A driving structure, a main manipulator, and a sub-manipulator

Abstract

The present invention discloses a driving structure, a main manipulator and a sub-manipulator. The driving structure includes a base and a manipulator hinged to the base. The manipulator is hinged with a first driving member for driving the manipulator to rotate. The first driving member is connected with a second driving member for changing the position of the first driving member. The second driving member is arranged on the base. By adjusting the position of the first driving member through the second driving member, when the manipulator rotates from the first position to the second position, the second driving member in the front section adjusts the position of the first driving member along the rotation direction of the manipulator, so as to increase the swing speed and achieve rapid swinging. When the manipulator is about to swing quickly to the second position, the second driving member adjusts the position of the first driving member, and the first driving member itself does not operate, so as to achieve fine adjustment of the position of the first driving member at a small angle, that is, fine adjustment of the manipulator by the first driving member is realized, and the manipulator can swing at a speed of 10-15 millimeters per second at the swinging end.

Description

Technical Field

[0001] The invention relates to a mechanical arm, and more specifically to a driving structure and a main mechanical arm and an auxiliary mechanical arm. Background Art

[0002] In existing tunnel excavation, multiple steel arch frames need to be installed along the length of the tunnel to prevent tunnel collapse. In order to meet the requirements, the length of each steel arch frame is also correspondingly large. Therefore, during the construction process, the steel arch frame is usually split into multiple arch frame segments, and the arch frame trolley clamps the arch frame segments to the installation position through the working arm.

[0003] Most of the robotic arms on the arch trolley are driven directly by a cylinder or by a cylinder + four-link form. However, when the above two structures are in the posture calibration position, due to the limitation of the adjustment stroke of the hydraulic valve and the cylinder, the hydraulic cylinder speed is as slow as 2-3 mm / s, which is the limit. Under this speed, the linear speed of the swing end of the rocker arm will also reach 40-80 mm / s, which is very unfavorable for the adjustment and calibration of the clamped workpiece, that is, the working arm cannot reach the installation position very accurately. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a driving structure for the working arm of the arch trolley, which can enable the working arm to reach the installation position very accurately.

[0005] The technical solution of the present invention is to provide a driving structure with the following structure, including a base and a manipulator hinged on the base, the manipulator is hinged with a first driving member that drives the manipulator to rotate, the first driving member is connected to a second driving member that changes the position of the first driving member, and the second driving member is arranged on the base.

[0006] Preferably, the second driving member includes a second cylinder body and a second telescopic rod slidably connected to the second cylinder body, the second cylinder body is fixedly connected to the base, and the end of the second telescopic rod is connected to the first driving member.

[0007] Preferably, the first driving member includes a first cylinder body and a first telescopic rod slidably connected to the first cylinder body, and the first telescopic rod is hinged to the manipulator.

[0008] Preferably, the second telescopic rod is fixedly connected to the first cylinder.

[0009] Preferably, the second telescopic rod is hinged to the first cylinder.

[0010] Preferably, the end of the first cylinder away from the first telescopic rod is hinged to the second telescopic rod.

[0011] Preferably, the base comprises a support frame, and the second cylinder body is fixedly connected in the support frame.

[0012] Preferably, the second driving member is arranged in the horizontal direction, and the second driving member drives the first driving member to move in the horizontal direction.

[0013] After adopting the above structure, the driving structure of the present invention has the following advantages compared with the prior art: the position of the first driving member is adjusted by the second driving member, and when the manipulator rotates from the first position to the second position, the second driving member of the front section adjusts the position of the first driving member along the rotation direction of the manipulator, that is, the swinging speed can be accelerated to achieve rapid swinging. When the manipulator is about to swing to the second position, the second driving member adjusts the position of the first driving member, and the first driving member itself does not run, so as to achieve small-angle fine-tuning of the position of the first driving member, that is, the first driving member achieves fine-tuning of the manipulator, and can achieve a swing of 10-15 mm / s at the swing end of the manipulator, greatly reducing the swinging speed, that is, the angle can be fine-tuned, which is beneficial to the adjustment and calibration of the clamped workpiece, and the manipulator can reach the installation position very accurately.

[0014] Another technical solution of the present invention is to provide a main manipulator with the following structure, including a base, a manipulator and a first chuck for clamping a workpiece, including any of the above-mentioned driving structures, the manipulator includes an outer tube and an inner tube, the lower end of the outer tube is rotatably matched with the base, the first driving member is used to drive the outer tube to rotate, the inner tube is slidably matched in the outer tube, the upper end of the inner tube away from the base is exposed outside the outer tube, the first chuck is rotatably matched with the upper end of the inner tube, and power arms for abutting against the workpiece and pushing the workpiece to be lifted are respectively installed on both sides of the outer tube.

[0015] After adopting the above structure, the main manipulator of the present invention has the following advantages compared with the prior art: First, the workpiece is clamped by the main manipulator and lifted by the two power arms on both sides. Therefore, the bearing capacity of the power arms driven by hydraulic pressure is much greater than that of the conventional articulated manipulator. At the same time, through the cooperation of the telescopic amounts between the two power arms, the adjustment of the arch angle and position can be realized, so the adjustment accuracy is good. Second, a reset cable is designed so that when the inner tube on the main manipulator fails to reset under the action of gravity, the movable section on the power arm can be used to drive the inner tube on the main manipulator to be forcibly reset, improving the overall reliability of the equipment. Third, a bracket is arranged at the upper end of the power arm, so that the workpiece can be effectively supported and the workpiece can be prevented from slipping off the power arm along the direction of its own thickness. Finally, this manipulator of the present invention application has no high-performance requirements for materials compared with the conventional manipulator, and the overall structure is simple. At the same time, only the coordinated cooperation between the drivers on the two power arms needs to be controlled. Therefore, the control system is simple and the adjustment accuracy is high, ultimately resulting in a lower overall equipment cost. By adjusting the position of the first driver through the second driver, when the manipulator rotates from the first position to the second position, the second driver in the front section adjusts the position of the first driver along the rotation direction of the manipulator, that is, the swinging speed can be increased to achieve rapid swinging. When the manipulator is about to swing quickly to the second position, the second driver adjusts the position of the first driver, and the first driver itself does not operate to achieve fine adjustment of the position of the first driver at a small angle, that is, fine adjustment of the manipulator by the first driver can be realized. The swinging of the swinging end of the manipulator can reach 10-15 millimeters per second, greatly reducing the swinging speed, that is, fine adjustment of the angle can be realized, which is beneficial to the adjustment and calibration of the clamped workpiece, and the manipulator can reach the installation position very accurately.

[0016] Another technical solution of the present invention is to provide a sub-manipulator having the following structure, including a base, a manipulator is hinged on the base, including any of the above driving structures, a second chuck is hinged at the end of the manipulator, and a first auxiliary driving mechanism is installed between the second chuck and the manipulator to realize the up and down swinging of the second chuck; the manipulator includes a plurality of arm segments, and the plurality of arm segments are sequentially connected in series by a hinged manner, and a second auxiliary driving mechanism is installed on the swinging direction side of the arm segment to realize the left and right swinging of the whole manipulator.

[0017] After adopting the above structure, the auxiliary manipulator of the present invention has the following advantages compared with the prior art: The arm body is formed by hinging multiple arm segments, and each drive mechanism is used to adjust the angular range of the left and right of the arm body. The bracket on the chuck is used to adjust the up and down positional relationship of the arch frame clamped on the chuck body. Driven by the first auxiliary mechanism, the bracket can make an up and down arc movement around the hinge point at the end of the manipulator, so that the arch frame can achieve fine adjustment in the up and down directions; it has the advantages of novel structure, multi-directional angle adjustment, and flexible use. By adjusting the position of the first drive member with the second drive member, when the manipulator rotates from the first position to the second position, the second drive member in the front section adjusts the position of the first drive member along the rotation direction of the manipulator, that is, the swing speed can be increased to achieve rapid swinging. When the manipulator quickly swings to the second position, the second drive member adjusts the position of the first drive member, and the first drive member itself does not operate to achieve fine adjustment of the position of the first drive member by a small angle, that is, the fine adjustment of the manipulator by the first drive member is realized. It can achieve a swing of 10-15 millimeters per second at the swing end of the manipulator, greatly reducing the swing speed, that is, the fine adjustment of the angle can be achieved, which is beneficial to the adjustment and calibration of the clamped workpiece, and the manipulator can reach the installation position very accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the main manipulator of the present invention Figure 1 .

[0019] Figure 2 is a schematic structural diagram of the main manipulator of the present invention Figure 2 .

[0020] Figure 3 is Figure 2 the sectional structural schematic diagram along A-A in

[0021] Figure 4 is a schematic structural diagram of the auxiliary manipulator of the present invention.

[0022] As shown in the figure: 1. Base; 2. Manipulator; 21. Outer tube; 22. Inner tube; 23. Arm segment; 3. First drive member; 31. First cylinder body; 32. First telescopic rod; 4. Second drive member; 41. Second cylinder body; 42. Second telescopic rod; 5. First chuck; 6. Power arm; 7. Second chuck; 71. Chuck body; 72. Bracket; 8. First auxiliary drive mechanism; 9. Second auxiliary drive mechanism. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0024] Embodiment 1

[0025] Please refer to Figure 1 , Figure 2 ,Figure 3 As shown in the figure, the driving structure of the present invention includes a base 1 and a manipulator 2 hinged to the base 1. The manipulator 2 is hinged with a first driving member 3 for driving the rotation of the manipulator 2. The first driving member 3 is connected with a second driving member 4 for changing the position of the first driving member 3. The second driving member 4 is arranged on the base 1. By adjusting the position of the first driving member 3 through the second driving member 4, when the manipulator 2 rotates from the first position to the second position, the second driving member 4 in the front section adjusts the position of the first driving member 3 along the rotation direction of the manipulator 2, that is, the swinging speed can be increased to achieve rapid swinging. When the manipulator 2 is about to swing quickly to the second position, the second driving member 4 adjusts the position of the first driving member 3, and the first driving member 3 does not operate, so as to realize the fine adjustment of the position of the first driving member 3 at a small angle, that is, the fine adjustment of the manipulator 2 by the first driving member 3 is realized. The manipulator 2 can swing at a speed of 10-15 millimeters per second at the swinging end, greatly reducing the swinging speed, that is, the fine adjustment of the angle can be realized.

[0026] Moreover, the first driving member 3 can be arranged according to the hinged position between the manipulator 2 and the base 1, and the second driving member 4 can be arranged according to the position of the first driving member 3, that is, as long as the position of the first driving member 3 can be adjusted along the swinging direction of the manipulator 2, the adjustment of the swinging speed can be realized. It can not only be adjusted quickly but also realize the fine adjustment of the angle, which is beneficial to the adjustment and calibration of clamping workpieces. The second driving member 4 can be arranged horizontally, vertically or obliquely.

[0027] The first driving member 3 and the second driving member 4 can be driving members with variable lengths, such as oil cylinders, air cylinders, screws, etc.

[0028] Embodiment 2

[0029] Please refer to Figure 1 、 Figure 2 、 Figure 3 As shown in the figure, the driving structure of the present invention includes a base 1 and a manipulator 2 hinged to the base 1. The manipulator 2 is hinged with a first driving member 3 for driving the rotation of the manipulator 2. The first driving member 3 is connected with a second driving member 4 for changing the position of the first driving member 3.

[0030] The first driving member 3 described above includes a first cylinder block 31 and a first telescopic rod 32 slidably connected within the first cylinder block 31. The first telescopic rod 32 is hinged to the manipulator 2 and can be effectively adjusted along with the manipulator 2. The second driving member 4 is disposed on the base 1 and includes a second cylinder block 41 and a second telescopic rod 42 slidably connected within the second cylinder block 41. The second cylinder block 41 is fixedly connected to the base 1, and the end of the second telescopic rod 42 is connected to the first driving member 3. By fixedly connecting the second cylinder block 41 to the base 1, the manipulator 2 can be stably supported, and the position of the first cylinder block 31 can be quickly adjusted through the second telescopic rod 42. The structure is simpler and more reliable, and the influence on the position of the first driving member 3 can be greatly reduced, with a small overall volume.

[0031] The base 1 described above includes a support frame. The second cylinder block 41 is fixedly connected within the support frame, which can further reduce the overall volume, and the second driving member 4 is built-in to improve the operation stability. Moreover, the second cylinder block 41 can be held horizontally to improve the adjustment efficiency.

[0032] Embodiment Three

[0033] The basic structure is the same as that of Embodiment Two of the working arm structure, with the difference being that the second telescopic rod 42 is fixedly connected to the first cylinder block 31. Fixed connection means that there is a structure that can fixedly connect the second telescopic rod 42 to the first cylinder block 31, that is, a fixed connection is achieved during partial operation of the first driving member 3 and the second driving member 4, that is, the angle between the first driving member 3 and the second driving member 4 is constant. When adjusting the operation of the robotic arm, the first driving member 3 and the second driving member 4 will necessarily operate simultaneously. By adjusting the position of the first driving member 3 along the rotation direction of the manipulator 2 through the second driving member 4, the swinging speed can be increased to achieve rapid swinging, or by adjusting the position of the first driving member 3 along the reverse direction of the rotation of the manipulator 2 through the second driving member 4, the displacement stroke can be offset, that is, the driving speed of the first driving member 3 on the manipulator 2 is greatly reduced, and the manipulator 2 can swing at a speed of 10 - 15 millimeters per second at the swinging end, greatly reducing the swinging speed, that is, fine adjustment of the angle can be achieved.

[0034] Embodiment Four

[0035] The basic structure is the same as that of Embodiment Two of the working arm structure, with the difference being that the second telescopic rod 42 is hinged to the first cylinder block 31. That is, the angle between the first driving member 3 and the second driving member 4 can change. When adjusting the operation of the robotic arm, the first driving member 3 and the second driving member 4 can operate non-simultaneously, that is, it is also possible for only the first driving member 3 or the second driving member 4 to move, or the first driving member 3 and the second driving member 4 can operate simultaneously. In other words, there is no restriction on the coordination of the stroke between the first driving member 3 and the second driving member 4, and the adjustment is more free and can be adjusted in multiple ways.

[0036] The position of the manipulator 2 can be adjusted by the movement of the first driving member 3 or the second driving member 4 alone. Since the first driving member 3 and the second driving member 4 are not on the same horizontal line, they can be adjusted at multiple angles. Moreover, the second driving member 4 can adjust the position of the first driving member 3 along the rotation direction of the manipulator 2, that is, the swinging speed can be increased to achieve rapid swinging. Or the second driving member 4 adjusts the position of the first driving member 3, and the first driving member 3 does not operate, so as to achieve fine adjustment of the position of the first driving member 3 at a small angle, that is, fine adjustment of the manipulator 2 by the first driving member 3 is realized. Or the second driving member 4 adjusts the position of the first driving member 3 along the reverse direction of the rotation of the manipulator 2, that is, the displacement strokes are offset from each other, that is, the driving speed of the first driving member 3 on the manipulator 2 is greatly reduced, and the manipulator 2 can swing at a speed of 10-15 millimeters per second at the swinging end, and the swinging speed is greatly reduced, that is, fine adjustment of the angle can be achieved.

[0037] The end of the first cylinder block 31 far from the first telescopic rod 32 is hinged to the second telescopic rod 42, which can adjust the position of the first driving member 3 more accurately and quickly. The second driving member 4 is arranged in the horizontal direction, and the second driving member 4 drives the first driving member 3 to move in the horizontal direction, with reliable operation, can support the manipulator 2 more stably, and can more accurately achieve fine adjustment of the angle when adjusting the position of the first driving member 3 in the reverse direction. The hinged position between the manipulator 2 and the base 1 is lower than the position of the second driving member 4, which can make way for the setting of the first driving member 3 and the second driving member 4.

[0038] Embodiment 5

[0039] Please refer to Figure 1 、 Figure 2 、 Figure 3As shown in the figure, a main manipulator 2 with the following structure includes a base 1, a manipulator 2, and a first chuck 5 for clamping a workpiece, and includes any of the above driving structures. The manipulator 2 includes an outer tube 21 and an inner tube 22. The lower end of the outer tube 21 is rotatably matched with the base 1. The first driving member 3 is used to drive the outer tube 21 to rotate. The inner tube 22 is slidably matched inside the outer tube 21. The upper end of the inner tube 22 facing away from the base 1 is exposed outside the outer tube 21. The first chuck 5 is rotatably matched with the upper end of the inner tube 22. Power arms 6 for abutting against the workpiece and pushing the workpiece to be lifted are respectively installed on both sides of the outer tube 21. First, the workpiece is clamped by the main manipulator 2 and the workpiece is lifted by the two power arms 6 on both sides. Therefore, the bearing capacity of the power arm 6 driven by hydraulic pressure is much greater than that of a conventional articulated manipulator 2. At the same time, through the cooperation of the telescopic amounts between the two power arms 6, the adjustment of the arch angle and position can be realized, so the adjustment accuracy is good. Second, a reset cable is designed so that when the inner tube 22 on the main manipulator 2 fails to reset under the action of gravity, the movable section on the power arm 6 can be used to force the inner tube 22 on the main manipulator 2 to reset, improving the overall reliability of the equipment. Third, a bracket is arranged at the upper end of the power arm 6, so that the workpiece can be effectively supported and the workpiece can be prevented from slipping off the power arm 6 along its own thickness direction. Finally, this robotic arm of the present invention application has no requirements for any high-performance materials compared with conventional robotic arms. At the same time, the overall structure is simple, and only the coordinated cooperation between the drivers on the two power arms 6 needs to be controlled. Therefore, the control system is simple, the adjustment accuracy is high, and finally the overall equipment cost is low. By adjusting the position of the first driving member 3 through the second driving member 4, when the manipulator 2 rotates from the first position to the second position, the front part of the second driving member 4 adjusts the position of the first driving member 3 along the rotation direction of the manipulator 2, that is, the swinging speed can be increased to achieve rapid swinging. When the manipulator 2 is about to swing quickly to the second position, the second driving member 4 adjusts the position of the first driving member 3, and the first driving member 3 does not operate to realize fine adjustment of the position of the first driving member 3 at a small angle, that is, fine adjustment of the manipulator 2 by the first driving member 3 is realized. The manipulator 2 can swing at a speed of 10 - 15 millimeters per second at the swinging end, greatly reducing the swinging speed, that is, fine adjustment of the angle can be realized, which is beneficial to the adjustment and calibration of the clamped workpiece. The manipulator 2 can reach the installation position very accurately.

[0040] Embodiment Six

[0041] Please refer to Figure 2 、 Figure 3 、 Figure 4As shown in the figure, a secondary manipulator with the following structure includes a base 1. A manipulator 2 is hinged on the base 1 and includes any of the above driving structures. A second chuck 7 is hinged to the end of the manipulator 2, and a first auxiliary driving mechanism 8 is installed between the second chuck 7 and the manipulator 2 to realize the up-and-down swing of the second chuck 7. The manipulator 2 includes several arm segments 23, and the several arm segments 23 are sequentially connected in series by hinge means. A second auxiliary driving mechanism 9 is installed on the swinging direction side of the arm segment 23 to realize the left-and-right swing of the entire manipulator 2. The second chuck 7 includes a chuck body 71 and a bracket 72. One end of the bracket 72 is hinged to the chuck body 71 and is hinged to the end of the manipulator 2 together. The other end of the bracket 72 is connected to the manipulator 2 through the first auxiliary mechanism 8. The main body of the bracket 72 is movably connected to the main body of the chuck body 71. The arm body is formed by hinging multiple arm segments 23, and the left-and-right range of angle adjustment of the arm body is realized through each driving mechanism. The bracket 72 on the second chuck 7 is used to adjust the up-and-down positional relationship of the arch frame clamped on the chuck body 71. Driven by the first auxiliary mechanism 8, the bracket 72 can perform an up-and-down arc movement around the hinge point at the end of the manipulator 2, so that the arch frame can be finely adjusted in the up-and-down direction. It has the advantages of novel structure, multi-directional angle adjustment, and flexible use. By adjusting the position of the first driving member 3 with the second driving member 4, when the manipulator 2 rotates from the first position to the second position, the front part of the second driving member 4 adjusts the position of the first driving member 3 along the rotation direction of the manipulator 2, that is, the swinging speed can be increased to achieve rapid swinging. When the manipulator 2 is about to swing quickly to the second position, the second driving member 4 adjusts the position of the first driving member 3, and the first driving member 3 does not operate to finely adjust the position of the first driving member 3 at a small angle, that is, the fine adjustment of the manipulator 2 by the first driving member 3 is realized. It can achieve a swing of 10 - 15 millimeters per second at the swinging end of the manipulator 2, greatly reducing the swinging speed, that is, the fine adjustment of the angle can be realized, which is beneficial to the adjustment and calibration of the clamped workpiece, and the manipulator 2 can reach the installation position very accurately.

[0042] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A driving structure for the working arm of an arch trolley, comprising a base (1) and a manipulator (2) hinged to the base (1). The manipulator (2) is hinged with a first driving member (3) for driving the manipulator (2) to rotate. Characterized in that: The first driving member (3) is connected with a second driving member (4) for changing the position of the first driving member (3). The second driving member (4) is arranged on the base (1); the second driving member (4) can adjust the position of the first driving member (3) along the swinging direction of the manipulator (2), that is, the swinging speed can be adjusted. It can not only be adjusted quickly but also achieve fine adjustment of the angle; when the manipulator (2) rotates from the first position to the second position, the front part of the second driving member (4) adjusts the position of the first driving member (3) along the rotating direction of the manipulator (2). When the manipulator (2) is about to swing to the second position quickly, the second driving member (4) adjusts the position of the first driving member (3), and the first driving member (3) does not operate itself; the second driving member (4) includes a second cylinder body (41) and a second telescopic rod (42) slidably connected in the second cylinder body (41). The second cylinder body (41) is fixedly connected to the base (1), and the end of the second telescopic rod (42) is connected to the first driving member (3); the first driving member (3) includes a first cylinder body (31) and a first telescopic rod (32) slidably connected in the first cylinder body (31). The first telescopic rod (32) is hinged to the manipulator (2); the second telescopic rod (42) is hinged to the first cylinder body (31); the base (1) includes a support frame, and the second cylinder body (41) is fixedly connected inside the support frame.

2. The driving structure according to claim 1, Characterized in that: The end of the first cylinder body (31) away from the first telescopic rod (32) is hinged to the second telescopic rod (42).

3. The driving structure according to claim 1, Characterized in that: The second driving member (4) is arranged in the horizontal direction, and the second driving member (4) drives the first driving member (3) to move in the horizontal direction.

4. A main manipulator, comprising a base (1), a manipulator (2) and a chuck (5) for clamping a workpiece, Characterized in that: It includes the driving structure according to any one of claims 1-3. The manipulator (2) includes an outer tube (21) and an inner tube (22). The lower end of the outer tube (21) is rotationally matched with the base (1). The first driving member (3) is used to drive the outer tube (21) to rotate. The inner tube (22) is slidably matched inside the outer tube (21). The upper end of the inner tube (22) away from the base (1) is exposed outside the outer tube (21). The chuck (5) is rotationally matched with the upper end of the inner tube (22). Power arms (6) for abutting against the workpiece and pushing the workpiece to be lifted are respectively installed on both sides of the outer tube (21).

5. A sub-manipulator, comprising a base (1), Characterized in that: A manipulator (2) is hinged on the base (1), which includes the drive structure according to any one of claims 1-3. A chuck (7) is hinged at the end of the manipulator (2), and a first auxiliary mechanism (8) is installed between the chuck (7) and the manipulator (2) to realize the up-and-down swing of the chuck (7). The manipulator (2) includes a plurality of arm segments (23), and the plurality of arm segments (23) are sequentially connected in series by a hinged manner. A second auxiliary drive mechanism (9) is installed on the swing direction side of the arm segment (23) to realize the left-and-right swing of the entire manipulator (2). The chuck (7) includes a chuck body (71) and a bracket (72). One end of the bracket (72) is hinged to the chuck body (71) and is hinged together at the end of the manipulator (2). The other end of the bracket (72) is connected to the manipulator (2) through the first auxiliary mechanism (8), and the main body of the bracket (72) is movably connected to the main body of the chuck body (71).

Images