturning shaft (46) is connected with one end of the transmission shaft (31) through a universal shaft (6).
4. The universal shaft type inclination-adjustable overturning manipulator structure as claimed in claim 3, wherein: the inclination angle adjusting mechanism (5) comprises a second fixed seat (51), an inclination angle adjusting oil cylinder (53) and a bearing box (55); the second fixed seat (51) is detachably connected with the side surface of the drilling rig (1); the second fixed seat (51) is provided with a connecting frame (52); the inclination angle adjusting oil cylinder (53) is positioned on the connecting frame (52), and the bearing box (55) is connected with a piston rod of the inclination angle adjusting oil cylinder (53) through a connecting rod (54).
5. The universal shaft type inclination-adjustable overturning manipulator structure as claimed in claim 4, wherein: the bearing box (55) is T-shaped, a guide post (56) is arranged on the connecting frame (52), and the guide post (56) penetrates through two sides of the bearing box (55); one end of the transmission shaft (31) far away from the overturning driving mechanism (42) is movably connected with the bearing box (55) through a bearing.
6. The universal shaft type inclination-adjustable overturning manipulator structure as claimed in claim 5, wherein: the universal shaft (6) is a telescopic cross shaft universal coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010766179.7A CN111878013A (en) | 2020-08-03 | 2020-08-03 | Universal shaft type overturning manipulator structure with adjustable inclination angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010766179.7A CN111878013A (en) | 2020-08-03 | 2020-08-03 | Universal shaft type overturning manipulator structure with adjustable inclination angle |
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| Publication Number | Publication Date |
|---|---|
| CN111878013A true CN111878013A (en) | 2020-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010766179.7A Pending CN111878013A (en) | 2020-08-03 | 2020-08-03 | Universal shaft type overturning manipulator structure with adjustable inclination angle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112983308A (en) * | 2021-03-22 | 2021-06-18 | 苏州科艺油气工程设备服务有限公司 | Novel automatic rod feeding mechanism of horizontal directional drilling machine |
| CN113404448A (en) * | 2021-07-19 | 2021-09-17 | 北京三一智造科技有限公司 | Automatic rod loading and unloading device and horizontal directional drilling machine |
-
2020
- 2020-08-03 CN CN202010766179.7A patent/CN111878013A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112983308A (en) * | 2021-03-22 | 2021-06-18 | 苏州科艺油气工程设备服务有限公司 | Novel automatic rod feeding mechanism of horizontal directional drilling machine |
| CN113404448A (en) * | 2021-07-19 | 2021-09-17 | 北京三一智造科技有限公司 | Automatic rod loading and unloading device and horizontal directional drilling machine |
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