CN220451802U - Drill rod conveying manipulator for directional drilling machine - Google Patents

Abstract

The utility model belongs to the technical field of coal mine drilling machines, and relates to a drill rod conveying manipulator for a directional drilling machine. The utility model saves a great amount of installation space in the direction vertical to the rack, the opening of the paw is upward so as to lift the drill rod, the rack and the gesture adjusting mechanism thereof can be naturally avoided in the process of rotating from anticlockwise direction to the rack after the mechanical arm grabs the drill rod, and the required movement space is obviously reduced, so that the utility model is more suitable for a narrow space.

Description

Drill rod conveying manipulator for directional drilling machine

Technical Field

The utility model belongs to the technical field of coal mine drilling machines, and relates to a drill rod conveying manipulator for a directional drilling machine.

Background

The prior drill rod conveying manipulator applied to the coal mine drilling machine mainly comprises a multi-degree-of-freedom manipulator and a composite joint manipulator. The multi-degree-of-freedom manipulator has the main advantages of large working space range, limited by the space on the ground of the underground drilling site and the machine, and quite limited application range. Because the drill pipe box and the main machine (drilling system) of the drilling machine are usually located at two sides of the manipulator, the manipulator also adopts a mode of grabbing the drill pipe downwards, and after grabbing the drill pipe in the drill pipe box, the drill pipe needs to be held to rotate by approximately 180 degrees, or the drill pipe is lifted upwards to be moved to the opposite side and then put down, so that a large movement space is required. The underground coal mine drilling field is usually narrow, and is also provided with a ventilation and water-flowing pipeline and various cables, so that the space reserved for the operation of the drilling machine is more limited, and the multi-degree-of-freedom manipulator with a large movement space is required to be used on the underground coal mine drilling machine slowly and cannot be put into practical use. In addition, such manipulators generally need to adopt a machine vision technology to position the drill rod, but underground coal mines have dim light and serious dust pollution, are unfavorable for the application of machine vision, lead to positioning misalignment and seriously affect the efficiency and accuracy of drill rod conveying.

The part of joints of the composite manipulator are similar to stepless rotary joints of the multi-degree-of-freedom manipulator, and the part of joints are telescopic or translational joints of the door frame type manipulator. The main advantage of such a manipulator is that it is simple in construction, the reliability is high. However, since most joints are in a fixed range of motion, in order to meet the requirement of a larger drilling inclination angle and azimuth angle application range, the joint travel is generally larger, so that the joint must perform a full-travel motion in the drill rod conveying process, and the required motion space of the manipulator is larger. Similar to the multiple degree of freedom manipulator, the drill pipe box and the drill main machine are also positioned on two sides of the manipulator. Because the mechanical arm grabs the drill rod downwards, and the side close to the main machine is blocked by the main machine, when the combined mechanical arm grabs the drill rod to be conveyed to the main machine of the drilling machine, the combined mechanical arm needs to move to the opposite direction of the main machine to vacate space, then approaches to the main machine, the required movement space is larger, and the volume of the drilling machine is increased. Typically the robot must be rotated 270 counter-clockwise in space to transport the drill rod from one side of the rod magazine (the initial position where the robot grabs the drill rod) to the rack. In addition, the positioning system of the manipulator is complex, joint positioning is generally carried out by adopting a plurality of position or angle sensors or servo motors, the fault points are more, and the investigation and maintenance have certain difficulty.

Therefore, the existing two types of drill rod conveying manipulators all need larger installation and movement space, are difficult to apply to drilling rigs with narrower machine body space, and meanwhile have the problem of higher maintenance difficulty.

Disclosure of Invention

In view of the above, the utility model aims to provide a drill rod conveying manipulator for a directional drilling machine, which solves the problem that the existing drill rod conveying manipulator needs larger installation or movement space and is not suitable for a narrow airborne space.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the drill rod conveying manipulator for the directional drilling machine is arranged on a drilling machine moving platform and is positioned between a drill rod box and a frame which are arranged on the drilling machine moving platform, wherein the frame comprises a connecting seat fixedly connected to the drilling machine moving platform and a frame body hinged to the connecting seat;

the pitching arm comprises a connecting sleeve, a supporting body, an axle seat and a rotating cylinder, one end of the rotating cylinder is fixedly connected to a connecting seat in the frame, the connecting sleeve is sleeved on the rotating cylinder and is rotationally connected, one end of the supporting body is fixedly connected with the connecting sleeve, the other end of the supporting body is connected with the axle seat, the pitching oil cylinder is hinged with the supporting body, one end of the axle seat is connected with a rotary driver, a rotary shaft is arranged in an inner cavity of the axle seat, one end of the rotary shaft is fixedly connected with an output shaft of the rotary driver in the circumferential direction, the other end of the rotary shaft is connected with a rotary arm, and the rotary arm is connected with a claw;

the gripper comprises a movable gripper body, clamping jaws, a clamping oil cylinder, a fixed seat and a movable oil cylinder, wherein the fixed seat is an inner concave cavity body, the movable oil cylinder is hinged in the inner concave cavity body, the movable gripper body and the back surface of the inner concave cavity body form a movable pair, the rotating arm is connected with the gripper through the side surface of the inner concave cavity body, the top of the movable gripper body is a fixed gripper and is hinged and matched with the clamping jaws to clamp and fix a drill rod, and the bottom of the movable gripper body is hinged with a piston rod of the movable oil cylinder to drive the movable gripper body to move; the movable claw body is provided with an inner cavity, the clamping oil cylinder is hinged in the inner cavity, the back surface of the clamping jaw is hinged with a piston rod of the clamping oil cylinder to drive the clamping jaw to clamp a drill rod, and when the piston rod of the movable oil cylinder is completely retracted to enable the movable claw body to move to the highest point, the distance from the rotation center line of the rotating arm to the clamping center line of the movable claw body is equal to the distance from the rotation center line of the rotating arm to the drilling center line of the frame.

The drill rod conveying manipulator further comprises a positioning system, wherein the positioning system comprises an equiangular sensor, an incremental sensor, an angle marking plate and a pressing rod, the pressing rod is connected to one side, opposite to the rotating arm, of the fixed seat, the equiangular sensor comprises a proximity sensor, a pressing plate seat, an elastic piece, a supporting seat, a sliding rod, a sliding seat, a mounting frame, a sliding oil cylinder and a sliding oil cylinder seat, the bottom of the mounting frame is fixedly connected to a frame body in the frame, the top of the mounting frame is connected with and supports the sliding seat, the sliding rod is matched and connected with the sliding seat to form a moving pair, the sliding oil cylinder is respectively hinged to the mounting frame and the sliding oil cylinder seat fixedly connected to the sliding rod, the bottom of the supporting seat is fixedly connected to the sliding rod, one end, close to a paw, of the supporting seat is provided with a proximity sensor, one end of the pressing plate seat is hinged to the supporting seat, one side, close to the proximity sensor, of the pressing plate seat is provided with a downward extending side plate, the side plate is matched with the proximity sensor to form a signal sensing group, an elastic piece is arranged between the pressing plate and the supporting seat, the pressing plate and the pressing plate seat is naturally connected to the pressing plate seat in a bending state, and the pressing plate is prevented from being contacted with the pressing plate seat, and the pressing plate is fixedly connected to the pressing plate seat;

the angle marking plate is a ring with a local fan-shaped bulge, the ring is provided with a plate body and a bulge fan-shaped block, an inner hole of the ring is movably sleeved on one side of the rotating cylinder facing the machine frame, a poking groove is formed in the fan-shaped block, a poking rod is fixedly connected to one side of the machine frame body in the machine frame facing the manipulator, the poking rod is inserted into the poking groove, so that when the inclination angle of the machine frame body changes, the angle marking plate changes by the same angle with the machine frame body, the increment sensor is arranged on one side, close to the angle marking plate, of the connecting sleeve and is positioned on one side, close to the equiangular sensor, of the connecting sleeve, and the increment sensor is matched with the fan-shaped block to form a signal induction group;

when the drilling center lines of the manipulator and the frame are both in horizontal positions, the incremental sensor is in the horizontal position, the edge line of one end of the sector block, which is close to the incremental sensor, is positioned above the horizontal line, the signal of the incremental sensor is not communicated, and the pressing rod is located at the vertical height to press down the pressing plate, so that the signal of the proximity sensor is communicated.

Further, the pitching oil cylinder is a double-head combined oil cylinder, a piston rod II at one end of the pitching oil cylinder is hinged with the drilling mobile platform through a first oil cylinder seat fixedly connected with the drilling mobile platform, a piston rod I is hinged with the supporting body through a second oil cylinder seat fixedly connected with the middle of the supporting body, and when the piston rod I is fully retracted, the piston rod II is fully extended, and the manipulator is in a horizontal position.

Further, the rotary cylinder body is a cylinder with multiple steps, and flanges are arranged at two ends of the rotary cylinder body and are respectively used for connecting the sealing cover and the connecting seat in the frame.

Further, one end of the shaft seat, which is far away from the rotary driver, is also provided with an end cover sleeved on the rotary shaft so as to limit the rotary shaft axially.

Further, the rotary driver is a hydraulic motor or a swinging oil cylinder.

Further, the fixing seat is composed of a bottom plate with a U-shaped cross section and two side plates symmetrically arranged on one surface of the bottom plate, and the bottom plate and the two side plates form an inner concave cavity.

Further, a pair of first sliding rails are symmetrically arranged on the other surface of the bottom plate, and a second sliding rail matched with the first sliding rail is arranged at one end, close to the bottom plate, of the inner cavity of the movable claw body so as to form a movable pair.

The utility model has the beneficial effects that:

the utility model provides a drill rod conveying manipulator for a directional drilling machine, wherein the inclination angle of a pitching arm is driven and regulated by pitching oil cylinders which are parallel to a rack, and a servo motor or a rotary speed reducer in the prior art is not adopted, so that a large amount of installation space is saved in the direction vertical to the rack; and the gripper lifts the drill rod upwards instead of downwards grabbing the drill rod in the prior art, the mechanical arm can naturally avoid the components such as the rack and the gesture adjusting mechanism in the process of rotating from anticlockwise to the rack after grabbing the drill rod, the required movement space is obviously reduced, and the device is well applicable to narrow spaces, particularly applicable to the automatic directional drilling machine with high integration at present, and has a large application prospect.

And secondly, the drill rod conveying manipulator positioning system is simple and reliable, can work in the inclination angle range of the drilling machine design only by mutually matching the two position sensors of the equiangular sensor and the incremental sensor, conveys the drill rod to the corresponding drilling angle rack, is simple and reliable, and simplifies the workload in the drill rod conveying process and the maintenance workload of the positioning system in the later use process.

Additional advantages, objects, and features of the utility model will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the utility model. The objects and other advantages of the utility model may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.

Drawings

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the present utility model will be described in the following preferred detail with reference to the accompanying drawings, in which:

FIG. 1 is a schematic view of a drill rod handling robot for a directional drilling machine according to the present utility model;

FIG. 2 is a schematic view of a manipulator according to the present utility model;

FIG. 3 is a schematic view of a first configuration of a pitch ram according to the present utility model;

FIG. 4 is a schematic view of the structure of a pitch arm of the present utility model;

FIG. 5 is a schematic representation of the three-dimensional structure of a pitch arm of the present utility model;

FIG. 6 is a schematic view of a robot and frame partially installed in accordance with the present utility model;

FIG. 7 is a schematic view of the structure of the paw of the present utility model;

FIG. 8 is a schematic cross-sectional view of the pawl of the present utility model;

FIG. 9 is a schematic diagram of an isometric sensor according to the present utility model;

FIG. 10 is a side view of a mid-angle sensor of the present utility model;

FIG. 11 is a schematic view of the structure of the angle sign board of the present utility model;

fig. 12 is a second structural schematic diagram of the pitch ram of the present utility model.

Reference numerals: the device comprises a mechanical arm, a first oil cylinder seat, a 102-pitching oil cylinder, a 102 a-piston rod I, a 102 b-piston rod II, a 102 c-cylinder, a 103-slewing driver, a 104-pitching arm, a 104 a-connecting sleeve, a 104 b-increment sensor mounting plate, a 104 c-supporting body, a 104 d-end cover, a 104 e-shaft seat, a 104 f-second oil cylinder seat, a 104 g-sealing cover, a 104 h-rotating cylinder, a 105-slewing shaft, a 106-rotating arm, a 107-paw, a 107 a-movable jaw body, a 107 b-clamping jaw, a 107 c-clamping oil cylinder, a 107 d-fixing seat, a 107 e-movable oil cylinder, a 107 f-connecting flange, a 108-pressing rod, a 2-equiangular sensor, a 201-proximity sensor, a 202-pressing plate, a 203-pressing plate seat, a 204-spring group, a 205-supporting seat, a 206-sliding rod, a 207-sliding seat, a 208-mounting bracket, a 209-sliding oil cylinder, a 210-sliding oil cylinder seat, a 3-power head, a 4-stand, a 5-clamper, a 6-box, a 7-box, a 8-angle sensor, a 8-pressing plate, a 801-arc-shaped plate, a 801-shaped dial plate, a groove 803 and a 9-groove.

Detailed Description

Other advantages and effects of the present utility model will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present utility model with reference to specific examples. The utility model may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present utility model. It should be noted that the illustrations provided in the following embodiments merely illustrate the basic idea of the present utility model by way of illustration, and the following embodiments and features in the embodiments may be combined with each other without conflict.

Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to limit the utility model; for the purpose of better illustrating embodiments of the utility model, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numbers in the drawings of embodiments of the utility model correspond to the same or similar components; in the description of the present utility model, it should be understood that, if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc., that indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, it is only for convenience of describing the present utility model and simplifying the description, but not for indicating or suggesting that the referred device or element must have a specific azimuth, be constructed and operated in a specific azimuth, so that the terms describing the positional relationship in the drawings are merely for exemplary illustration and should not be construed as limiting the present utility model, and that the specific meaning of the above terms may be understood by those of ordinary skill in the art according to the specific circumstances.

Referring to fig. 1 to 11, a drill rod conveying manipulator and a positioning system for a directional drilling machine comprise a manipulator 1 and a positioning system consisting of an equiangular sensor 2, an incremental sensor 7 and an angle marking plate 8;

referring to fig. 1-2, the directional drilling machine comprises a drilling machine moving platform, a drilling rod box 6 and a rack 4 which are connected to the drilling machine moving platform, and a mechanical arm 1 positioned between the drilling rod box 6 and the rack 4, wherein the rack 4 comprises a connecting seat fixedly connected to the drilling machine moving platform, a rack body hinged to the connecting seat, and an inclination adjusting oil cylinder connected between the connecting seat and the rack body, the rack body can rotate along a hinging point under the action of the inclination adjusting oil cylinder to adjust the drilling direction, and a power head 3 and a clamp holder 5 which are arranged at two ends of the rack body are arranged on the rack body; during the drilling process, the manipulator 1 grabs the drill rod from a designated initial position (a specific position on the drilling machine) and transfers the drill rod to a drilling center line between the power head 3 and the clamp holder 5; after the drilling is finished, the mechanical arm 1 retrieves the drill rod from between the power head 3 and the clamp holder 5 and returns to the initial position so that the drill rod can be retrieved into the drill rod box or removed from the drilling machine. The equiangular sensor 2 is used to determine whether the inclination (pitch angle) of the robot arm 1 and the frame 4 are equal, and the incremental sensor 7 is used to determine whether the robot arm 1 has reached an inclination suitable for transporting drill rods between the power head 3 and the gripper 5. In the drilling machine matched with the drill rod conveying manipulator in the application, the initial position of the drill rod is set as follows: the drill rod box 6 is close to one side of the manipulator 1 and is provided with two arc grooves 9 with upward openings according to the length of the drill rod, so as to be used for placing the drill rod, and an infinite positioning mechanism is arranged above the arc grooves 9 of the drill rod, after the drill rod is taken out of the drill rod box 6 by other conveying devices (such as a carrying manipulator, a rod taking device and the like) matched with a drilling machine, the front end and the rear end of the drill rod are respectively arranged in the two arc grooves 9, and the initial position is located right above the manipulator 1 so as to facilitate the manipulator 1 to take and put back the drill rod.

In other embodiments, the drill rod may be placed in the initial position directly by a worker, so as to meet the requirement of the manipulator 1 for taking and replacing the drill rod from the initial position.

The key point of the embodiment is that the manipulator comprises a first cylinder seat 101, a pitching cylinder 102, a slewing driver 103, a pitching arm 104, a slewing shaft 105, a slewing arm 106, a paw 107 and a compression bar 108; the bottom of the first oil cylinder seat 101 is connected with a drilling machine moving platform through bolts and is positioned between the drill rod box 6 and the frame 4, a U-shaped through groove and a circular through hole are formed in the upper portion of the first oil cylinder seat, and the first oil cylinder seat is connected with the pitching oil cylinder 102 through a pin shaft, so that one end of the pitching oil cylinder 102 is fixedly and rotatably connected to the drilling machine moving platform.

As shown in fig. 3, the pitch cylinder 102 is a double-head combined cylinder, a vertical plane where an axis of the pitch cylinder 102 is located is parallel to a vertical plane where an axis of the frame 4 is located, a piston rod II102b at one end of the pitch cylinder 102 is hinged to the first cylinder base 101 through a pin, and a piston rod I102a at the other end of the pitch cylinder 102 is hinged to the pitch arm 104 through a pin.

In another embodiment, as shown in fig. 12, the pitch cylinder 102 is a single-head hydraulic cylinder, a piston rod of the single-head hydraulic cylinder is hinged with the rig moving platform, the cylinder barrel is hinged with the pitch arm 104, and the piston rod and the cylinder barrel can be installed in a turning way according to the requirement. And when the piston rod of the single-head hydraulic oil cylinder extends out for a certain length, the inclination angle of the manipulator is 0 degrees, namely the manipulator is horizontal, the piston rod of the single-head hydraulic oil cylinder further extends out, the manipulator is pressed down, and the inclination angle is reduced. When the piston rod of the single-head hydraulic oil cylinder is retracted, the manipulator is lifted upwards, and the inclination angle is increased.

As shown in fig. 4 to 5, the pitching arm 104 is a main supporting member of the manipulator 1, carries other parts of the manipulator 1 and is connected with the frame 4, and comprises a connecting sleeve 104a, an incremental sensor mounting plate 104b, a supporting body 104c, an end cover 104d, a shaft seat 104e, a second oil cylinder seat 104f, a sealing cover 104g and a rotating cylinder 104h, wherein the main body of the rotating cylinder 104h is a cylinder with multiple steps, flanges are respectively arranged at two ends of the rotating cylinder 104h and are respectively used for mounting the sealing cover 104g and connecting a connecting seat in the frame 4, an angle identification plate mounting section is arranged at one side of the rotating cylinder 104h close to the frame 4, the outer diameter of the angle identification plate is matched with the inner diameter of the angle identification plate 8, the angle identification plate 8 is movably sleeved on the angle identification plate 8 rotates along with the frame 4, and the rotating cylinder 104h is matched with the frame mounting as shown in fig. 6;

the connecting sleeve 104a is of a cylindrical structure, is sleeved on the rotating cylinder 104h and is in rotating connection with the rotating cylinder 104h, an incremental sensor mounting plate 104b is arranged on one side, close to the angle marking plate 8, of the connecting sleeve, and is used for mounting the incremental sensor 7, the incremental sensor mounting plate 104b is positioned on the central horizontal line of the connecting sleeve 104a, so that the incremental sensor 7 is 0 degree in the initial position of the manipulator 1, and the sealing cover 104g is fixedly connected to the rotating cylinder 104h through a flange of the rotating cylinder 104h, so that water, coal slag and the like can be effectively prevented from entering the connecting sleeve 104 a;

one end of the supporting body 104c is fixedly connected with the connecting sleeve 104a, the other end of the supporting body 104c is connected with the shaft seat 104e, and a second oil cylinder seat 104f is arranged in the middle of one side of the supporting body 104c, which is close to the first oil cylinder seat 101, so as to be connected with the pitching oil cylinder 102;

the right side of the shaft seat 104e is provided with a mounting flange of the rotary driver 103, the left side is provided with a mounting flange of the end cover 104d so as to be respectively connected with the rotary driver 103 and the end cover 104d, a mounting hole is formed in an inner cavity of the mounting flange and used for mounting the rotary shaft 105, the end cover 104d is fixedly mounted on the shaft seat 104e and can limit the axial direction of the rotary shaft 105, one end of the rotary shaft 105 is fixedly connected with the output shaft of the rotary driver 103 in the circumferential direction, the other end of the rotary shaft 105 is connected with the rotary arm 106, and the rotary arm 106 is connected with the claw 107.

When the piston rod I102a is fully retracted and the piston rod II102b is fully extended, the manipulator 1 (the rotating arm 106) is in a horizontal position, i.e. the inclination of the upper plane of the manipulator 1 is 0 °, i.e. the initial position of the manipulator 1, and the angle of the incremental sensor 7 is 0 °; the piston rod II102b is retracted, the manipulator 1 is lifted up, and the inclination angle is increased; when the manipulator 1 is in the horizontal position, the piston rod II102b is fully extended, the piston rod I102a is continuously extended, and the lower hem of the manipulator 1 forms a negative inclination angle.

The rotary driver 103 is used for providing rotary power for the manipulator 1, the motion is transmitted to the paw 107 through the rotary shaft 105 and the rotary arm 106, so that the paw 107 can be turned or far away from the power head 3, and the rotary driver 3 can be any mechanism capable of realizing rotary motion, and the hydraulic motor or the swing oil cylinder is preferred in the application.

The basic structure of the rotary shaft 105 is cylindrical, the left end of the rotary shaft is provided with a flange which is in matching connection with the rotary arm 106, and the right end of the rotary shaft is provided with a connecting structure which is matched with the rotary driver 103, such as a spline, a flat key and the like, so as to form circumferential fixed connection. The swivel arm 106 is a long rod-shaped member for connecting the swivel shaft 105 and the hand claw 107. Preferably hollow, round tube-shaped, to facilitate processing and weight control.

Referring to fig. 7-8 with emphasis, the gripper 107 is an actuator for gripping a drill rod, with two degrees of freedom of movement, translation and clamping. The hand claw 107 comprises a movable claw body 107a, a clamping jaw 107b, a clamping cylinder 107c, a fixed seat 107d, a movable cylinder 107e and a connecting flange 107f, wherein the fixed seat 107d is composed of a bottom plate with a cross section approximately in a U shape and two side plates symmetrically arranged on one surface of the bottom plate, and the bottom plate and the two side plates form an inner concave cavity body for placing the movable cylinder 107e. And a pair of first sliding rails are symmetrically arranged on the other surface of the bottom plate. The two connecting flanges 107f are respectively fixed on two sides of the side plate of the fixed seat 107d and are respectively connected with the rotating arm 106 and the compression bar 108, the top of the movable claw body 107a is provided with a fixed claw which is matched with the clamping jaw 107b to clamp and fix a drill rod, and the fixed claw is hinged with the clamping jaw 107b through a pin shaft. The bottom of the movable claw body 107a is provided with a third oil cylinder seat connected with the movable oil cylinder 107e, a piston rod of the movable oil cylinder 107e is used for installing, the inner cavity of the movable claw body 107a is used for placing the clamping oil cylinder 107c, two side plates of the cavity of the movable claw body 107a are provided with second sliding rails, and the second sliding rails are matched with the first sliding rails of the fixed seat 107d to form a movable pair, so that the movable claw body 107a can realize reciprocating sliding under the driving of the movable oil cylinder 107e. A piston rod of the moving cylinder 107e extends, and the moving claw 107a moves downward in fig. 7; conversely, the piston rod retracting movement pawl 107a of the movement cylinder 107e moves upward. Moreover, when the piston rod of the movable cylinder 107e is fully retracted to move the movable jaw 107a to the highest point, the distance from the pivot center line of the boom 106 to the grip center line of the movable jaw 107a is equal to the distance from the pivot center line of the boom 106 to the center line of the drill rod on the frame 4 (also the position between the power head and the gripper), thereby enabling the movable jaw 107a to transfer the drill rod from the initial position to the drilling center line between the power head 3 and the gripper 5.

Specifically, the piston rod of the moving cylinder 107e is connected with the moving claw body 107a through a pin, and the cylinder barrel is hinged with the fixed seat 107d through two symmetrical pin shafts, so that the moving cylinder 107e telescopically drives the moving claw body 107a to move, and simultaneously has a rotational degree of freedom, and the phenomenon of locking of the sliding track can be avoided. The clamping jaw 107b is provided with a fourth cylinder seat connected with the clamping cylinder 107c and connected with the clamping cylinder 107c on the back surface of the drill rod clamping surface, and is hinged with a piston rod of the clamping cylinder 107c through a pin shaft, and a cylinder barrel of the clamping cylinder 107c is hinged with the movable jaw body 107a through a pin shaft.

Typically, the jaws 107b are provided on the side of the jaws 107 near the frame 4 to avoid interference with the movement of the drill rod during the turning of the jaws 107 to transport or retrieve the drill rod.

One end of the pressing rod 108 is a flange plate, is connected with the hand claw 107, and the other end is a round rod, and is used for pressing down the pressing block of the equiangular sensor 2 to send out a signal.

Referring to fig. 9 to 10 with emphasis, the function of the equiangular sensor 2 is to determine whether the manipulator 1 reaches the same inclination angle as the frame 4, which comprises a proximity sensor 201, a pressing plate 202, a pressing plate seat 203, a spring set 204, a supporting seat 205, a sliding rod 206, a sliding seat 207, a mounting frame 208, a sliding cylinder 209 and a sliding cylinder seat 210, wherein the lower part of the mounting frame 208 is provided with a flange to mount the equiangular sensor 2 on the frame 4, the upper part is a rod for connecting and supporting the sliding seat 207, the sliding cylinder 209 is hinged with the mounting frame 208 and the sliding cylinder seat 210 fixedly connected to the sliding rod 206 through pin shafts respectively, the sliding rod 206 and the sliding seat 207 are matched to form a moving pair, the sliding rod 206 is arranged in the sliding seat 207 and is in sliding connection, and is driven by the sliding oil cylinder 209 to move, so that other parts mounted on the sliding rod are extended or retracted towards the direction of the hand claw 107 of the manipulator 1, the lower part of the supporting seat 205 is fixedly connected to the sliding rod 206, a hinge hole is formed in the lower part of the supporting seat, the pressing plate seat 203 is mounted on the sliding rod through a pin shaft to form a hinge, a proximity sensor 201 is arranged at one end, close to the hand claw 107, of the supporting seat 205, the pressing plate seat 203 is a hollow shell, a side plate extending downwards is arranged at one side, facing the proximity sensor 201, of the pressing plate seat 203 and is matched with the proximity sensor 201 to form a signal sensing group, and when the side plate of the pressing plate seat 203 enters a sensing range of the proximity sensor 201, the sensor outputs a signal; a spring set 204 is disposed between the platen base 203 and the support base 205, the spring set 204 is used for supporting the platen base 203, lifting the platen base 203 in a natural state, avoiding the side plate of the platen base 203 from being connected with the proximity sensor 201, the spring set 204 may be one or more springs, or may be added with a support structure on the outer or inner part thereof, or may be set as other elastic members in other embodiments, the platen 202 is an L-shaped bent plate member placed upside down, the upper section is used for contacting with the compression bar 108, and the lower section is used for fixedly connecting with the platen base 203.

The principle of operation of the above-mentioned isometric sensor 2 is as follows:

in a natural state, the pressing plate seat 203 and the pressing plate 202 are lifted upwards under the action of the spring group 204, the side plate extending downwards in the pressing plate seat 203 is not in the sensing range of the proximity sensor 201, and the signal of the proximity sensor 201 is disconnected; when the manipulator 1 moves downwards and approaches the same inclination angle position of the rack 4, the pressing rod 108 at the front end of the manipulator contacts with the pressing plate 202, the pressing plate 202 and the pressing plate seat 203 are pressed down, and when the side plate extending downwards in the pressing plate seat 203 reaches a position which can be sensed by the proximity sensor 201, the signal of the proximity sensor 201 is communicated.

Referring to fig. 11, the angle marking plate 8 is a ring with a local fan-shaped bulge, the ring is provided with a plate body 801 and a bulge fan-shaped block 803, a toggle groove 802 is arranged on the fan-shaped block 803, a toggle rod is fixed on one side of the machine frame 4 facing the manipulator 1, and the toggle rod is inserted into the toggle groove 802, so that when the inclination angle of the machine frame 4 changes, the angle marking plate 8 and the machine frame 4 are kept at the same angle; the inner hole of the circular ring is matched with the outer diameter of an angle marking plate mounting section of the rotating cylinder 104h of the pitching arm 104 facing one side of the frame 4 in the manipulator 1, so that the angle marking plate 8 is movably sleeved on the rotating cylinder 104 h.

The sector 803 is paired with the incremental sensor 7 to form a signal sensing group, when the inclination of the frame 4 is 0 °, the lower edge line of the sector 803 is at an angle of θ on the horizontal line, and the initial angle of the manipulator 1 (i.e., the inclination of the upper plane of the manipulator 1, i.e., the center line of the rotating arm 106) is 0 °, i.e., the initial angle of the position of the incremental sensor 7 is 0 °, i.e., the initial inclination of the incremental sensor 7 is at least θ smaller than the lower edge line of the sector 803, and the signal is not turned on. Thus, when the inclination of the manipulator 1 increases, the incremental sensor 7 will not be able to switch on a signal until it has moved up into the coverage area of the segment 803, indicating that the manipulator 1 is at an inclination suitable for transporting drill rods.

The signal induction group formed by matching the side plate of the pressing plate seat 203 formed by matching the equiangular sensor 2 with the pressing rod 108 and the signal induction group formed by matching the sector block 803 with the incremental sensor 7 mutually form a positioning system, so that the positioning of the manipulator in the process of conveying the drill rod is realized, and the positioning system is simple and reliable. The relationship between the two signal sensing groups is that when the initial angle of the position of the incremental sensor 7 is 0 °, that is, when the manipulator 1 is in the horizontal position (that is, the initial position), if the frame body in the frame 4 is also in the horizontal position, and the sliding rod 206 moves under the driving of the sliding cylinder 209, and the rest parts (the supporting seat 205 and the pressing plate seat 204) mounted on the sliding rod are extended toward the claw 107 of the manipulator 1, the pressing rod 108 can contact with the pressing plate 202, that is, the pressing plate 202 and the pressing plate seat 203 can be pressed down by the vertical height of the pressing rod, and the downward extending side plate in the pressing plate seat 203 reaches the position that can be sensed by the proximity sensor 201, the signal of the proximity sensor 201 is turned on, so that the mutual matching and positioning effect is realized in the drill rod conveying process. It should be noted that, the positional relationship between the pressure lever and the equiangular sensor in this section is only used to indicate the relationship in the vertical direction, so as to indicate the matching relationship between the signal sensing group of the side plate of the pressure plate seat 203 formed by matching the equiangular sensor 2 with the pressure lever 108 and the signal sensing group of the proximity sensor 201 and the signal sensing group of the sector 803 with the incremental sensor 7, but not as the position limitation in the lateral direction, the lateral relationship may be adjusted by the sliding cylinder 209 as required to avoid motion interference.

The drill rod conveying flow of the drill rod conveying manipulator for the directional drilling machine is as follows:

setting the drilling inclination angle of the frame 4 as alpha, wherein alpha is larger than 0 DEG and is an upward inclination angle, and alpha is smaller than 0 DEG and is a downward inclination angle;

delivering drill rods to the frame 4:

s 1) manipulator initial state: the piston rod II102b of the pitching cylinder 102 is fully extended, the piston rod I102a is fully retracted, the inclination angle of the manipulator 1 is 0 degrees, namely the rotary arm 106 is in a horizontal position, at the moment, the angle marking plate 8 is not communicated with the increment sensor 7, the claw 107 is in a vertical position, the fixed claw openings of the clamping claw 107b and the movable claw body 107a are upward, the clamping claw 107b is opened under the retracting action of the clamping cylinder 107c, the piston rod of the movable cylinder 107e is fully extended, the movable claw body 107a and the clamping claw 107b are in the lowest position and are opposite to the initial position of a drill rod to be conveyed, then the drill rod is taken out from the drill rod box 6 through other conveying devices matched with a drilling machine, the front end and the rear end of the drill rod are respectively arranged in the two circular arc grooves 9, at the moment, the clamping center of the drill rod of the claw 107 is exactly coincident with the center of the drill rod to be conveyed, and meanwhile, the sliding cylinder 209 is fully retracted, so that the proximity sensor 201, the pressing plate 202 and the like are retracted, and the interference with the pressing rod 108 of the manipulator 1 is avoided;

in other embodiments, the drill rod can be placed at the initial position or the clamping center line of the moving claw 107a directly by a worker, so that the requirement of taking and replacing the drill rod from the initial position by the manipulator 1 is met;

s 2) clamping the drill rod: the clamping cylinder 107c extends out so that the clamping jaw 107b cooperates with the stationary jaw to clamp the drill rod;

s 3) paw extension: the piston rod of the movable oil cylinder 107e is retracted to drive the movable claw body 107a and the clamping jaw 107b to move upwards to reach the highest position;

s 4) raising: the piston rod II102b of the pitching oil cylinder 102 is retracted, the pitching arm 104 drives the rotary shaft 105 and the rotary arm 106 to increase in inclination, when the upward inclination of the manipulator 1 reaches (alpha+theta), the increment sensor 7 enters the coverage area of the angle marking plate 8, the increment sensor 7 is connected and sends out a signal to indicate that the manipulator 1 is at an inclination suitable for conveying drill rods, and the upward movement is stopped; simultaneously, the sliding cylinder 209 extends out to enable the pressing plate 202 to be positioned at a position where the pressing plate 108 can be contacted and pressed down;

in the actual construction process, as the drilling inclination angle of the frame 4 needs to be specifically set according to the construction requirement, if alpha is a negative value and the absolute value is larger than theta, the incremental sensor 7 directly enters the coverage area of the angle identification plate 8, the incremental sensor 7 is connected and sends out a signal, no lifting is needed at this time, and the adjustment step is corresponding to the situation that the incremental sensor 7 is connected and sends out a signal after lifting;

s 5) pressing down: the piston rod II102b of the pitching oil cylinder 102 stretches out, the manipulator pitching arm 104 drives the rotary shaft 105 and the rotary arm 106 to press downwards, the inclination angle is reduced, when the inclination angle of the manipulator 1 reaches alpha (namely the same as the drilling inclination angle of the rack 4), the pressure rod 108 enables a side plate in the pressure plate seat 203 to enter the induction range of the proximity sensor 201, the proximity sensor 201 is connected and outputs a signal, pressing downwards is stopped, and meanwhile, as the inclination angle of the manipulator 1 is reduced by theta, the incremental sensor 7 is separated from the coverage range of the angle identification plate 8, and the signal is disconnected;

in the actual construction process, as the drilling inclination angle of the frame 4 needs to be specifically set according to the construction requirement, if the piston rod II102b is completely extended, the incremental sensor 7 still does not deviate from the coverage area of the angle marking plate 8, and the incremental sensor can continuously extend out of the piston rod I102a to further reduce the inclination angle of the manipulator 1 until the pressing rod 108 presses the pressing plate 202 to enable the side plate in the pressing plate seat 203 to enter the sensing range of the proximity sensor 201, the proximity sensor 201 is connected and outputs a signal, and then the pressing is stopped;

s 6) turning: the rotary driver 103 drives the hand claw 107 to turn towards the frame 4 through the rotary shaft 105 and the rotary arm 106, preferably by 90 degrees in a anticlockwise direction, and the drill rod is conveyed into the drilling center line between the power head 3 and the clamp holder 5 on the frame 4;

s 7) loosening the paw: after the clamping device 5 or the power head 3 clamps the drill rod, the clamping jaw 107b is loosened, and the drill rod conveying is completed;

s 8) overturning and restoring: the rotary driver 103 drives the paw 107 to turn over in a direction away from the stand 4, preferably rotates 90 degrees clockwise, the paw 107 leaves the stand 4, and simultaneously, the sliding oil cylinder 209 retracts to retract the pressing plate 202, so that contact interference with the pressing rod 108 is avoided;

in other embodiments, the piston rod of the moving cylinder 107e can be fully extended as required, and the moving claw body 107a and the clamping jaw 107b are positioned away from the stand 4, so as to avoid motion interference;

s9) tilt angle zeroing: the piston rod I of the pitching oil cylinder is fully retracted, and the piston rod II is fully extended, so that the inclination angle of the manipulator 1 is returned to 0 degrees.

s 10) paw withdrawal: the piston rods of the movable cylinders 107e are fully extended, so that the movable claw body 107a and the clamping claw 107b return to the lowest position, and the manipulator 1 is restored to the original state.

Removing the drill rod from the frame:

q 1) initial state: the difference with the step s1 is that the drill rod is not put in the initial position;

q 2) paw extension: step s3;

q 3) raise: step s4;

q 4) pressing down: step s5;

q 5) flipping: the difference with step s6 is that here the empty gripper is turned into and just contacts the drill rod;

q 6) clamping the grab bar: the clamping cylinder 107c extends out, and the clamping jaw 107b clamps the drill rod;

q 7) reverse recovery: as in step s8.

q 8) tilt angle zeroing: as in step s9.

q 9) paw withdrawal: in step s10, the drill rod is returned to the initial position when the gripper is retracted to the lowest position.

q 10) paw release: the clamp cylinder 107c is retracted, the clamping jaw 107b is released, and the robot arm 1 is restored to the original state. Other devices or workers may take the drill pipe or place it in this position.

Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present utility model, which is intended to be covered by the claims of the present utility model.

Claims (8)

1. A drilling rod conveying manipulator for directional drilling machine, this manipulator is arranged on rig moving platform, and is located and arrange between drilling rod case and the frame on the rig moving platform, the frame includes fixed connection's connecting seat and the frame body of articulating on the connecting seat on rig moving platform, its characterized in that: the manipulator comprises a pitching oil cylinder, a slewing driver, a pitching arm, a slewing shaft, a rotating arm and a paw, wherein the vertical plane where the axis of the pitching oil cylinder is located is parallel to the vertical plane where the axis of the rack is located, and the two ends of the pitching oil cylinder are respectively hinged with a drilling machine moving platform and the pitching arm so as to be used for adjusting the inclination angle of the manipulator;

the pitching arm comprises a connecting sleeve, a supporting body, an axle seat and a rotating cylinder, one end of the rotating cylinder is fixedly connected to a connecting seat in the frame, the connecting sleeve is sleeved on the rotating cylinder and is rotationally connected, one end of the supporting body is fixedly connected with the connecting sleeve, the other end of the supporting body is connected with the axle seat, the pitching oil cylinder is hinged with the supporting body, one end of the axle seat is connected with a rotary driver, a rotary shaft is arranged in an inner cavity of the axle seat, one end of the rotary shaft is fixedly connected with an output shaft of the rotary driver in the circumferential direction, the other end of the rotary shaft is connected with a rotary arm, and the rotary arm is connected with a claw;

the gripper comprises a movable gripper body, clamping jaws, a clamping oil cylinder, a fixed seat and a movable oil cylinder, wherein the fixed seat is an inner concave cavity body, the movable oil cylinder is hinged in the inner concave cavity body, the movable gripper body and the back surface of the inner concave cavity body form a movable pair, the rotating arm is connected with the gripper through the side surface of the inner concave cavity body, the top of the movable gripper body is a fixed gripper and is hinged and matched with the clamping jaws to clamp and fix a drill rod, and the bottom of the movable gripper body is hinged with a piston rod of the movable oil cylinder to drive the movable gripper body to move; the movable claw body is provided with an inner cavity, the clamping oil cylinder is hinged in the inner cavity, the back surface of the clamping jaw is hinged with a piston rod of the clamping oil cylinder to drive the clamping jaw to clamp a drill rod, and when the piston rod of the movable oil cylinder is completely retracted to enable the movable claw body to move to the highest point, the distance from the rotation center line of the rotating arm to the clamping center line of the movable claw body is equal to the distance from the rotation center line of the rotating arm to the drilling center line of the frame.

2. The drill rod handling robot for a directional drilling machine of claim 1, wherein: the positioning system comprises an equiangular sensor, an increment sensor, an angle marking plate and a pressing rod, wherein the pressing rod is connected to one side, opposite to the rotating arm, of the fixed seat;

the angle marking plate is a ring with a local fan-shaped bulge, the ring is provided with a plate body and a bulge fan-shaped block, an inner hole of the ring is movably sleeved on one side of the rotating cylinder facing the machine frame, a poking groove is formed in the fan-shaped block, a poking rod is fixedly connected to one side of the machine frame body in the machine frame facing the manipulator, the poking rod is inserted into the poking groove, so that when the inclination angle of the machine frame body changes, the angle marking plate changes by the same angle with the machine frame body, the increment sensor is arranged on one side, close to the angle marking plate, of the connecting sleeve and is positioned on one side, close to the equiangular sensor, of the connecting sleeve, and the increment sensor is matched with the fan-shaped block to form a signal induction group;

when the drilling center lines of the manipulator and the frame are both in horizontal positions, the incremental sensor is in the horizontal position, the edge line of one end of the sector block, which is close to the incremental sensor, is positioned above the horizontal line, the signal of the incremental sensor is not communicated, and the pressing rod is positioned at the vertical height to press down the pressing plate, so that the signal of the proximity sensor is communicated.

3. The drill rod handling robot for a directional drilling machine of claim 1, wherein: the pitching oil cylinder is a double-head combined oil cylinder, a piston rod II at one end of the pitching oil cylinder is hinged with the drilling mobile platform through a first oil cylinder seat fixedly connected with the drilling mobile platform, a piston rod I is hinged with the supporting body through a second oil cylinder seat fixedly connected with the middle of the supporting body, and when the piston rod I is fully retracted, the piston rod II is fully extended, and the manipulator is in a horizontal position.

4. The drill rod handling robot for a directional drilling machine of claim 1, wherein: the rotary cylinder main body is a cylinder with multiple steps, and flanges are arranged at two ends of the rotary cylinder main body and are respectively used for connecting the sealing cover and the connecting seat in the frame.

5. The drill rod handling robot for a directional drilling machine of claim 1, wherein: the end of the shaft seat, which is far away from the rotary driver, is also provided with an end cover sleeved on the rotary shaft so as to limit the rotary shaft axially.

6. The drill rod handling robot for a directional drilling machine of claim 1, wherein: the rotary driver is a hydraulic motor or a swinging oil cylinder.

7. The drill rod handling robot for a directional drilling machine of claim 1, wherein: the fixing seat consists of a bottom plate with a U-shaped cross section and two side plates symmetrically arranged on one surface of the bottom plate, and the bottom plate and the two side plates form an inner concave cavity.

8. The drill rod handling robot for a directional drilling machine of claim 1, wherein: the other side of the bottom plate is symmetrically provided with a pair of first sliding rails, and one end, close to the bottom plate, of the inner cavity of the movable claw body is provided with a second sliding rail matched with the first sliding rail so as to form a movable pair.