![]() In view of this, it is urgent to develop a new type of gripper to solve the above problems and meet the requirements of automatic drilling system.Ģ. The neutrality of the gripper directly affects the subsequent smooth loading and unloading of the drill pipe. When the automatic drilling rig is working, the manipulator cooperates with the power head and the gripper to complete the process of loading and unloading the drill pipe. In addition, according to the feedback by field use, the alignment accuracy of clamping device equipped with a shunt collector valve to facilitating the clamping cylinder synchronization is very low, because of the limitation of hydraulic system response time and flow matching of the shunt valve. This not only reduce the clamping accuracy of the clamping device itself, but also affect the coaxiality of the clamping center of the clamping device and the rotary center of the power head. ![]() Due to the large opening and uneven load at both ends of the conventional hydraulic elastic clamps, the telescopic action of the hydraulic cylinders on gripper both sides is out of sync. At present, there are few researches on gripper of coal mine rig. Clamping device is an important component for automatic drilling machine. ![]()
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