CN211712059U

CN211712059U - Manipulator mechanism of rock drill

Info

Publication number: CN211712059U
Application number: CN202020122735.2U
Authority: CN
Inventors: 刘宝林; 杨能春; 朱劲恩; 刘桂凤; 黄嘉诚
Original assignee: Guangdong Huishan Intelligent Machinery Co ltd
Current assignee: Foshan Yixingbai Intelligent Technology Co ltd
Priority date: 2020-01-17
Filing date: 2020-01-17
Publication date: 2020-10-20
Anticipated expiration: 2030-01-17

Abstract

The utility model provides a manipulator mechanism of rock drill, is including setting up the connecting seat on the girder, and the pivot is worn to establish on the connecting seat, and the pivot meets with actuating mechanism, be provided with the manipulator more than two in the pivot, the manipulator more than two includes first manipulator, first manipulator includes the first articulated seat that meets with the pivot, and the top of this first articulated seat is provided with fixed chuck and activity chuck respectively, and wherein, fixed chuck is located the offside of activity chuck, and the one end of activity chuck is articulated mutually with the one end up of first articulated seat, and the other end of activity chuck is articulated mutually with the telescopic link of first hydro-cylinder, and the cylinder body of first hydro-cylinder articulates the one end down of first articulated seat. Be provided with the fixing base in the pivot, one side of first articulated seat meets with the fixing base through the connecting plate. The crossbeam is provided with a positioning seat protruding outwards, and the positioning seat is positioned beside the fixing seat. The utility model has the characteristics of easy operation.

Description

Manipulator mechanism of rock drill

Technical Field

The utility model relates to a manipulator mechanism of rock drill.

Background

Chinese patent document No. CN 205955670U in 2017, 02, 15 discloses a manipulator for automatically replacing a drill rod of a rock drill, which belongs to the field of components of rock drills and comprises a frame plate, a side swing component and a clamping component, wherein the side swing component is hinged on the frame plate, and the clamping component is hinged on the side swing component; the side swing part is provided with a fixed chuck, and the clamping part is provided with a movable chuck; the side swing component comprises a side swing oil cylinder and a swing arm plate; the clamping component comprises a telescopic oil cylinder and a movable chuck; the side swing oil cylinder and the swing arm plate are respectively hinged on two different hinge points on the frame plate, and the side swing oil cylinder and the swing arm plate are movably hinged; the movable chuck is hinged on the fixed chuck, one end of the telescopic oil cylinder is hinged on the swing arm plate, and the other end of the telescopic oil cylinder is hinged on the movable chuck.

The manipulator has a complex structure, the accuracy in replacing the drill rod is not high, and the efficiency of replacing the drill rod is influenced, so that the manipulator needs to be improved.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an easy rock drill's manipulator mechanism of operation to overcome the weak point among the prior art.

According to the manipulator mechanism of rock drill of this purpose design, including setting up the connecting seat on the girder, the pivot is worn to establish on the connecting seat, and the pivot meets with actuating mechanism, and its structural feature is be provided with the manipulator more than two in the pivot, the manipulator more than two includes first manipulator, first manipulator includes the first articulated seat that meets with the pivot, and the top of this first articulated seat is provided with fixed chuck and activity chuck respectively, and wherein, fixed chuck is located the offside of activity chuck, and the one end of activity chuck is articulated mutually with the one end up of first articulated seat, and the other end of activity chuck is articulated mutually with the telescopic link of first hydro-cylinder, and the cylinder body of first hydro-cylinder articulates the one end down at first articulated seat.

Further, be provided with the fixing base in the pivot, one side of first articulated seat meets with the fixing base through the connecting plate.

Furthermore, a positioning seat protruding outwards is arranged on the crossbeam and located beside the fixing seat, and a limiter used for adjusting the rotation angle of the fixing seat is arranged on the positioning seat.

Further, the first oil cylinder is arranged in a cavity defined by the first hinge seat and the connecting plate; an arc-shaped groove used for the movement of the first oil cylinder is arranged on the connecting plate.

Further, the cross section of the first hinge seat is U-shaped.

Further, the height of connecting plate is less than the height of first articulated seat.

Furthermore, the connecting seat comprises a first connecting seat and a second connecting seat, one end of the first connecting seat and one end of the second connecting seat are respectively connected with the girder, the rotating shaft is sequentially sleeved at the other end of the first connecting seat and the other end of the second connecting seat in a penetrating manner, the manipulator further comprises a second manipulator, and the first manipulator and the second manipulator are arranged between the first connecting seat and the second connecting seat; the proximity switch is arranged between the second connecting seat and the first manipulator and is electrically connected with a central controller of the rock drill.

Further, proximity switch is including setting up the guide slot on the bottom plate, and the bottom plate wears to overlap in the pivot and meets with first connecting seat, and first sensor and second sensor set up respectively in the guide slot.

Further, the manipulator mechanism of rock drill, still include the baffle, this baffle clamp is established between the first articulated seat of first manipulator and proximity switch, one side of first articulated seat is provided with the locating plate of transversely outstanding outwards, the one end upwards of baffle extends to one side of movable chuck after passing the locating plate, the one end down of baffle is together articulated through second articulated seat and bottom plate.

Furthermore, an encoder is arranged on the rotating shaft and electrically connected with a central controller of the rock drill.

The utility model provides a be provided with more than two manipulators in the pivot, more than two manipulators include first manipulator, first manipulator includes the first articulated seat that meets with the pivot, and the top of this first articulated seat is provided with fixed chuck and movable chuck respectively, and wherein, fixed chuck is located the offside of movable chuck, and one end of movable chuck is articulated with the up end of first articulated seat, and the other end of movable chuck is articulated mutually with the telescopic link of first hydro-cylinder, and the cylinder body of first hydro-cylinder articulates the down end at first articulated seat; through set up the manipulator more than two in a pivot, can improve the harmony of the manipulator during operation more than two, get more easily and put the drilling rod, improved the work efficiency and the security performance of this product.

The utility model provides a be provided with the fixing base in the pivot, one side of first articulated seat meets with the fixing base through the connecting plate, can improve the joint strength between manipulator and the pivot through the fixing base.

The crossbeam of the utility model is provided with a positioning seat which protrudes outwards and is positioned beside the fixing seat, and the positioning seat is provided with a position limiter for adjusting the rotation angle of the fixing seat; the limiter with the adjustable rotating angle of the fixing seat can avoid misoperation in work, and the safety performance of the product is improved.

The utility model provides a be provided with the encoder in the pivot, this encoder is connected with the well accuse ware electricity of rock drill, can improve the accuracy of pivot and manipulator during operation through setting up the encoder.

The proximity switch in the utility model is arranged between the second connecting seat and the first manipulator, and is electrically connected with the central controller of the rock drill; the proximity switch comprises a guide groove arranged on a bottom plate, the bottom plate is sleeved on the rotating shaft in a penetrating mode and is connected with the first connecting seat, and the first sensor and the second sensor are arranged in the guide groove respectively; when the product works, the baffle swings together with the first mechanical arm or the second mechanical arm, when the baffle approaches or touches the first sensor or the second sensor positioned at the limit position, the first sensor or the second sensor feeds back a signal to the central controller of the rock drilling machine, and then the central controller can send a corresponding instruction to the driving mechanism, so that the control precision of the product is improved.

The first oil cylinder in the utility model is arranged in a cavity enclosed by the first hinge seat and the connecting plate; the arc-shaped groove used for the first oil cylinder to move is formed in the connecting plate, and the first oil cylinder located in the arc-shaped groove can be protected through the cavity, so that the safety performance of the product is improved.

The baffle clamp in the utility model is arranged between the first hinging seat of the first manipulator and the proximity switch, one side of the first hinging seat is provided with a positioning plate which protrudes outwards transversely, the upward end of the baffle passes through the positioning plate and then extends to one side of the movable chuck, and the downward end of the baffle is hinged with the bottom plate through the second hinging seat; when the open angle of activity chuck was too big, the drilling rod loosened and dropped easily this moment, because the effect that blocks of baffle, the drilling rod meeting joint that loosens is between baffle and fixed chuck, has avoided dropping of drilling rod to produce danger to rock drill and near personnel of rock drill to the security performance of this product has been improved.

To sum up, the utility model has the characteristics of easy operation.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic structural view of the present invention after the reduction gear is removed.

Fig. 3 is a rear perspective view of fig. 2.

Fig. 4 is a schematic view of the local exploded structure of the present invention.

In the figure: 1 is the girder, 2 is the pivot, 3 is first manipulator, 31 is first articulated seat, 32 is fixed chuck, 32.1 is first wear-resisting piece, 33 is the activity chuck, 33.1 is the wear-resisting piece of second, 34 is first hydro-cylinder, 4 is the encoder, 5 is proximity switch, 5.1 is the bottom plate, 5.2 is the guide slot, 5.3 is the articulated seat of second, 6 is first connecting seat, 7 is the baffle, 8 is the locating plate, 9 is the fixing base, 10 is the connecting plate, 11 is the positioning seat, 11.1 is the stopper, 15 is hydraulic motor, 16 is reduction gears, 17 is the second connecting seat, 18 is the second manipulator.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples.

Referring to fig. 1-4, this manipulator mechanism of rock drill, including setting up the connecting seat on girder 1, pivot 2 wears to establish on the connecting seat, and pivot 2 meets with actuating mechanism, be provided with more than two manipulators on the pivot 2, more than two manipulators include first manipulator 3, first manipulator 3 includes the first articulated seat 31 that meets with pivot 2, and this first articulated seat 31's top is provided with fixed chuck 32 and movable chuck 33 respectively, and wherein, fixed chuck 32 is located the offside of movable chuck 33, and movable chuck 33's one end is articulated with the one end up of first articulated seat 31, and movable chuck 33's the other end is articulated mutually with the telescopic link of first hydro-cylinder 34, and the cylinder body of first hydro-cylinder 34 articulates the one end down of first articulated seat 31.

In this embodiment, the rotating shaft 2 is provided with a fixing seat 9, and one side of the first hinge seat 31 is connected with the fixing seat 9 through a connecting plate 10.

The girder 1 is provided with a positioning seat 11 protruding outwards, the positioning seat 11 is positioned beside the fixing seat 9, and the positioning seat 11 is provided with a stopper 11.1 for adjusting the rotation angle of the fixing seat 9.

The first oil cylinder 34 is arranged in a cavity defined by the first hinge seat 31 and the connecting plate 10; the connecting plate 10 is provided with an arc-shaped groove for the movement of the first oil cylinder 34.

The first hinge base 31 has a U-shaped cross section.

The height of the connecting plate 10 is less than the height of the first hinge seat 31.

The connecting seats comprise a first connecting seat 6 and a second connecting seat 17, one end of the first connecting seat 6 and one end of the second connecting seat 17 are respectively connected with the girder 1, the rotating shaft 2 is sequentially sleeved at the other end of the first connecting seat 6 and the other end of the second connecting seat 17 in a penetrating manner, the manipulator further comprises a second manipulator 18, and the first manipulator 3 and the second manipulator 18 are arranged between the first connecting seat 6 and the second connecting seat 17; the proximity switch 5 is arranged between the second connecting seat 17 and the first manipulator 3, and the proximity switch 5 is electrically connected with a central controller of the rock drilling machine.

The proximity switch 5 comprises a guide groove 5.2 arranged on a bottom plate 5.1, the bottom plate 5.1 is sleeved on the rotating shaft 2 in a penetrating mode and is connected with a first connecting seat 6, and a first sensor and a second sensor are arranged in the guide groove 5.2 respectively.

The manipulator mechanism of the rock drill further comprises a baffle 7, the baffle 7 is clamped between a first hinged seat 31 of the first manipulator 3 and the proximity switch 5, a positioning plate 8 protruding outwards in the transverse direction is arranged on one side of the first hinged seat 31, one upward end of the baffle 7 penetrates through the positioning plate 8 and then extends to one side of the movable chuck 33, and the downward end of the baffle 7 is hinged with the bottom plate 5.1 through a second hinged seat 5.3.

And an encoder 4 is arranged on the rotating shaft 2, and the encoder 4 is electrically connected with a central controller of the rock drill.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely for convenience of description and for simplicity of description, rather than to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention, the terms "first" and "second" are used for descriptive purposes only, and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A manipulator mechanism of a rock drill comprises a connecting seat arranged on a girder (1), a rotating shaft (2) penetrates through the connecting seat, the rotating shaft (2) is connected with a driving mechanism, it is characterized in that more than two manipulators are arranged on the rotating shaft (2), the more than two manipulators comprise a first manipulator (3), the first manipulator (3) comprises a first hinged seat (31) connected with the rotating shaft (2), the top of the first hinging seat (31) is respectively provided with a fixed chuck (32) and a movable chuck (33), the fixed chuck (32) is located on the opposite side of the movable chuck (33), one end of the movable chuck (33) is hinged to the upward end of the first hinged seat (31), the other end of the movable chuck (33) is hinged to the telescopic rod of the first oil cylinder (34), and the cylinder body of the first oil cylinder (34) is hinged to the downward end of the first hinged seat (31).

2. The manipulator mechanism of rock drilling machine according to claim 1, characterized in that the spindle (2) is provided with a holder (9), and one side of the first hinge seat (31) is connected to the holder (9) via a connecting plate (10).

3. The manipulator mechanism of rock drilling machine according to claim 2, characterized in that the girder (1) is provided with a positioning seat (11) projecting outwards, which positioning seat (11) is located beside the holder (9), and that the positioning seat (11) is provided with a stop (11.1) for adjusting the rotation angle of the holder (9).

4. The manipulator mechanism of rock drilling machine according to claim 2, characterized in that the first cylinder (34) is arranged in a cavity enclosed by the first articulated seat (31) and the connecting plate (10); an arc-shaped groove for the movement of the first oil cylinder (34) is arranged on the connecting plate (10).

5. The manipulator mechanism of a rock drill according to claim 4, characterized in that the first articulated seat (31) is U-shaped in cross-section.

6. The manipulator mechanism of rock drilling machine according to claim 4, characterized in that the height of the connecting plate (10) is smaller than the height of the first articulated seat (31).

7. The manipulator mechanism of the rock drill according to claim 1, characterized in that the connecting seats comprise a first connecting seat (6) and a second connecting seat (17), one end of the first connecting seat (6) and one end of the second connecting seat (17) are respectively connected with the girder (1), the rotating shaft (2) is sequentially sleeved on the other end of the first connecting seat (6) and the other end of the second connecting seat (17), the manipulator further comprises a second manipulator (18), and the first manipulator (3) and the second manipulator (18) are arranged between the first connecting seat (6) and the second connecting seat (17); the proximity switch (5) is arranged between the second connecting seat (17) and the first manipulator (3), and the proximity switch (5) is electrically connected with a central controller of the rock drill.

8. The manipulator mechanism of rock drilling machine according to claim 7, characterized in that the proximity switch (5) comprises a guide slot (5.2) arranged on a base plate (5.1), the base plate (5.1) is sleeved on the rotating shaft (2) and connected with the first connecting seat (6), and the first sensor and the second sensor are respectively arranged in the guide slot (5.2).

9. The manipulator mechanism of the rock drill according to claim 8, characterized by further comprising a baffle plate (7), wherein the baffle plate (7) is clamped between the first hinged seat (31) of the first manipulator (3) and the proximity switch (5), one side of the first hinged seat (31) is provided with a positioning plate (8) protruding outwards and transversely, the upward end of the baffle plate (7) penetrates through the positioning plate (8) and then extends to one side of the movable chuck (33), and the downward end of the baffle plate (7) is hinged with the bottom plate (5.1) through the second hinged seat (5.3).

10. The manipulator mechanism of rock drilling machine according to claim 1, characterized in that the shaft (2) is provided with an encoder (4), which encoder (4) is electrically connected to the central control of the rock drilling machine.