Butt joint mechanical arm device for braking high-pressure air pipe of coal unloading car
By designing a robot arm device including the left robot arm group and the right robot arm group, the problem of difficulty in identifying and positioning of the high-pressure air pipe of the coal unloading truck during the automatic docking process is solved, and efficient automatic docking and mechanized operation are achieved.
Patent Information
- Application Number
- CN202420486613.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-13
- Publication Date
- 2025-02-11
- Estimated Expiration
- 2034-03-13
AI Technical Summary
During the automatic docking process of the high-pressure air pipe of the coal unloading truck, due to the dark light, stains and the free drooping shape, it is difficult to accurately identify and position, resulting in difficulty in grasping and docking of the robot.
A robot arm device including the left robot arm group and the right robot arm group is designed, and the butt sliding mechanism, robot arm, docking and pressing robot is used to achieve vertical bending and docking of the pipe head through vertical and parallel installed robot arms. Fit the action.
The automatic grasping, lifting, fitting and placement of the brake high-pressure air pipe of the coal unloading truck is realized, which improves the accuracy and mechanization of docking, and reduces the implementation cost.
Smart Images
Figure CN222450309U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a mechanical arm device for connecting a brake high-pressure air pipe of a coal unloading vehicle. Background Art
[0002] Coal unloading car brake high pressure air pipe is widely used in the brake system of coal unloading car. The automatic docking of coal unloading car brake high pressure air pipe first needs to complete the identification and positioning of the coal unloading car brake high pressure air pipe head, and further identify and locate the key parts such as the coal unloading car brake high pressure air pipe body and interface, so as to facilitate the robot to grasp and operate.
[0003] The imaging of the brake high-pressure air pipe of the coal unloading car is affected by the dark light at the bottom of the track. The brake high-pressure air pipe of the coal unloading car itself is affected by stains such as coal powder or rust, making it difficult to accurately identify it through optical vision. Since the brake high-pressure air pipe of the coal unloading car is in a freely hanging state, the pipe head of the brake high-pressure air pipe of the coal unloading car needs to be held tightly at a certain tilt angle, and the position of the brake high-pressure air pipe head of different coal unloading cars is uncertain, and it cannot be judged based on the fixed position of the car. At the same time, the docking of the brake high-pressure air pipe of the coal unloading car needs to solve the problems of holding the brake high-pressure air pipe head of the coal unloading car and rotating the brake high-pressure air pipe head of the coal unloading car, and the cost of mechanical realization should not be too high, so that the mechanical automatic docking of the brake high-pressure air pipe of the coal unloading car is convenient. Utility Model Content
[0004] The purpose of this section is to summarize some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the name of the utility model of this application to avoid blurring the purpose of this section, the abstract of the specification and the name of the utility model, and such simplifications or omissions cannot be used to limit the scope of the utility model.
[0005] Therefore, the purpose of the utility model is to provide a coal unloading truck brake high-pressure air pipe docking mechanical arm device, which is convenient for realizing automatic docking operations such as grabbing, lifting, fitting, and placing of the coal unloading truck brake high-pressure air pipe.
[0006] In order to solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions:
[0007] A coal unloading vehicle brake high-pressure air pipe docking mechanical arm device, comprising: a left mechanical arm group and a right mechanical arm group;
[0008] The left mechanical arm group and the right mechanical arm group each include a docking sliding mechanism, a mechanical arm mounted on the docking sliding mechanism, and a docking pressing mechanical hand mounted at the end of the mechanical arm, wherein the docking pressing mechanical hand includes a pressing mechanism and a claw hand mechanism;
[0009] Among them, the mechanical arm of the left mechanical arm group is installed vertically with the docking sliding mechanism, and the mechanical arm of the right mechanical arm group is installed parallel with the docking sliding mechanism.
[0010] As a preferred solution of a coal unloading truck brake high-pressure air pipe docking mechanical arm device described in the utility model, the docking sliding mechanism includes a slide rail body, a stepper motor installed at the head end of the slide rail body, a screw rod connected to the output end of the stepper motor, a slider connected to the screw rod and driven by the screw rod to slide on the slide rail body, and a rainproof and dustproof cover arranged between the two sides of the slide rail body and the slider.
[0011] As a preferred solution of the coal unloading vehicle brake high-pressure air pipe docking mechanical arm device described in the utility model, the rainproof and dustproof cover is a retractable and foldable corrugated structure.
[0012] As a preferred solution of the coal unloading vehicle brake high-pressure air pipe docking mechanical arm device described in the utility model, the slider has a built-in position sensor.
[0013] As a preferred solution of a coal unloading truck brake high-pressure air pipe docking mechanical arm device described in the utility model, the mechanical arm includes a mechanical arm column installed on the slider, a mechanical arm lifting shaft motor installed on the side of the mechanical arm column, a lifting shaft motor connector connected to the output end of the mechanical arm lifting shaft motor, and a lifting shaft installed on the side of the lifting shaft motor connector.
[0014] As a preferred solution of the coal unloading vehicle brake high-pressure air pipe docking mechanical arm device described in the utility model, the mechanical arm lifting shaft motor is embedded and installed in the mechanical arm column.
[0015] As a preferred solution of a coal unloading car brake high-pressure air pipe docking mechanical arm device described in the utility model, the pressing mechanism includes a fixed base, a first rotating shaft arranged on the fixed base, a rotating pressure plate arranged on the side of the first rotating shaft, and a first rotating support spring sleeved on the first rotating shaft and connected to the first rotating shaft at one end and the fixed base at the other end;
[0016] Wherein, in the initial state, the rotating pressure plate and the fixed base form an angle of 45°.
[0017] As a preferred solution of a coal unloading truck brake high-pressure air pipe docking mechanical arm device described in the utility model, the claw hand mechanism includes a base plate installed on the fixed base, a pipe head limiting side plate vertically installed on one side of the base plate, a second rotating shaft installed on the base plate and opposite to the pipe head limiting side plate, an arc-shaped gripper arranged on the side of the second rotating shaft, and a second rotating support spring mounted on the second rotating shaft and connected to the second rotating shaft at one end and the base plate at the other end.
[0018] As a preferred solution of the coal unloading vehicle brake high-pressure air pipe docking mechanical arm device described in the utility model, the first rotation support spring and the second rotation support spring are both torsion springs.
[0019] As a preferred solution of the coal unloading vehicle brake high-pressure air pipe docking mechanical arm device described in the utility model, the stepper motor is connected to a stepping circle bus controller for controlling the stepper motor.
[0020] Compared with the prior art, the utility model has the following beneficial effects: the left mechanical arm group of the utility model can realize the vertical bending of the high-pressure air pipe of the brake of the coal unloading car, and can complete the docking and fitting action of the high-pressure air pipe of the brake of the coal unloading car; the right mechanical arm group can realize the docking and lowering functions of the high-pressure air pipe of the brake of the coal unloading car, which is convenient for grabbing the high-pressure air pipe and facilitating the automatic mechanical docking of the high-pressure air pipe of the brake of the coal unloading car. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to more clearly illustrate the technical solution of the implementation of the utility model, the utility model will be described in detail below in combination with the drawings and detailed implementation. Obviously, the drawings described below are only some implementations of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:
[0022] Figure 1 This is a schematic diagram of the overall structure of a coal unloading vehicle brake high-pressure air pipe docking mechanical arm device of the utility model;
[0023] Figure 2 This is a structural schematic diagram of a docking sliding mechanism of a brake high-pressure air pipe docking mechanical arm device for a coal unloading vehicle according to the utility model;
[0024] Figure 3 This is a schematic diagram of the structure of a mechanical arm of a mechanical arm device for connecting a brake high-pressure air pipe of a coal unloading vehicle according to the utility model;
[0025] Figure 4 This is a structural view of one direction of a docking and pressing manipulator of a brake high-pressure air pipe docking manipulator arm device for a coal unloading vehicle according to the utility model;
[0026] Figure 5 This is a structural view of the other direction of the docking and pressing manipulator of the brake high-pressure air pipe docking manipulator arm device of a coal unloading vehicle according to the utility model. DETAILED DESCRIPTION
[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings.
[0028] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the implementation of the present invention, for the sake of convenience, the cross-sectional diagram showing the device structure will not be partially enlarged according to the general proportion, and the schematic diagram is only an example, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.
[0029] In order to make the purpose, technical solution and advantages of the present invention more clear, the implementation mode of the present invention will be further described in detail below with reference to the accompanying drawings.
[0030] The utility model provides a coal unloading vehicle brake high-pressure air pipe docking mechanical arm device, which is convenient for realizing automatic docking work such as grabbing, lifting, fitting and placing of the coal unloading vehicle brake high-pressure air pipe.
[0031] Figure 1-Figure 5 The structure diagram of the utility model is a schematic diagram of a coal unloading vehicle brake high pressure air pipe docking mechanical arm device of an embodiment, please refer to Figure 1-Figure 5 In this embodiment, a coal unloading car brake high-pressure air pipe docking mechanical arm device has a main body including a left mechanical arm group 10 and a right mechanical arm group 20.
[0032] The left robotic arm group 10 and the right robotic arm group 20 are used to grasp the left and right high-pressure brake air pipes of the coal unloading car respectively. In the present embodiment, the left robotic arm group 10 and the right robotic arm group 20 both include a docking sliding mechanism 100, a robotic arm 200 installed on the docking sliding mechanism 100, and a docking pressing robot 300 installed at the end of the robotic arm 200. The docking pressing robot 300 includes a pressing mechanism 310 and a claw mechanism 320. The robotic arm 200 of the left robotic arm group 10 is installed vertically to the docking sliding mechanism 100, and the robotic arm 200 of the right robotic arm group 20 is installed parallel to the docking sliding mechanism 100. In this way, the left robotic arm group 10 can realize the vertical bending of the high-pressure brake air pipe of the coal unloading car, and can complete the docking and fitting action of the high-pressure brake air pipe of the coal unloading car. The right robotic arm group 20 can realize the docking and lowering functions of the high-pressure brake air pipe of the coal unloading car.
[0033] The docking sliding mechanism 100 includes a rail body 110, a stepper motor 120 installed at the head end of the rail body 110, a lead screw 130 connected to the output end of the stepper motor 120, a slider 140 connected to the lead screw 130 and driven by the lead screw 130 to slide on the rail body 110, and a rainproof and dustproof cover 150 arranged between the two sides of the rail body 110 and the slider 140. The rainproof and dustproof cover 150 is a retractable and foldable corrugated structure. The lead screw 130 is driven to rotate by the stepper motor 120. The lead screw 130 drives the slider 140 to slide. In this embodiment, the slider 140 has a built-in position sensor to monitor the position of the slider 140. The stepper motor 120 is connected to a bus controller for controlling the number of stepper motor turns of the stepper motor 120. The bus controller is directly connected to the stepper motor 120 through 4 wires, and can control the number of stepper motor turns of the stepper motor 120. The minimum number of identified turns is 1 / 8 turn. The bus controller has a serial upper controller network port and a serial lower controller network port, and can also be directly connected to the gateway. Due to the cascade setting, the functions of the two network ports can be interchanged.
[0034] The robot arm 200 includes a robot arm column 210 installed on a slider 140, a robot arm lifting axis motor 220 installed on the side of the robot arm column 210, a lifting axis motor connector 230 connected to the output end of the robot arm lifting axis motor 220, and a lifting axis 240 installed on the side of the lifting axis motor connector 230. The lifting axis motor connector 230 is driven to rotate by the robot arm lifting axis motor 220, which can drive the lifting axis 240 to rotate and lift. Preferably, in this embodiment, the robot arm lifting axis motor 220 is embedded in the robot arm column 210.
[0035] The docking and pressing manipulator 300 includes a pressing mechanism 310 and a claw mechanism 320. In the present embodiment, the pressing mechanism 310 includes a fixed base 310a, a first rotating shaft 310b arranged on the fixed base 310a, a rotating pressure plate 310c arranged on the side of the first rotating shaft 310b, and a first rotating support spring which is sleeved on the first rotating shaft 310b and connected to the first rotating shaft 310b at one end and the fixed base 310a at the other end. In the initial state, the rotating pressure plate 310c is at a 45° angle to the fixed base 310a, so that after the lifting shaft 240 rotates 45 degrees, the contact surface of the high-pressure air pipe of the coal unloading car brake remains horizontal. The rotating pressure plate 310c is rotated by the first rotating shaft 310b. When the high-pressure air pipe of the coal unloading car brake is lifted by the first rotating support spring, the rotating pressure plate 310c is compressed to the end face of the fixed base 310a at a 45-degree angle. When the end face of the rotating pressure plate 310c is reset to the horizontal state.
[0036] The claw mechanism 320 includes a base plate 320a installed on a fixed base 310a, a pipe head limiting side plate 320b vertically installed on one side of the base plate 320a, a second rotating shaft 320c installed on the base plate 320a and opposite to the pipe head limiting side plate 320b, an arc-shaped gripper 320d arranged on the side of the second rotating shaft 320c, and a second rotating support spring sleeved on the second rotating shaft 320c and connected to the second rotating shaft 320c at one end and the base plate 320a at the other end. The pipe head limiting side plate 320b is used to form a natural 90-degree vertical angle when the pipe head is squeezed. Because the pipe head is wide at the top and narrow at the bottom, during the downward pressing of the pipe head, the arc-shaped gripper 320d opens, and the coal unloading car braking high-pressure air pipe gripping force is formed through the second rotating shaft 320c. When the pipe head is released, the arc-shaped gripper 320d returns to its original position due to the action of the second rotating support spring. Preferably, in this embodiment, the first rotating support spring and the second rotating support spring are both torsion springs.
[0037] Combination Figure 1-Figure 5 , a coal unloading car brake high-pressure air pipe docking mechanical arm device in this embodiment, the specific actions are as follows:
[0038] S1. Extend the left robotic arm group 10 and the right robotic arm group 20 to the bottom of the two groups of brake high-pressure air pipes.
[0039] S2, the mechanical arms 200 of the left mechanical arm group 10 and the right mechanical arm group 20 are all raised at an angle of 45 degrees. At this time, the tube heads on both sides are vertically docked. At this time, under the C60 model, the right motor position offset of the two tube heads is 667mm, and the left motor displacement offset is 179mm. Under standard manufacturing, the deviation of other models is within 2mm, which does not affect the docking error.
[0040] S3, the motor position on the right is offset by 667mm, the two pipe heads are aligned, the motor on the left is offset by 179mm, the two pipe heads are aligned;
[0041] S4, left robot group 10, right motor position returns to 0 degree horizontal position at 1 degree / second, synchronous right motor retreats 566mm. Two pipe heads relax;
[0042] S5. The left motor position returns to the original position, the right motor position returns to the original position, and the pipe head docking is completed.
[0043] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.
Claims
1. A coal unloading car brake high-pressure air pipe docking mechanical arm device, characterized in that: include: A left robotic arm group (10) and a right robotic arm group (20); The left mechanical arm group (10) and the right mechanical arm group (20) both comprise a docking sliding mechanism (100), a mechanical arm (200) mounted on the docking sliding mechanism (100), and a docking pressing mechanical hand (300) mounted at the end of the mechanical arm (200), wherein the docking pressing mechanical hand (300) comprises a pressing mechanism (310) and a claw hand mechanism (320); Wherein, the mechanical arm (200) of the left mechanical arm group (10) is installed vertically to the docking sliding mechanism (100), and the mechanical arm (200) of the right mechanical arm group (20) is installed parallel to the docking sliding mechanism (100); The docking sliding mechanism (100) comprises a slide rail body (110), a stepper motor (120) mounted at the head end of the slide rail body (110), a lead screw (130) connected to the output end of the stepper motor (120), a slider (140) connected to the lead screw (130) and driven by the lead screw (130) to slide on the slide rail body (110), and a rainproof and dustproof cover (150) arranged between the slider (140) and the two sides of the slide rail body (110).
2. A coal unloading vehicle brake high-pressure air pipe docking mechanical arm device according to claim 1, characterized in that: The rainproof and dustproof cover (150) is a corrugated structure that can be collapsed and folded.
3. The coal unloading vehicle brake high-pressure air pipe docking mechanical arm device according to claim 1, characterized in that: The slider (140) has a built-in position sensor.
4. The coal unloading vehicle brake high-pressure air pipe docking mechanical arm device according to claim 1, characterized in that: The robot arm (200) includes a robot arm column (210) installed on the slider (140), a robot arm lifting axis motor (220) installed on the side of the robot arm column (210), a lifting axis motor connector (230) connected to the output end of the robot arm lifting axis motor (220), and a lifting axis (240) installed on the side of the lifting axis motor connector (230).
5. A coal unloading vehicle brake high-pressure air pipe docking mechanical arm device according to claim 4, characterized in that: The mechanical arm lifting shaft motor (220) is embedded and installed in the mechanical arm column (210).
6. The coal unloading vehicle brake high-pressure air pipe docking mechanical arm device according to claim 1, characterized in that: The pressing mechanism (310) comprises a fixed base (310a), a first rotating shaft (310b) arranged on the fixed base (310a), a rotating pressing plate (310c) arranged on the side of the first rotating shaft (310b), and a first rotating support spring sleeved on the first rotating shaft (310b) and having one end connected to the first rotating shaft (310b) and the other end connected to the fixed base (310a); Wherein, in the initial state, the rotating pressing plate (310c) and the fixed base (310a) are at an angle of 45°.
7. A coal unloading vehicle brake high-pressure air pipe docking mechanical arm device according to claim 6, characterized in that: The gripper mechanism (320) comprises a base plate (320a) mounted on the fixed base (310a), a tube head limiting side plate (320b) vertically mounted on one side of the base plate (320a), a second rotating shaft (320c) mounted on the base plate (320a) and opposite to the tube head limiting side plate (320b), an arc-shaped gripper (320d) arranged on the side of the second rotating shaft (320c), and a second rotating support spring sleeved on the second rotating shaft (320c) and having one end connected to the second rotating shaft (320c) and the other end connected to the base plate (320a).
8. The coal unloading vehicle brake high-pressure air pipe docking mechanical arm device according to claim 7, characterized in that: The first rotation support spring and the second rotation support spring are both torsion springs.
9. The coal unloading vehicle brake high-pressure air pipe docking mechanical arm device according to claim 1, characterized in that: The stepper motor (120) is connected to a stepping turn bus controller for controlling the stepper motor (120).