Mechanical arm

Abstract

The invention discloses a mechanical arm, and relates to the technical field of mechanical arms. A multi-axis mechanical arm with an adjusting function is fixedly arranged on the side face of the top of the mechanical arm base; a grouting connector and a regulation and control assembly are fixedly installed at the tail end of the front side of the multi-axis mechanical arm. An anchor rod assembly is fixedly installed at the bottom of the regulation and control assembly, and automatic storage and assembly of the anchor rod assembly and the monitoring equipment are achieved by arranging the regulation and control assembly; by arranging the anchor rod assembly, the resin anchor rod construction problem in a collapsed hole is solved, meanwhile, the hole diameter matching relation of a resin anchoring section is optimized, the anchoring effect of the resin anchor rod in broken soft rock is improved, a fully-arranged bridge type circuit structure of the strain assembly generates voltage difference changes, external stress is analyzed and measured according to the voltage difference, and the construction efficiency is improved. And meanwhile, the three properties of mechanical construction, stress and self-sensing of broken hole collapse surrounding rock are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, in particular to a robotic arm. Background Art

[0002] The connection area between the robot arm and the external workpiece in the prior art usually only has the function of clamping or driving the workpiece to move to the installation area for operation, and its functionality is relatively simple. Summary of the Invention

[0003] Therefore, in order to solve the above-mentioned shortcomings, the present invention provides a robotic arm.

[0004] The present invention is achieved by constructing a robotic arm, which includes a robotic arm base; a multi-axis robotic arm with an adjustment function is fixedly installed on the top side of the robotic arm base; a grouting joint and a regulating assembly are fixedly installed on the front end of the multi-axis robotic arm; an anchor rod assembly is fixedly installed on the bottom of the regulating assembly; The control component includes a storage box fixedly installed at the front end of the multi-axis robotic arm by bolts, and a through slot is provided at the bottom of the storage box; a first transmission component with an adjustment function is provided on the top side of the storage box, and the first transmission component is specifically composed of a motor, a gear and a chain; a control platform is fixedly installed at the bottom of the chain in the first transmission component through a connecting rod; a clamping component is fixedly provided at the through slot at the bottom of the storage box, and the through slot at the bottom of the storage box is concentrically arranged with the top of the anchor rod component.

[0005] Preferably, pneumatic cylinders with adjusting functions are fixedly installed on the left and right sides of the top of the control console by bolts, and the bottom of the pneumatic cylinder piston rod is plugged and fixed to the top of the fixed outer ring; a through hole is equidistantly provided at an angle of 120 degrees inside the fixed outer ring, and a power cylinder is horizontally clamped and fixed inside the through hole; a coil arc plate is fixedly installed at the end of the power cylinder piston rod; a ball plate is fixedly provided on the inner side wall of the coil arc plate.

[0006] Preferably, the anchor rod assembly includes an electromagnetic clamper fixedly mounted on the bottom of the storage box; the internal clamping part of the electromagnetic clamper is transmission-connected to the second transmission assembly, and the second transmission assembly is specifically composed of a motor and two sets of gears meshing with each other; the internal clamping part of the electromagnetic clamper is clamped and fixed to the top of the hollow anchor rod; the hollow anchor rod thread is arranged at the top of the anchor assembly.

[0007] Preferably, the anchoring assembly includes an anchoring sleeve threadedly connected to the bottom side of the hollow anchor rod; the bottom of the anchoring sleeve is plugged and fixedly connected to the anchoring connector; an anchor head is fixedly installed on the bottom of the anchoring connector; a rotating cylinder with a sealing function is threadedly connected inside the anchoring connector; a resin anchoring agent bag is fixedly arranged on the bottom side of the anchoring sleeve; a strain assembly with a real-time monitoring function is arranged at the center of the interior of the anchoring sleeve; and a fixing plate is fixedly arranged on the inner wall of the anchoring sleeve through a groove.

[0008] Preferably, a blade for cutting is provided on the inner side wall of the rotating cylinder, and the bottom opening of the rotating cylinder is staggered with the bottom opening of the anchor connector; the hollow anchor rod and the resin anchor package are both hollow structures.

[0009] Preferably, the strain assembly includes a straight rod tube slidably arranged in the empty hole inside the hollow anchor rod; the upper and lower sides of the straight rod tube body are clamped and fixed with clamping rings; four groups of through grooves are opened on the outer ring side of the clamping ring, and a fixed ring is fixedly connected inside the clamping ring; a strain gauge is slidably arranged at the through holes around the fixed ring, and the strain gauge is slidably arranged in the through grooves inside the clamping ring.

[0010] Preferably, the strain gauge slide rod is slidably connected to the outer sliding groove of the conical push head; a tail rod is fixedly inserted on the top side of the conical push head; a coil ring is fixedly provided at the top end of the tail rod; and a connecting rod is slidably provided in the empty groove inside the tail rod.

[0011] Preferably, the inner wall of the anchoring sleeve is provided with four groups of slots of equal height, and the fixing plates inside the slots are in an arc-shaped structure.

[0012] The present invention has the following advantages: The present invention provides a robotic arm through improvement, which has the following improvements compared with similar devices: The robotic arm described in the present invention realizes automatic storage and assembly of anchor rod components and monitoring equipment by arranging a control component on the robotic arm; by arranging the anchor rod component, the construction problem of resin anchor rods in collapsed holes is solved, and at the same time, the aperture matching relationship of the resin anchoring section is optimized, and the anchoring effect of the resin anchor rods in broken soft rocks is improved. The fully-mounted bridge circuit structure of the strain assembly generates a voltage difference change, and the external force is analyzed and measured according to the voltage difference. At the same time, it has the triple performance of mechanized construction of the surrounding rock of the collapsed hole, force and self-sensing, thereby increasing the functionality of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 Schematic diagram of the cross-sectional structure of the control component of the present invention; Figure 3 The present invention Figure 2 Schematic diagram of the enlarged structure at A in the middle; Figure 4 It is a schematic diagram of the exploded structure of the anchor rod assembly of the present invention; Figure 5 is a schematic diagram of the exploded structure of the anchor assembly of the present invention; Figure 6 It is a schematic diagram of the decomposed structure of the strain assembly of the present invention.

[0014] Including: robot arm base-1, multi-axis robot arm-2, grouting joint-3, control component-4, anchor rod component-5, storage box-41, first transmission component-42, control table-43, clamping component-44, fixed outer ring-441, power cylinder-442, coil arc plate-443, ball plate-444, electromagnetic clamp-51, second transmission component-52, hollow anchor rod-53, anchoring component- 54. Anchor sleeve 541, anchor connector 542, anchor head 543, rotating cylinder 544, resin anchor bag 545, strain assembly 546, fixing plate 547, straight rod cylinder 5461, snap ring 5462, fixing ring 5463, strain gauge 5464, tapered pusher head 5465, tail rod 5466, coil ring 5467, connecting rod 5468. DETAILED DESCRIPTION

[0015] The following is combined with Figures 1 to 6 The principles and features of the present invention are described, and the examples given are only for the purpose of explaining the present invention and are not intended to limit the scope of the present invention. The following paragraphs describe the present invention in more detail by way of example with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and are not to exact scale, and are only used for the purpose of conveniently and clearly assisting in illustrating the embodiments of the present invention.

[0016] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0017] In the description of the present invention, it should be noted that, unless otherwise clearly specified or limited, the terms "installed," "connected," "connected," and "set" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium, or they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances. The following describes an embodiment of the present invention based on its overall structure. Example

[0018] See also Figures 1 to 6 A robotic arm of the present invention includes a robotic arm base 1; a multi-axis robotic arm 2 with an adjustment function is fixedly installed on the top side of the robotic arm base 1; a grouting joint 3 and a regulating component 4 are fixedly installed on the front end of the multi-axis robotic arm 2; an anchor rod component 5 is fixedly installed on the bottom of the regulating component 4; The regulating component 4 includes a storage box 41 fixedly installed at the front end of the multi-axis robot arm 2 by bolts, and a through slot is provided at the bottom of the storage box 41; a first transmission component 42 with an regulating function is provided on the top side of the storage box 41, and the first transmission component 42 is specifically composed of a motor, a gear and a chain; an regulating platform 43 is fixedly installed at the bottom of the chain in the first transmission component 42 through a connecting rod, and a clamping component 44 is provided on the bottom side of the regulating platform 43; a clamping component 44 is fixedly provided at the through slot at the bottom of the storage box 41, and the through slot at the bottom of the storage box 41 is concentric with the top of the anchor rod component 5.

[0019] Pneumatic cylinders with adjustment functions are fixed on the left and right sides of the top of the control console 43 by bolts, and the bottom of the pneumatic cylinder piston rod is plugged and fixed to the top of the fixed outer ring 441; a through hole is equidistantly provided inside the fixed outer ring 441 at an angle of 120 degrees, and a power cylinder 442 is horizontally clamped and fixed inside the through hole; a coil arc plate 443 is fixedly installed at the end of the piston rod of the power cylinder 442; a ball plate 444 is fixedly provided on the inner wall of the coil arc plate 443.

[0020] The anchor rod assembly 5 includes an electromagnetic clamper 51 fixedly installed at the bottom of the storage box 41; the internal clamping part of the electromagnetic clamper 51 is connected to the second transmission assembly 52, and the second transmission assembly 52 is specifically composed of a motor and two sets of gears that are meshed with each other; the internal clamping part of the electromagnetic clamper 51 is clamped and fixed to the top of the hollow anchor rod 53, and the hollow anchor rod 53 is a combination structure of an upper straight rod and a lower screw rod; the hollow anchor rod 53 is threadedly arranged at the top of the anchor assembly 54.

[0021] The anchoring assembly 54 includes an anchoring sleeve 541 threadedly connected to the bottom side of the hollow anchor rod 53; the bottom of the anchoring sleeve 541 is plugged and fixedly connected to the anchoring connector 542; an anchor head 543 is fixedly installed on the bottom of the anchoring connector 542; a rotating cylinder 544 with a sealing function is threadedly connected inside the anchoring connector 542; a resin anchoring agent bag 545 is fixedly set on the bottom side of the anchoring sleeve 541; a strain assembly 546 with a real-time monitoring function is set at the center of the anchoring sleeve 541; a fixing plate 547 is fixedly set on the inner wall of the anchoring sleeve 541 through a groove.

[0022] A blade for cutting is provided on the inner wall of the rotating cylinder 544 , and the bottom opening of the rotating cylinder 544 is staggered with the bottom opening of the anchor connector 542 ; the hollow anchor rod 53 and the resin anchoring agent package 545 are both hollow structures.

[0023] Four groups of slots are formed on the inner wall of the anchoring sleeve 541 at the same height, and the fixing pieces 547 inside the slots are in an arc-shaped structure. Example

[0024] See also Figures 1 to 6 Compared with the first embodiment, the present invention further comprises a mechanical arm, wherein the strain assembly 546 includes a straight rod tube 5461 slidably arranged in the hollow hole inside the hollow anchor rod 53; a clamping ring 5462 is fixedly connected to the upper and lower sides of the rod body of the straight rod tube 5461; four groups of through grooves are formed on the outer ring side of the clamping ring 5462, and a fixing ring 5463 is fixedly connected to the inside of the clamping ring 5462; a strain gauge 5464 is slidably arranged in the through holes around the fixing ring 5463, and the strain gauge 5464 is slidably arranged in the through groove inside the clamping ring 5462; the sliding rod of the strain gauge 5464 is slidably connected to the outer sliding groove of the conical push head 5465; a tail rod 5466 is inserted and fixed to the top side of the conical push head 5465; a coil ring 5467 is fixedly arranged at the top end of the tail rod 5466; and a connecting rod 5468 is slidably arranged in the empty groove inside the tail rod 5466.

[0025] The working principle of a robotic arm based on the above is: First, when using this device, first place the device in the working area, then connect the device to an external power source to provide the power required for the device to work; Second, the staff assembled the grouting joint 3, the regulating assembly 4, and the anchor assembly 5 and placed them at the end of the multi-axis robotic arm 2 on the top side of the robotic arm base 1. Here, the regulating assembly 4 holds the anchor assembly 5 in a clamping state. Then, the staff drilled and cleaned the hole at the anchor installation location using external equipment. The hole depth was controlled within the anchor length. Then, the staff placed the hollow anchor 53 and the anchor assembly 54 in the aforementioned hole using the robotic arm base 1 and the multi-axis robotic arm 2. The anchor assembly 54 was kept parallel to the inner wall of the drilled hole, with a certain gap between them. Third, since the inner wall of the hole is not stabilized during the drilling process and the driving of the anchor head 543 to drill the hole, the drilling depth needs to be controlled due to the problem of anchor placement in the previous drilling process. Here, the motor in the second transmission component 52 can drive the gear to rotate the internal clamping part of the electromagnetic clamp 51. At this time, the internal clamping part of the electromagnetic clamp 51 is clamped and fixed to the top of the anchor sleeve 541, so that the anchor sleeve 541 rotates with the electromagnetic clamp 51, so that the anchor head 543 rotates under the clamping action of the anchor connector 542 and re-processes or squeezes the soil at the bottom of the borehole to make its hole depth more suitable for the overall length of the hollow anchor rod 53 and the anchor sleeve 541. Then the staff transmits a section of the segmented strain assembly 546 to the top of the electromagnetic clamp 51 through the first transmission component 42. At this time, through the dynamic control unit 43 at the bottom side When the force cylinder 442 pushes the coil arc plate 443 and the ball plate 444 to maintain the clamping action of one section of the segmented strain assembly 546, the pneumatic cylinder provided on the control table 43 pushes the fixed outer ring 441 on the bottom side of the control table 43 close to the one section of the strain assembly 546 clamped in the fixed outer ring 441 in the through hole on the bottom side of the storage box 41, and the two sections of the strain assembly 546 are engaged by the thrust of the pneumatic cylinder on the control table 43, and then the same steps are repeated to gradually move the strain assembly 546 toward the side of the anchor head 543 during the assembly process. Here, the coil ring 5467 in the strain assembly 546 is energized by the cable control so that the conical push head 5465 squeezes the strain gauge 5464 outward. The strain gauge 5464 is arranged in a full-bridge Wheatstone bridge configuration. Here, the magnetic field between the strain gauge 5464 and the fixed plate 547 is kept stable. Fourth, when the anchor sleeve 541 is squeezed by the soil layer and deformed, the tensile strain, tensile stress, and axial force parameters generated by the rod deformation can be calculated according to the formula ,in, is the voltage value, is the voltage change, is the standard resistance of the strain gauge, is the strain gauge resistance, In order to measure the point strain, the strain gauge data in the force anchor rod is read through the intelligent acquisition circuit board. The acquisition board is mainly composed of a single-chip microcomputer, an acquisition circuit, a multi-way switch and a power supply circuit, so that the external distributed strain gauge can select one channel for monitoring and acquisition; fifth, the strain component 546 is extracted and stored through the control component 4, and then the electromagnetic clamper 51 is driven by the multi-axis robot 2 to loosen the anchor sleeve 541. Here, the anchor sleeve 541 is in contact with the inner wall of the borehole, and then the top of the hollow anchor rod 53 is clamped by the electromagnetic clamp 51, and then the electromagnetic clamper 51 and the hollow anchor rod 53 are driven to rotate by the multi-axis robot 2, so that the outer screw groove of the hollow anchor rod 53 is aligned with the top of the anchor sleeve 541. The side screw groove is driven downward to the disengaged state, and the hollow anchor rod 53 gradually penetrates into the interior of the anchor sleeve 541 and squeezes the resin anchoring agent package 545 so that it will be squeezed into the interior of the rotating cylinder 544. At this time, the rotating cylinder 544 is pushed and displaced downward for a distance. Here, the external protrusion of the rotating cylinder 544 slides with the inner groove of the anchor connector 542 and rotates 90 degrees, so that the internal blade of the rotating cylinder 544 rotates to cut the resin anchoring agent package 545 and squeeze the resin into the interior of the anchor connector 542 and fill the gap between the drill hole and the anchor head 543. After waiting for a period of time, the anchoring area of ​​the anchor assembly 54 solidifies and becomes strong. Then, the anchor rod assembly 5 is pulled outward by the multi-axis robot arm 2 to apply pre-tightening force for strength testing. Sixth, after the electromagnetic clamper 51 stops clamping, the multi-axis robotic arm 2 drives the control component 4 to detach from the top side of the anchor sleeve 541, and then grouting is performed inside the anchor sleeve 541 through the center hole of the hollow anchor rod 53 through the grouting joint 3, and the grouting is stopped when the cement slurry returns to the anchor hole gasket to complete the installation.

[0026] The present invention provides an improved robotic arm, which realizes automatic storage and assembly of the anchor rod assembly 5 and the monitoring equipment by setting the control component 4; by setting the anchor rod assembly 5, the construction problem of the resin anchor rod in the collapsed hole is solved, and at the same time, the aperture matching relationship of the resin anchoring section is optimized, and the anchoring effect of the resin anchor rod in the broken soft rock is improved. The full-bridge circuit structure of the strain component 546 generates a voltage difference change, and the external force is analyzed and measured according to the voltage difference. At the same time, it has the triple performance of mechanized construction of the surrounding rock of the broken collapsed hole, force and self-sensing.

[0027] The above shows and describes the basic principles, main features and advantages of the present invention, and the standard parts used in the present invention can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the existing technology. The machinery, parts and equipment all adopt conventional models in the existing technology, and the circuit connection adopts the conventional connection method in the existing technology, which will not be described in detail here.

[0028] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic arm, characterized in that: It comprises a robotic arm base (1); a multi-axis robotic arm (2) with an adjustment function is fixedly installed on the top side of the robotic arm base (1); a grouting joint (3) and a regulating assembly (4) are fixedly installed on the front end of the multi-axis robotic arm (2); an anchor rod assembly (5) is fixedly installed on the bottom of the regulating assembly (4); The regulating assembly (4) includes a storage box (41) fixedly mounted on the front end of the multi-axis robot arm (2) by bolts, and a through slot is provided at the bottom of the storage box (41); a first transmission assembly (42) with a regulating function is provided on the top side of the storage box (41), and the first transmission assembly (42) is specifically composed of a motor, a gear and a chain; a regulating table (43) is fixedly mounted on the bottom of the chain in the first transmission assembly (42) through a connecting rod; a clamping assembly (44) is fixedly provided at the through slot at the bottom of the storage box (41), and the through slot at the bottom of the storage box (41) and the top of the anchor assembly (5) are arranged concentrically.

2. The robotic arm according to claim 1, wherein: Pneumatic cylinders with an adjusting function are fixedly installed on both the left and right sides of the top of the control console (43) by bolts, and the bottom of the piston rod of the pneumatic cylinder is plugged and fixed to the top of the fixed outer ring (441); a through hole is equidistantly provided at an angle of 120 degrees inside the fixed outer ring (441), and a power cylinder (442) is horizontally clamped and fixed inside the through hole; a coil arc plate (443) is fixedly installed at the end of the piston rod of the power cylinder (442); and a ball plate (444) is fixedly provided on the inner wall of the coil arc plate (443).

3. The robotic arm according to claim 2, characterized in that: The anchor rod assembly (5) includes an electromagnetic clamp (51) fixedly mounted on the bottom of the storage box (41); the internal clamping member of the electromagnetic clamp (51) is transmission-connected to the second transmission assembly (52), and the second transmission assembly (52) specifically comprises a motor and two sets of gears meshing with each other; the internal clamping member of the electromagnetic clamp (51) is clamped and fixed to the top of the hollow anchor rod (53); the hollow anchor rod (53) is threadedly arranged on the top of the anchor assembly (54).

4. The robotic arm according to claim 3, characterized in that: The anchoring assembly (54) includes an anchoring sleeve (541) threadedly connected to the bottom side of the hollow anchor rod (53); the bottom of the anchoring sleeve (541) is plugged and fixedly connected to the anchoring connector (542); the bottom of the anchoring connector (542) is fixedly installed with an anchor head (543); the inside of the anchoring connector (542) is threadedly connected with a rotating cylinder (544) with a sealing function; a resin anchoring agent bag (545) is fixedly arranged on the bottom side of the anchoring sleeve (541); a strain assembly (546) with a real-time monitoring function is arranged at the center of the inside of the anchoring sleeve (541); and a fixing plate (547) is fixedly arranged in a groove on the inner wall of the anchoring sleeve (541).

5. The robotic arm according to claim 4, characterized in that: The inner wall of the rotating cylinder (544) is provided with a blade for cutting, and the bottom opening of the rotating cylinder (544) is staggered with the bottom opening of the anchor connector (542); the hollow anchor rod (53) and the resin anchoring agent package (545) both have a hollow structure.

6. The robotic arm according to claim 5, characterized in that: The strain assembly (546) includes a straight rod tube (5461) slidably arranged at the hollow hole inside the hollow anchor rod (53); a clamping ring (5462) is clamped and fixed on the upper and lower sides of the rod body of the straight rod tube (5461); four groups of through grooves are opened on the outer ring side of the clamping ring (5462), and a fixed ring (5463) is fixedly connected inside the clamping ring (5462); a strain gauge (5464) is slidably arranged at the through holes around the fixed ring (5463), and the strain gauge (5464) is slidably arranged at the through groove inside the clamping ring (5462).

7. The robotic arm according to claim 6, characterized in that: The strain gauge (5464) slide rod is slidably connected to the outer sliding groove of the conical push head (5465); the top side of the conical push head (5465) is plugged and fixed with a tail rod (5466); the top end of the tail rod (5466) is fixedly provided with a coil ring (5467); and the inner empty groove of the tail rod (5466) is slidably provided with a connecting rod (5468).

8. The robotic arm according to claim 7, characterized in that: The inner wall of the anchoring sleeve (541) is provided with four groups of slots at the same height, and the fixing plates (547) inside the slots are in an arc-shaped structure.

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