An underground auxiliary operation robotic arm

Abstract

The present invention belongs to the technical field of robotic arms, in particular to a downhole auxiliary operation robotic arm. Aiming at the problem that in the process of using the existing robotic arm, it is not convenient to perform dust removal treatment on all aspects of the operation, which reduces the service life of the robotic arm and increases the risk of harming the health of the staff. The following solution is now proposed. It includes a base; a transmission shaft, and there are two transmission shafts. Both transmission shafts are rotatably installed on the base. Two rollers are fixedly connected to the outside of both transmission shafts. An installation seat is fixedly installed on the top of the base, and a positioning mechanism is arranged on the installation seat. The positioning mechanism is used to fix the base. The present invention can facilitate dust removal treatment on all aspects of the operation during use, thereby effectively improving the service life of the robotic arm and greatly reducing the risk of harming the health of the staff. The structure is simple and the use is convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and more particularly to a downhole auxiliary operation robotic arm. Background Art

[0002] Under the general background of the development of digitalization and intelligentization, coal mining in China has rapidly advanced from mechanization and automation to intelligentization. The development goal of intelligent and less-manned coal mines has become the industry consensus. The less-manned coal mine has first realized the less-manned and unmanned fully-mechanized mining technology, and has driven a significant improvement in the intelligentization level of supporting production processes such as tunneling, support, and transportation. Among them, the monthly advance of rapid tunneling has reached a maximum of over 3000 m. In order to meet the needs of less-manned and intelligent mines, the production preparation and production service work in coal mines need to be equipped with various auxiliary operation mechanical equipment for coal mining and tunneling to ensure the smooth progress of production connection. A robotic arm refers to a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operation flexibility, it has been widely used in industrial assembly, safety explosion protection and other fields.

[0003] The patent document with the publication number CN206111177U discloses a full-directional grooving robotic arm assembly for underground coal mines, which includes being installed behind a tractor, including a main support frame horizontally installed along the left-right direction at the rear end of the tractor body chassis, a sub-support frame vertically installed at the middle position of the main support frame, a slewing frame installed on the sub-support frame, a telescopic arm installed on the slewing frame, and a grooving working device installed at the telescopic end of the telescopic arm; the grooving working device includes a grooving tool slewing drive, an L-shaped mounting frame, a grooving tool, a primary slewing drive, and a secondary slewing drive. The slewing axis of the grooving tool slewing drive is arranged in the front-rear direction. The grooving tool includes a circular saw and a drill bit, and quick-connection mechanisms are provided at the centers of both the circular saw and the drill bit. This full-directional grooving robotic arm assembly for underground coal mines can ensure sufficient grooving depth on the premise of providing sufficient grooving and rock-breaking driving force and a large working range, and is particularly suitable for grooving operations in underground coal mines.

[0004] However, during the use of the above patent document, it is not convenient to perform dust removal treatment on all aspects of the operation, which in turn leads to a reduction in the service life of the robotic arm and also increases the risk of harming the health of the staff. For this reason, we propose a downhole auxiliary operation robotic arm to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to solve the disadvantages in the prior art that during the use of a robotic arm, it is not convenient to perform dust removal treatment on all aspects of the operation, which in turn leads to a reduction in the service life of the robotic arm and also increases the risk of harming the health of the staff, and to propose a downhole auxiliary operation robotic arm.

[0006] The downhole auxiliary operation robotic arm provided by this application adopts the following technical solution:

[0007] A downhole auxiliary operation robotic arm, comprising:

[0008] A base;

[0009] Drive shafts. There are two drive shafts, both of which are rotatably installed on the base. Two rollers are fixedly connected to the outer sides of the two drive shafts. A mounting seat is fixedly installed on the top of the base. A positioning mechanism is arranged on the mounting seat, and the positioning mechanism is used to fix the base;

[0010] A top plate, which is fixedly installed on the top of the mounting seat. An installation groove, a dust removal chamber and a placement groove are opened in the mounting seat. A collection box is slidably installed in the placement groove. A pull plate is fixedly installed on one side of the collection box. A dust collection port is opened on the top inner wall of the placement groove. The collection box is used to collect dust;

[0011] An activated carbon filter layer, which is fixedly installed in the dust removal chamber. An air outlet is opened on one inner wall of the dust removal chamber. A dust-proof plate is fixedly installed in the air outlet. A dust suction mechanism and an interception mechanism are arranged in the dust removal chamber. A conveying mechanism is connected to the interception mechanism. The dust suction mechanism and the interception mechanism are used to collect the dust generated during the operation;

[0012] A first dust suction pipe. An installation hole is opened on the other inner wall of the dust removal chamber. The first dust suction pipe is rotatably installed in the installation hole. A second dust suction pipe is slidably installed in the first dust suction pipe. One end of the second dust suction pipe is fixedly communicated with a dust suction port. A synchronous rotation mechanism is arranged on the first dust suction pipe, and the synchronous rotation mechanism is used to synchronously adjust the orientation of the dust suction port;

[0013] A rotating column. A first sliding groove is opened on one side of the mounting seat. The rotating column is rotatably installed in the first sliding groove. A telescopic adjustment mechanism is arranged on the rotating column. A second sliding groove is opened on one side of the rotating column. A telescopic column is slidably installed in the second sliding groove. A base arm is fixedly connected to the outside of the telescopic column. A telescopic arm is connected to the base arm. A grooving working device is connected to the telescopic arm. The telescopic adjustment mechanism is used to adjust the horizontal positions of the base arm, the telescopic arm and the grooving working device.

[0014] Two symmetric threaded rods are rotatably installed on the top plate. The two threaded rods are respectively connected to two slide plates by screw threads. One end of the threaded rod is fixedly connected to the output shaft of the first motor. A first sprocket and a second sprocket are respectively fixedly installed on the outer sides of the two threaded rods. The same first chain is engaged on the first sprocket and the second sprocket. When the threaded rod rotates, the threaded rod drives the first sprocket to rotate. The first sprocket drives the second sprocket to rotate through the first chain. The second sprocket drives the other threaded rod to rotate.

[0015] The dust suction mechanism includes two struts, which are respectively fixedly installed on the top inner wall and the bottom inner wall of the dust removal chamber. One ends of the two struts are fixedly connected to the same third motor. The output shaft of the third motor is fixedly connected with a worm. A worm gear is meshed with the worm. An impeller is fixedly installed on the outer side of the worm. When the third motor is turned on, the third motor drives the worm to rotate. The worm drives the impeller to rotate. At the same time, the worm drives the worm gear to rotate.

[0016] Third chutes are respectively formed in the top of the base and the bottom of the sliding plate. A first conductive column and a second conductive column are respectively slidably installed in the two third chutes. Springs are fixedly connected to the outer sides of the first conductive column and the second conductive column. One ends of the two springs are respectively fixedly connected to the inner walls of the two third chutes. A power supply is fixedly installed on the top of the top plate. The first conductive column, the power supply, the third motor and the second conductive column are connected in sequence. When the sliding plate moves vertically downward to a certain position, the first conductive column contacts the second conductive column, and thus the third motor can be automatically turned on.

[0017] The conveying mechanism includes a third transmission rod and a screw conveyor. Two second through holes are formed in the bottom inner wall of the installation groove. The third transmission rod and the screw conveyor are respectively rotatably installed in the two second through holes. One end of the third transmission rod is fixedly connected to the worm gear. Fifth sprockets and sixth sprockets are respectively fixedly installed at the other end of the third transmission rod and one end of the screw conveyor. The fifth sprocket and the sixth sprocket are meshed with the same third chain. The screw conveyor is located inside the filter cartridge. When the worm gear rotates, the worm gear drives the third transmission rod to rotate. The third transmission rod drives the fifth sprocket to rotate. The fifth sprocket drives the sixth sprocket to rotate through the third chain.

[0018] A first bearing is fixedly installed on the outer side of the telescopic column. A second bearing is fixedly installed on the outer side of the second dust suction pipe. The first bearing and the second bearing are fixedly connected to the same connecting rod. Through the arrangement of the first bearing, the connecting rod and the second bearing, when the telescopic column moves horizontally, the first bearing drives the connecting rod and the second bearing to move horizontally. When the telescopic column rotates, the first bearing does not drive the connecting rod to rotate.

[0019] The synchronous rotation mechanism includes a first transmission rod and a second transmission rod. First through holes are formed in both the top inner wall and the bottom inner wall of the installation groove. The first transmission rod and the second transmission rod are respectively rotatably installed in the two first through holes. One end of the first transmission rod is fixedly connected to a second bevel gear. A third sprocket and a fourth sprocket are respectively fixedly connected to the first transmission rod and the second transmission rod. The same second chain is engaged with the third sprocket and the fourth sprocket. One end of the second transmission rod is fixedly connected to a cylindrical gear. The cylindrical gear is engaged with a toothed ring. The toothed ring is fixedly installed on the outer side of the first dust suction pipe. When the first transmission rod rotates, the third sprocket drives the fourth sprocket to rotate through the second chain. The fourth sprocket drives the second transmission rod to rotate. The second transmission rod drives the cylindrical gear to rotate. The cylindrical gear drives the toothed ring to rotate. The toothed ring drives the first dust suction pipe to rotate.

[0020] The interception mechanism includes a filter cartridge. The filter cartridge is fixedly installed in the dust removal chamber. One end of the first dust suction pipe is rotatably installed on the filter cartridge. A limiting groove is formed in the inner wall of the first dust suction pipe. A limiting block is slidably installed in the limiting groove. The outer side of the limiting block is fixedly connected to the outer side of the second dust suction pipe. Through the cooperation of the limiting groove and the limiting block, when the first dust suction pipe rotates, the first dust suction pipe can drive the limiting block and the second dust suction pipe to rotate. At the same time, the second dust suction pipe can slide in the first dust suction pipe.

[0021] The telescopic adjustment mechanism includes a second motor. The second motor is fixedly installed on one side of the mounting base. The output shaft of the second motor is fixedly connected to a rotating shaft. One end of the rotating shaft is fixedly connected to one side of a rotating column. A cylinder is fixedly installed on one side inner wall of the second chute. The output shaft of the cylinder is fixedly connected to one side of a telescopic column. A first bevel gear is fixedly installed on the outer side of the rotating shaft. The first bevel gear is engaged with a second bevel gear. When the second motor is started, the second motor drives the rotating shaft to rotate. The rotating shaft drives the first bevel gear to rotate. The first bevel gear drives the second bevel gear to rotate.

[0022] The positioning mechanism includes two sliding plates. The two sliding plates are respectively slidably installed on both sides of the mounting base. Four moving holes are formed in the base. Positioning insertion rods are slidably installed in the four moving holes. One ends of the four positioning insertion rods are respectively fixedly connected to the bottom of the two sliding plates. A through groove is formed on one side of the top plate. A first motor is fixedly installed on the top of the top plate. When the two sliding plates move vertically, the two sliding plates can respectively drive the four positioning insertion rods to move vertically. When the four positioning insertion rods are inserted into the soil, the four positioning insertion rods can fix and position the base.

[0023] In summary, the present application includes at least one of the following beneficial technical effects:

[0024] 1. When the first motor is turned on in this solution, the first motor drives the threaded rod to rotate. The threaded rod drives the first sprocket to rotate. The first sprocket drives the second sprocket to rotate through the first chain. The second sprocket drives another threaded rod to rotate. The two threaded rods respectively drive the two sliding plates to move vertically. The two sliding plates respectively drive the four positioning rods to move vertically. Thus, the four positioning rods can fix and position the base, ensuring the stability of the auxiliary operation.

[0025] 2. When the third motor is turned on in this solution, the third motor drives the worm to rotate. The worm drives the impeller to rotate. The suction force generated by the rotation of the impeller can suck the dust generated during the operation into the dust removal chamber through the first dust suction pipe, the second dust suction pipe and the dust suction port. The filter cartridge can intercept the sucked dust. At the same time, the worm drives the worm wheel to rotate. The fifth sprocket drives the sixth sprocket to rotate through the third chain. The screw conveyor can convey the dust intercepted by the filter cartridge into the collection box for collection.

[0026] 3. When the second motor is turned on in this solution, the second motor drives the rotating shaft to rotate. The rotating shaft drives the rotating column, the cylinder and the telescopic column to rotate. Thus, the angles of the base arm, the telescopic arm and the grooving working device can be adjusted. At the same time, the rotating shaft drives the first bevel gear to rotate. The first bevel gear drives the second bevel gear to rotate. The third sprocket drives the fourth sprocket to rotate through the second chain. The cylindrical gear drives the gear ring to rotate. The first dust suction pipe drives the second dust suction pipe and the dust suction port to rotate through the limiting block. Thus, it can ensure that the dust suction direction of the dust suction port is consistent with the operation position, effectively improving the dust removal effect.

[0027] During the use of the present invention, it is convenient to perform dust removal treatment on all aspects of the operation. Thus, the service life of the robotic arm can be effectively improved. At the same time, the risk of harming the health of the staff is also greatly reduced. The structure is simple and easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a front view structural schematic diagram of a downhole auxiliary operation robotic arm proposed by the present invention;

[0029] Figure 2 is a side view structural schematic diagram of a downhole auxiliary operation robotic arm proposed by the present invention;

[0030] Figure 3 is an internal structural schematic diagram of the mounting seat of a downhole auxiliary operation robotic arm proposed by the present invention;

[0031] Figure 4 is a structural schematic diagram of the positioning mechanism of a downhole auxiliary operation robotic arm proposed by the present invention;

[0032] Figure 5 is a structural schematic diagram of the cooperation between the first bearing and the second bearing of a downhole auxiliary operation robotic arm proposed by the present invention;

[0033] Figure 6 Schematic structural diagram of a telescopic adjustment mechanism for an underground auxiliary operation robotic arm proposed by the present invention;

[0034] Figure 7 Schematic structural diagram of the cooperation between the first bevel gear and the second bevel gear of an underground auxiliary operation robotic arm proposed by the present invention;

[0035] Figure 8 Schematic structural diagram of a synchronous rotation mechanism for an underground auxiliary operation robotic arm proposed by the present invention;

[0036] Figure 9 Schematic structural diagram of a conveying mechanism for an underground auxiliary operation robotic arm proposed by the present invention;

[0037] Figure 10 Schematic structural diagram of a dust suction mechanism for an underground auxiliary operation robotic arm proposed by the present invention;

[0038] Figure 11 Schematic structural diagram of an interception mechanism for an underground auxiliary operation robotic arm proposed by the present invention;

[0039] Figure 12 An underground auxiliary operation robotic arm proposed by the present invention Figure 4 Schematic enlarged structural diagram of part A therein;

[0040] Figure 13 Schematic structural diagram of the cooperation between the limit groove and the limit block of an underground auxiliary operation robotic arm proposed by the present invention;

[0041] Figure 14 Schematic structural diagram of a collection box of an underground auxiliary operation robotic arm proposed by the present invention;

[0042] Figure 15 Schematic structural diagram of a dust suction port of an underground auxiliary operation robotic arm proposed by the present invention.

[0043] Reference numerals: 1, base; 2, mounting seat; 3, top plate; 4, through groove; 5, transmission shaft; 6, roller; 7, first chute; 8, rotating column; 9, second chute; 10, telescopic column; 11, basic arm; 12, telescopic arm; 13, grooving working device; 14, first motor; 15, sliding plate; 16, threaded rod; 17, positioning plug; 18, first sprocket; 19, first chain; 20, second sprocket; 21, first conductive column; 22, second conductive column; 23, spring; 24, power supply; 25, second motor; 26, rotating shaft; 27, cylinder; 28, mounting groove; 29, dust removal chamber; 30, placement groove; 31, collection box; 32, pull plate; 33, activated carbon filter layer; 34, air outlet; 35, dust-proof plate; 36, dust collection port; 37, mounting hole; 38, first dust suction pipe; 39, second dust suction pipe; 40, dust suction port; 41, limit groove; 42, limit block; 43, filter cartridge; 44, support column; 45, third motor; 46, worm; 47, impeller; 48, worm gear; 49, third transmission rod; 50, fifth sprocket; 51, third chain; 52, sixth sprocket; 53, screw conveyor rod; 54, first bevel gear; 55, second bevel gear; 56, first transmission rod; 57, third sprocket; 58, second chain; 59, fourth sprocket; 60, second transmission rod; 61, cylindrical gear; 62, gear ring; 63, first bearing; 64, connecting rod; 65, second bearing. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0045] Embodiment 1

[0046] Refer to Figures 1 - 15 , an underground auxiliary operation robotic arm, including:

[0047] Base 1;

[0048] Transmission shaft 5, there are two transmission shafts 5, both of the two transmission shafts 5 are rotatably installed on the base 1, two rollers 6 are fixedly connected to the outer sides of the two transmission shafts 5, a mounting seat 2 is fixedly installed on the top of the base 1, and a positioning mechanism is arranged on the mounting seat 2 for fixing the base 1;

[0049] Top plate 3, the top plate 3 is fixedly installed on the top of the mounting seat 2, a mounting groove 28, a dust removal chamber 29 and a placement groove 30 are opened in the mounting seat 2, a collection box 31 is slidably installed in the placement groove 30, a pull plate 32 is fixedly installed on one side of the collection box 31, a dust collection port 36 is opened on the top inner wall of the placement groove 30, and the collection box 31 is used for collecting dust;

[0050] The activated carbon filter layer 33 is fixedly installed in the dust removal chamber 29. An air outlet 34 is provided on one inner wall of the dust removal chamber 29. A dust-proof plate 35 is fixedly installed in the air outlet 34. A dust suction mechanism and an interception mechanism are arranged in the dust removal chamber 29. The interception mechanism is connected with a conveying mechanism. The dust suction mechanism and the interception mechanism are used for collecting dust generated during the operation.

[0051] The first dust suction pipe 38. An installation hole 37 is provided on the other inner wall of the dust removal chamber 29. The first dust suction pipe 38 is rotatably installed in the installation hole 37. A second dust suction pipe 39 is slidably installed in the first dust suction pipe 38. One end of the second dust suction pipe 39 is fixedly communicated with a dust suction port 40. A synchronous rotation mechanism is arranged on the first dust suction pipe 38. The synchronous rotation mechanism is used for synchronously adjusting the orientation of the dust suction port 40.

[0052] The rotating column 8. A first sliding groove 7 is provided on one side of the mounting seat 2. The rotating column 8 is rotatably installed in the first sliding groove 7. A telescopic adjustment mechanism is arranged on the rotating column 8. A second sliding groove 9 is provided on one side of the rotating column 8. A telescopic column 10 is slidably installed in the second sliding groove 9. The outer side of the telescopic column 10 is fixedly connected with a base arm 11. The base arm 11 is connected with a telescopic arm 12. The telescopic arm 12 is connected with a grooving working device 13. The telescopic adjustment mechanism is used for adjusting the horizontal positions of the base arm 11, the telescopic arm 12 and the grooving working device 13. Third sliding grooves are provided on the top of the base 1 and the bottom of the sliding plate 15. A first conductive column 21 and a second conductive column 22 are respectively slidably installed in the two third sliding grooves. Springs 23 are fixedly connected to the outer sides of the first conductive column 21 and the second conductive column 22. One ends of the two springs 23 are respectively fixedly connected with the inner walls of the two third sliding grooves. A power supply 24 is fixedly installed on the top of the top plate 3. The first conductive column 21, the power supply 24, the third motor 45 and the second conductive column 22 are connected in sequence. When the sliding plate 15 moves vertically downward to a certain position, the first conductive column 21 contacts the second conductive column 22, and thus the third motor 45 can be automatically started.

[0053] Refer to Figure 4, two symmetrical threaded rods 16 are rotatably installed on the top plate 3. The two threaded rods 16 are respectively connected to the two sliding plates 15 by screw threads. One end of the threaded rod 16 is fixedly connected to the output shaft of the first motor 14. A first sprocket 18 and a second sprocket 20 are respectively fixedly installed on the outer sides of the two threaded rods 16. The first sprocket 18 and the second sprocket 20 are engaged with the same first chain 19. When the threaded rod 16 rotates, the threaded rod 16 drives the first sprocket 18 to rotate. The first sprocket 18 drives the second sprocket 20 to rotate through the first chain 19, and the second sprocket 20 drives the other threaded rod 16 to rotate. The positioning mechanism includes two sliding plates 15. The two sliding plates 15 are respectively slidably installed on both sides of the mounting seat 2. Four moving holes are formed in the base 1, and positioning insertion rods 17 are slidably installed in the four moving holes. One ends of the four positioning insertion rods 17 are respectively fixedly connected to the bottoms of the two sliding plates 15. A through groove 4 is formed on one side of the top plate 3, and the first motor 14 is fixedly installed on the top of the top plate 3. When the two sliding plates 15 move vertically, the two sliding plates 15 can respectively drive the four positioning insertion rods 17 to move vertically. When the four positioning insertion rods 17 are inserted into the soil, the four positioning insertion rods 17 can fix and position the base 1.

[0054] Refer to Figures 5 - 8, a first bearing 63 is fixedly installed on the outer side of the telescopic column 10, a second bearing 65 is fixedly installed on the outer side of the second dust suction pipe 39, and the outer sides of the first bearing 63 and the second bearing 65 are fixedly connected to the same connecting rod 64. Through the arrangement of the first bearing 63, the connecting rod 64 and the second bearing 65, when the telescopic column 10 moves horizontally, the first bearing 63 drives the connecting rod 64 and the second bearing 65 to move horizontally. When the telescopic column 10 rotates, the first bearing 63 does not drive the connecting rod 64 to rotate. The synchronous rotation mechanism includes a first transmission rod 56 and a second transmission rod 60. First through holes are formed in both the top inner wall and the bottom inner wall of the installation groove 28. The first transmission rod 56 and the second transmission rod 60 are respectively rotatably installed in the two first through holes. One end of the first transmission rod 56 is fixedly connected to a second bevel gear 55. Third sprockets 57 and fourth sprockets 59 are respectively fixedly connected to the first transmission rod 56 and the second transmission rod 60. The same second chain 58 is engaged with the third sprocket 57 and the fourth sprocket 59. One end of the second transmission rod 60 is fixedly connected to a cylindrical gear 61. The cylindrical gear 61 is engaged with a toothed ring 62. The toothed ring 62 is fixedly installed on the outer side of the first dust suction pipe 38. When the first transmission rod 56 rotates, the third sprocket 57 drives the fourth sprocket 59 to rotate through the second chain 58. The fourth sprocket 59 drives the second transmission rod 60 to rotate. The second transmission rod 60 drives the cylindrical gear 61 to rotate. The cylindrical gear 61 drives the toothed ring 62 to rotate. The toothed ring 62 drives the first dust suction pipe 38 to rotate. The telescopic adjustment mechanism includes a second motor 25. The second motor 25 is fixedly installed on one side of the mounting seat 2. The output shaft of the second motor 25 is fixedly connected to a rotating shaft 26. One end of the rotating shaft 26 is fixedly connected to one side of the rotating column 8. A cylinder 27 is fixedly installed on one inner wall of the second chute 9. The output shaft of the cylinder 27 is fixedly connected to one side of the telescopic column 10. A first bevel gear 54 is fixedly installed on the outer side of the rotating shaft 26. The first bevel gear 54 is engaged with the second bevel gear 55. When the second motor 25 is started, the second motor 25 drives the rotating shaft 26 to rotate. The rotating shaft 26 drives the first bevel gear 54 to rotate. The first bevel gear 54 drives the second bevel gear 55 to rotate.

[0055] Refer to Figures 9 - 15, the dust suction mechanism includes two support columns 44, and the two support columns 44 are respectively fixedly installed on the top inner wall and the bottom inner wall of the dust removal chamber 29. One ends of the two support columns 44 are fixedly connected to the same third motor 45. The output shaft of the third motor 45 is fixedly connected to a worm 46. A worm gear 48 is engaged with the worm 46. An impeller 47 is fixedly installed on the outer side of the worm 46. When the third motor 45 is turned on, the third motor 45 drives the worm 46 to rotate. The worm 46 drives the impeller 47 to rotate. At the same time, the worm 46 drives the worm gear 48 to rotate. The conveying mechanism includes a third transmission rod 49 and a spiral conveyor rod 53. Two second through holes are opened on the bottom inner wall of the installation groove 28. The third transmission rod 49 and the spiral conveyor rod 53 are respectively rotatably installed in the two second through holes. One end of the third transmission rod 49 is fixedly connected to the worm gear 48. Fifth sprockets 50 and sixth sprockets 52 are respectively fixedly installed at the other end of the third transmission rod 49 and one end of the spiral conveyor rod 53. The fifth sprocket 50 and the sixth sprocket 52 are engaged with the same third chain 51. The spiral conveyor rod 53 is located inside the filter cartridge 43. When the worm gear 48 rotates, the worm gear 48 drives the third transmission rod 49 to rotate. The third transmission rod 49 drives the fifth sprocket 50 to rotate. The fifth sprocket 50 drives the sixth sprocket 52 to rotate through the third chain 51. The intercepting mechanism includes a filter cartridge 43. The filter cartridge 43 is fixedly installed in the dust removal chamber 29. One end of the first dust suction pipe 38 is rotatably installed on the filter cartridge 43. A limiting groove 41 is opened on the inner wall of the first dust suction pipe 38. A limiting block 42 is slidably installed in the limiting groove 41. The outer side of the limiting block 42 is fixedly connected to the outer side of the second dust suction pipe 39. Through the cooperation of the limiting groove 41 and the limiting block 42, when the first dust suction pipe 38 rotates, the first dust suction pipe 38 can drive the limiting block 42 and the second dust suction pipe 39 to rotate. At the same time, the second dust suction pipe 39 can slide inside the first dust suction pipe 38.

[0056] The implementation principle in this embodiment is as follows: During use, the base 1 is moved to the specified working position by four rollers 6. Then, the first motor 14 is turned on. The first motor 14 drives the threaded rod 16 to rotate. The threaded rod 16 drives the first sprocket 18 to rotate. The first sprocket 18 drives the second sprocket 20 to rotate through the first chain 19. The second sprocket 20 drives another threaded rod 16 to rotate. Thus, the two threaded rods 16 respectively drive the two sliding plates 15 to move vertically downward. The two sliding plates 15 respectively drive the four positioning rods 17 to move vertically downward. When the four positioning rods 17 are inserted into the soil, the four positioning rods 17 can fix and position the base 1 to ensure the stability of the operation. Then, the auxiliary operation is carried out through the base arm 11, the telescopic arm 12, and the grooving working device 13. At the same time, when the sliding plate 15 moves vertically downward to a certain position, the sliding plate 15 drives the first conductive column 21 to move vertically downward to contact the second conductive column 22. Thus, the third motor 45 can be automatically turned on. The third motor 45 drives the worm 46 to rotate. The worm 46 drives the impeller 47 to rotate. The suction force generated by the rotation of the impeller 47 can suck the dust generated by the external operation into the dust removal chamber 29 through the first dust suction pipe 38, the second dust suction pipe 39, and the dust suction port 40. The filter cartridge 43 can intercept the dust. At the same time, the worm 46 drives the worm gear 48 to rotate. The worm gear 48 drives the third transmission rod 49 to rotate. The third transmission rod 49 drives the fifth sprocket 50 to rotate. The fifth sprocket 50 drives the sixth sprocket 52 to rotate through the third chain 51. The sixth sprocket 52 drives the screw conveyor 53 to rotate. The screw conveyor 53 can convey the dust intercepted in the filter cartridge 43 to the collection box 31 for collection. At the same time, during the use process, the second motor 25 can be turned on to rotate. The second motor 25 drives the rotating shaft 26 to rotate. The rotating shaft 26 drives the rotating column 8 to rotate. The rotating column 8 drives the cylinder 27 and the telescopic column 10 to rotate. The telescopic column 10 drives the angles of the base arm 11, the telescopic arm 12, and the grooving working device 13 to be adjusted. At the same time, the rotating shaft 26 drives the first bevel gear 54 to rotate. The first bevel gear 54 drives the second bevel gear 55 to rotate. The second bevel gear 55 drives the first transmission rod 56 to rotate. The first transmission rod 56 drives the third sprocket 57 to rotate. The third sprocket 57 drives the fourth sprocket 59 to rotate through the second chain 58. The fourth sprocket 59 drives the second transmission rod 60 to drive the cylindrical gear 61 to rotate. The cylindrical gear 61 drives the first dust suction pipe 38 to rotate. The first dust suction pipe 38 drives the second dust suction pipe 39 and the dust suction port 40 to rotate through the limiting block 42. Thus, it can be ensured that the dust suction port 40 rotates following the working orientation, ensuring the dust removal effect, effectively improving the service life of the robotic arm, and at the same time greatly reducing the risk of endangering the health of the staff.

[0057] Embodiment 2

[0058] The difference between this embodiment and the first embodiment is that a displacement transmission rod is installed at the bottom of the skateboard 15, and a controller is fixedly installed at the top of the top plate 3. The displacement sensor, the controller, and the first motor 14 are connected in sequence. The displacement sensor can monitor the displacement distance of the skateboard 15. When the distance that the skateboard 15 moves vertically downward reaches the set threshold, the displacement sensor sends an instruction to the controller, and the controller controls the first motor 14 to automatically turn off.

[0059] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A mechanical arm for underground auxiliary operation, characterized in that: include: Base (1); A transmission shaft (5), wherein two transmission shafts (5) are provided, and the two transmission shafts (5) are both rotatably mounted on the base (1), and two rollers (6) are fixedly connected to the outer sides of the two transmission shafts (5); a mounting seat (2) is fixedly mounted on the top of the base (1), and a positioning mechanism is provided on the mounting seat (2), and the positioning mechanism is used to fix the base (1); A top plate (3), the top plate (3) is fixedly mounted on the top of the mounting seat (2), the mounting seat (2) is provided with a mounting groove (28), a dust removal chamber (29) and a placement groove (30), a collection box (31) is slidably mounted in the placement groove (30), a pull plate (32) is fixedly mounted on one side of the collection box (31), a dust collection port (36) is provided on the top inner wall of the placement groove (30), and the collection box (31) is used to collect dust; An activated carbon filter layer (33), the activated carbon filter layer (33) is fixedly installed in the dust removal chamber (29), an exhaust port (34) is opened on the inner wall of one side of the dust removal chamber (29), a dust prevention plate (35) is fixedly installed in the exhaust port (34), a dust suction mechanism and an interception mechanism are arranged in the dust removal chamber (29), a conveying mechanism is connected to the interception mechanism, and the dust suction mechanism and the interception mechanism are used to collect dust generated during the operation process; A first dust suction pipe (38), an inner wall of the other side of the dust removal chamber (29) is provided with a mounting hole (37), the first dust suction pipe (38) is rotatably mounted in the mounting hole (37), a second dust suction pipe (39) is slidably mounted in the first dust suction pipe (38), one end of the second dust suction pipe (39) is fixedly connected to a dust suction port (40), and a synchronous rotation mechanism is provided on the first dust suction pipe (38), the synchronous rotation mechanism is used to synchronously adjust the orientation of the dust suction port (40); A rotating column (8), a first slide groove (7) is provided on one side of the mounting seat (2), the rotating column (8) is rotatably mounted in the first slide groove (7), a telescopic adjustment mechanism is provided on the rotating column (8), a second slide groove (9) is provided on one side of the rotating column (8), a telescopic column (10) is slidably mounted in the second slide groove (9), the outer side of the telescopic column (10) is fixedly connected to a base arm (11), the base arm (11) is connected to a telescopic arm (12), and the telescopic arm (12) is connected to a slotting working device (1 3), the telescopic adjustment mechanism is used to adjust the horizontal position of the base arm (11), the telescopic arm (12) and the slotting working device (13), the telescopic adjustment mechanism includes a second motor (25), the second motor (25) is fixedly mounted on one side of the mounting seat (2), the output shaft of the second motor (25) is fixedly connected to the rotating shaft (26), one end of the rotating shaft (26) is fixedly connected to one side of the rotating column (8), a cylinder (27) is fixedly mounted on the inner wall of one side of the second slide groove (9), the output shaft of the cylinder (27) is fixedly connected to one side of the telescopic column (10), a first bevel gear (54) is fixedly mounted on the outer side of the rotating shaft (26), the first bevel gear (54) meshes with the second bevel gear (55), the synchronous rotation mechanism includes a first transmission rod (56) and a second transmission rod (60), the top inner wall and the bottom inner wall of the mounting groove (28) are both provided with first through holes, the first transmission rod (56) and the second transmission rod (60) are respectively rotatably mounted in the two first through holes, and the first transmission rod (5 One end of the second transmission rod (6) is fixedly connected to the second bevel gear (55), the first transmission rod (56) and the second transmission rod (60) are respectively fixedly connected to a third sprocket (57) and a fourth sprocket (59), the third sprocket (57) and the fourth sprocket (59) are meshed with the same second chain (58), one end of the second transmission rod (60) is fixedly connected to a cylindrical gear (61), the cylindrical gear (61) is meshed with a gear ring (62), and the gear ring (62) is fixedly installed on the outer side of the first dust suction pipe (38).

2. The underground auxiliary operation mechanical arm according to claim 1, characterized in that: The positioning mechanism comprises two slide plates (15), the two slide plates (15) are slidably mounted on both sides of the mounting seat (2), the base (1) is provided with four movable holes, positioning rods (17) are slidably mounted in the four movable holes, one end of the four positioning rods (17) are respectively fixedly connected to the bottom of the two slide plates (15), a through groove (4) is provided on one side of the top plate (3), and a first motor (14) is fixedly mounted on the top of the top plate (3).

3. The underground auxiliary operation mechanical arm according to claim 2, characterized in that: Two symmetrical threaded rods (16) are rotatably mounted on the top plate (3), the two threaded rods (16) are respectively connected to the screw rods of the two slide plates (15), one end of the threaded rod (16) is fixedly connected to the output shaft of the first motor (14), and a first sprocket (18) and a second sprocket (20) are respectively fixedly mounted on the outer sides of the two threaded rods (16), and the first sprocket (18) and the second sprocket (20) are meshed with the same first chain (19).

4. The underground auxiliary operation mechanical arm according to claim 3, characterized in that: The dust suction mechanism comprises two pillars (44), the two pillars (44) are respectively fixedly mounted on the top inner wall and the bottom inner wall of the dust removal chamber (29), one end of the two pillars (44) is fixedly connected to the same third motor (45), the output shaft of the third motor (45) is fixedly connected to a worm (46), a worm wheel (48) is meshed on the worm (46), and an impeller (47) is fixedly mounted on the outer side of the worm (46).

5. The underground auxiliary operation mechanical arm according to claim 4, characterized in that: The intercepting mechanism comprises a filter cartridge (43), the filter cartridge (43) is fixedly mounted in the dust removal chamber (29), one end of the first dust suction pipe (38) is rotatably mounted on the filter cartridge (43), a limiting groove (41) is provided on the inner wall of the first dust suction pipe (38), a limiting block (42) is slidably mounted in the limiting groove (41), and the outer side of the limiting block (42) is fixedly connected to the outer side of the second dust suction pipe (39).

6. The underground auxiliary operation mechanical arm according to claim 5, characterized in that: The top of the base (1) and the bottom of the slide plate (15) are both provided with a third slide groove, and a first conductive column (21) and a second conductive column (22) are respectively slidably mounted in the two third slide grooves, and springs (23) are fixedly connected to the outer sides of the first conductive column (21) and the second conductive column (22), and one end of the two springs (23) is respectively fixedly connected to the inner walls of the two third slide grooves, and a power source (24) is fixedly mounted on the top of the top plate (3), and the first conductive column (21), the power source (24), the third motor (45) and the second conductive column (22) are sequentially connected.

7. The underground auxiliary operation mechanical arm according to claim 6, characterized in that: The conveying mechanism comprises a third transmission rod (49) and a spiral conveying rod (53). Two second through holes are provided on the bottom inner wall of the mounting groove (28). The third transmission rod (49) and the spiral conveying rod (53) are rotatably mounted in the two second through holes respectively. One end of the third transmission rod (49) is fixedly connected to the worm gear (48). The other end of the third transmission rod (49) and one end of the spiral conveying rod (53) are respectively fixedly mounted with a fifth sprocket (50) and a sixth sprocket (52). The fifth sprocket (50) and the sixth sprocket (52) are meshed with the same third chain (51). The spiral conveying rod (53) is located in the filter cartridge (43).

8. The underground auxiliary operation mechanical arm according to claim 7, characterized in that: A first bearing (63) is fixedly mounted on the outer side of the telescopic column (10), a second bearing (65) is fixedly mounted on the outer side of the second dust suction pipe (39), and the outer sides of the first bearing (63) and the second bearing (65) are fixedly connected to the same connecting rod (64).

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