Anchoring agent delivery device and anchoring agent construction method assisted by a mechanical arm

Abstract

The application provides an anchoring agent conveying device assisted by a mechanical arm and an anchoring agent construction method, and belongs to the technical field of mine roadway supporting equipment. The anchoring agent conveying device comprises a mounting frame, a first clamping jaw, a second clamping jaw and a third clamping jaw vertically arranged along the mounting frame. The first clamping jaw, the second clamping jaw and the third clamping jaw each comprise a clamping jaw base, a jaw plate and a jaw plate driving element. The clamping jaw base is connected with the mounting frame. Two jaw plates are slidingly installed on the clamping jaw base. The jaw plate driving element is installed on the clamping jaw base and drives the two jaw plates to open or close. The above-mentioned anchoring agent conveying device has small volume and is simple and easy to maintain. Through control of the clamping force and the opening and closing range of the jaw plate, the anchoring agent can be effectively protected from being squeezed and broken when the anchoring agent is grabbed and installed, and the reliability is high.

Description

Technical Field

[0001] This invention belongs to the technical field of mine roadway support equipment, and specifically discloses an anchoring agent delivery device and an anchoring agent construction method that are used in conjunction with a robotic arm. Background Technology

[0002] With the development of intelligent mines, the automation level of roadway support equipment is also gradually improving. The research and development of automated support equipment can not only improve efficiency and reduce manpower, but also reduce the safety risks caused by working in unsupported areas.

[0003] Among roadway support technologies, bolt support has become the mainstream in mine roadway support due to its advantages such as low support cost, fast roadway formation, and simplified end-face maintenance process. The bolt support process is as follows: drill a hole with a drill rod - insert resin anchoring agent into the hole - insert the bolt with a tray into the hole - push the anchoring agent into the depth of the drill hole while the bolt is being inserted - use a mixer to stir the anchoring agent with the bolt - pre-tighten the bolt nut.

[0004] Currently, automatic anchor bolt trolleys are available on the market, enabling automated operations throughout the entire support process, including drilling, delivery of anchoring agent, installation of anchor bolts, and anchoring. However, anchor bolt trolleys require specialized anchoring agent delivery systems for delivery. These systems include jet-type, water-type, and mechanical types. These systems are bulky, have low reliability, and high maintenance costs, making them unsuitable for equipment such as tunneling and anchor transport machines. Summary of the Invention

[0005] This invention provides an anchoring agent delivery device for use with a robotic arm to solve the technical problems of existing anchoring agent delivery systems, such as large size, low reliability, high maintenance cost, and unsuitability for equipment such as anchor excavators and anchor transporters. Furthermore, based on the above-mentioned anchoring agent delivery device, an anchoring agent application method is provided.

[0006] The present invention provides an anchoring agent delivery device for use with a robotic arm, comprising a mounting frame and a first gripper, a second gripper, and a third gripper arranged vertically along the mounting frame; each of the first gripper, the second gripper, and the third gripper includes a gripper seat, a gripper plate, and a gripper plate drive; the gripper seat is connected to the mounting frame; the two gripper plates are slidably mounted on the gripper seat; the gripper plate drive is mounted on the gripper seat and drives the two gripper plates to open or close.

[0007] In the aforementioned anchoring agent delivery device that works in conjunction with a robotic arm, a rubber pad is provided on the claw plate.

[0008] In the aforementioned anchoring agent delivery device that works in conjunction with a robotic arm, an auxiliary top plate is fixedly installed above the first gripper.

[0009] In the aforementioned anchoring agent delivery device that works in conjunction with a robotic arm, a groove is provided on the auxiliary top plate.

[0010] In the aforementioned anchoring agent delivery device that works in conjunction with a robotic arm, the first gripper, the second gripper, and the third gripper are arranged on the front of the mounting frame; a transition flange for connecting the end of the robotic arm is also installed on the back of the mounting frame.

[0011] In the aforementioned anchoring agent delivery device that works in conjunction with a robotic arm, the claw drive is one of a pneumatic cylinder, a hydraulic cylinder, an electric cylinder, or a linear motor.

[0012] The anchoring agent application method provided by this invention is implemented using the aforementioned anchoring agent delivery device assisted by a robotic arm, and includes the following steps: S1, the anchoring agent delivery device is fixedly installed on the robotic arm, and the gripper plates are all in the locked state; S2, determine the length of the anchoring agent to be installed in the borehole. If a short anchoring agent is used, proceed to step S301; if a long anchoring agent is used, proceed to step S302. S301, the claw plate of the third gripper is opened and locked, the first gripper and the second gripper are responsible for grabbing the anchoring agent, the claw plates of the first gripper and the second gripper are opened at the same time, the robotic arm moves the anchoring agent conveying device to the material bin, the claw plates of the first gripper and the second gripper are closed at the same time to grab the anchoring agent, and proceed to step S401. S302, the claw plate of the second gripper is opened and locked, and the first and third grippers are responsible for grabbing the anchoring agent. The claw plates of the first and third grippers open at the same time, and the robotic arm moves the anchoring agent conveying device to the material bin. The claw plates of the first and third grippers close at the same time to grab the anchoring agent, and proceed to step S402. S401, After the robotic arm controls the anchoring agent delivery device to align the anchoring agent with the borehole, the drill frame's clamps open, and the robotic arm controls the anchoring agent delivery device to send the anchoring agent above the first clamp into the borehole, proceeding to step S5. S402, after the robotic arm controls the anchoring agent delivery device to align the anchoring agent with the borehole, the drill frame's clamps open, and the robotic arm controls the anchoring agent delivery device to send the anchoring agent above the first clamp into the borehole, proceeding to step S403. S403, after the drill frame's clamps close to fix the anchoring agent, the claw plates of the first and third clamps open, the robotic arm controls the anchoring agent delivery device to descend, the claw plates of the first and second clamps close simultaneously to grab the anchoring agent, the drill frame's clamps open again, the robotic arm controls the anchoring agent delivery device to continue to feed the anchoring agent above the first clamp into the borehole, proceed to step S5. S5, after the drill frame's clamps close to fix the anchoring agent, the claw plates of the first and second clamps open, and the robotic arm controls the anchoring agent delivery device to descend. S6, the robotic arm controls the anchoring agent delivery device to make the auxiliary top plate above the first gripper press against the bottom of the anchoring agent; S7, the drill frame clamps open, and the robotic arm controls the anchoring agent delivery device to push upwards until the auxiliary roof plate contacts the roadway roof plate, thus completely delivering the anchoring agent into the borehole.

[0013] Compared with the prior art, the present invention has the following beneficial effects.

[0014] 1. The above-mentioned anchoring agent delivery device is small in size and easy to maintain.

[0015] 2. The above-mentioned anchoring agent delivery device can effectively protect the anchoring agent from being squeezed and broken when gripping and installing it by controlling the clamping force and the opening and closing range of the claw plate, and has high reliability.

[0016] 3. The above-mentioned anchoring agent conveying device can be used in conjunction with a robotic arm to realize an automated and intelligent operation process for material grabbing and installation. It can be installed on equipment such as anchor excavators and anchor transporters to achieve synchronous excavation and anchoring operations.

[0017] 4. The above-mentioned anchoring agent delivery device is not limited to long and short anchoring agents. After changing the claw plate and rubber pad, it can also be used to grab and install materials such as drill rods, anchor rods, and mixers. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 Assembly diagram of the anchoring agent delivery device for use with robotic arm-assisted operations; Figure 2 Exploded view of the anchoring agent delivery device for use with robotic arm-assisted operations; Figure 3 A demonstration diagram illustrating the process of installing short anchoring agents into the anchoring agent delivery device; Figure 4 A demonstration diagram illustrating the process of installing long anchoring agents into an anchoring agent delivery device; Figure 5 This is a flowchart of the anchoring agent application method.

[0020] In the diagram: 100, mounting bracket; 201. First gripper; 202. Second gripper; 203. Third gripper; 204. Gripper base; 205. Gripper plate; 206. Gripper plate drive unit; 207. Rubber pad; 208. Auxiliary top plate; 209. Driver; 300. Transition flange. Detailed Implementation

[0021] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1 This embodiment provides an anchoring agent delivery device for use with a robotic arm, including a mounting frame 100 and a first gripper 201, a second gripper 202, and a third gripper 203 arranged vertically along the mounting frame 100; the first gripper 201, the second gripper 202, and the third gripper 203 each include a gripper seat 204, a gripper plate 205, and a gripper plate drive member 206; the gripper seat 204 is connected to the mounting frame 100 by bolts; the two gripper plates 205 are slidably mounted on the gripper seat 204; the gripper plate drive member 206 is mounted on the gripper seat 204 and drives the two gripper plates 205 to open or close.

[0023] Preferably, the three grippers are arranged vertically and at equal intervals to adapt to materials of different lengths.

[0024] In the aforementioned anchoring agent delivery device that works in conjunction with a robotic arm, a rubber pad 207 is bolted onto the claw plate 205 to increase friction and facilitate disassembly, maintenance, and replacement.

[0025] After replacing the claw plate 205 and rubber pad 207, it can also grab materials of different materials such as rigid and flexible materials, such as anchor rods and drill rods. Open and lock the second gripper 202, and the first gripper 201 and the third gripper 203 will work simultaneously to grab the material. At this time, it is only necessary to grab the material above the drill box and complete the centering work.

[0026] In the above-mentioned anchoring agent delivery device that works in conjunction with a robotic arm, an auxiliary top plate 208 is fixedly installed above the first gripper 201.

[0027] In the above-mentioned anchoring agent delivery device that works in conjunction with a robotic arm, the auxiliary top plate 208 is provided with a groove for aligning with the anchoring agent.

[0028] In the aforementioned anchoring agent delivery device that assists in the operation of the robotic arm, the first gripper 201, the second gripper 202, and the third gripper 203 are arranged on the front of the mounting frame 100; the back of the mounting frame 100 is also bolted with a transition flange 300 for connecting the end of the robotic arm.

[0029] In the aforementioned anchoring agent delivery device that assists in robotic arm operations, the claw plate drive 206 is one of a pneumatic cylinder, hydraulic cylinder, electric cylinder, or linear motor. When the claw plate drive 206 is a servo motor, it can precisely control the opening and closing range and clamping force of the claw plate 205 in conjunction with the driver 209.

[0030] Example 2 This embodiment provides a method for applying anchoring agent, which is implemented using the aforementioned anchoring agent delivery device assisted by a robotic arm, and includes the following steps: S1, the anchoring agent delivery device is fixedly installed on the robotic arm, and the claw plates 205 of the grippers are all in the locked state; S2, determine the length of the anchoring agent to be installed in the borehole. If a short anchoring agent is used, proceed to step S301; if a long anchoring agent is used, proceed to step S302. S301, the claw plate 205 of the third gripper 203 is opened and locked. The first gripper 201 and the second gripper 202 are responsible for gripping the anchoring agent. The claw plates 205 of the first gripper 201 and the second gripper 202 open at the same time. The robotic arm moves the anchoring agent conveying device to the material bin. The claw plates 205 of the first gripper 201 and the second gripper 202 close at the same time to grip the anchoring agent. Proceed to step S401. S302, the claw plate 205 of the second gripper 202 is opened and locked. The first gripper 201 and the third gripper 203 are responsible for gripping the anchoring agent. The claw plates 205 of the first gripper 201 and the third gripper 203 open at the same time. The robotic arm moves the anchoring agent conveying device to the material bin. The claw plates 205 of the first gripper 201 and the third gripper 203 close at the same time to grip the anchoring agent. Proceed to step S402. S401, after the robotic arm controls the anchoring agent delivery device to align the anchoring agent with the borehole, the drill frame clamps open, and the robotic arm controls the anchoring agent delivery device to send the anchoring agent above the first clamp 201 into the borehole, proceeding to step S5. S402, after the robotic arm controls the anchoring agent delivery device to align the anchoring agent with the borehole, the drill frame clamps open, and the robotic arm controls the anchoring agent delivery device to send the anchoring agent above the first clamp 201 into the borehole, proceeding to step S403. S403, after the drill frame's clamps close to fix the anchoring agent, the claw plates 205 of the first jaw 201 and the third jaw 203 open, the robotic arm controls the anchoring agent delivery device to descend, the claw plates 205 of the first jaw 201 and the second jaw 202 close simultaneously to grab the anchoring agent, the drill frame's clamps open again, the robotic arm controls the anchoring agent delivery device to continue to feed the anchoring agent above the first jaw 201 into the borehole, proceeding to step S5; S5, after the drill frame's clamps close to fix the anchoring agent, the claw plates 205 of the first jaw 201 and the second jaw 202 open, and the robotic arm controls the anchoring agent delivery device to descend. S6, the robotic arm controls the anchoring agent delivery device to make the auxiliary top plate 208 above the first gripper 201 press against the bottom of the anchoring agent; S7, the drill frame clamps open, and the robotic arm controls the anchoring agent delivery device to push upwards until the auxiliary roof 208 contacts the roadway roof, thus completely delivering the anchoring agent into the borehole.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An anchoring agent delivery device for use with a robotic arm, characterized in that, It includes a mounting bracket (100) and a first gripper (201), a second gripper (202) and a third gripper (203) arranged vertically along the mounting bracket (100); The first gripper (201), the second gripper (202) and the third gripper (203) each include a gripper base (204), a gripper plate (205) and a gripper plate drive (206); The gripper seat (204) is connected to the mounting bracket (100); Two claw plates (205) are slidably mounted on the gripper seat (204); The claw plate drive (206) is mounted on the claw seat (204) to drive the two claw plates (205) to open or close.

2. The anchoring agent delivery device for use with a robotic arm as described in claim 1, characterized in that, A rubber pad (207) is provided on the claw plate (205).

3. The anchoring agent delivery device for use with a robotic arm as described in claim 1 or 2, characterized in that, An auxiliary top plate (208) is fixedly installed above the first gripper (201).

4. The anchoring agent delivery device for use with a robotic arm as described in claim 3, characterized in that, The auxiliary top plate (208) is provided with a groove.

5. The anchoring agent delivery device for use with a robotic arm as described in claim 4, characterized in that, The first gripper (201), the second gripper (202), and the third gripper (203) are arranged on the front of the mounting bracket (100); The back of the mounting bracket (100) is also fitted with a transition flange (300) for connecting the end of the robotic arm.

6. The anchoring agent delivery device for use with a robotic arm as described in claim 1, characterized in that, The claw drive (206) is one of the following: pneumatic cylinder, hydraulic cylinder, electric cylinder, or linear motor.

7. A method for applying an anchoring agent, characterized in that, The implementation using the anchoring agent delivery device described in claim 3, which is used in conjunction with a robotic arm for assisted operation, includes the following steps: S1, the anchoring agent delivery device is fixedly installed on the robotic arm, and the claw plates (205) of the grippers are all in the locked state; S2, determine the length of the anchoring agent to be installed in the borehole. If a short anchoring agent is used, proceed to step S301; if a long anchoring agent is used, proceed to step S302. S301, the claw plate (205) of the third gripper (203) is opened and locked. The first gripper (201) and the second gripper (202) are responsible for grabbing the anchoring agent. The claw plates (205) of the first gripper (201) and the second gripper (202) open at the same time. The robotic arm moves the anchoring agent conveying device to the material bin. The claw plates (205) of the first gripper (201) and the second gripper (202) close at the same time to grab the anchoring agent. Proceed to step S401. S302, the claw plate (205) of the second gripper (202) is opened and locked. The first gripper (201) and the third gripper (203) are responsible for gripping the anchoring agent. The claw plates (205) of the first gripper (201) and the third gripper (203) open at the same time. The robotic arm moves the anchoring agent conveying device to the material bin. The claw plates (205) of the first gripper (201) and the third gripper (203) close at the same time to grip the anchoring agent. Proceed to step S402. S401, after the robotic arm controls the anchoring agent delivery device to align the anchoring agent with the borehole, the drill frame's clamps open, and the robotic arm controls the anchoring agent delivery device to send the anchoring agent above the first clamp (201) into the borehole, proceeding to step S5; S402, after the robotic arm controls the anchoring agent delivery device to align the anchoring agent with the borehole, the drill frame's clamps open, and the robotic arm controls the anchoring agent delivery device to send the anchoring agent above the first clamp (201) into the borehole, proceeding to step S403. S403, after the drill frame clamps are closed to fix the anchoring agent, the claw plates (205) of the first claw (201) and the third claw (203) open, the robotic arm controls the anchoring agent delivery device to descend, the claw plates (205) of the first claw (201) and the second claw (202) close simultaneously to grab the anchoring agent, the drill frame clamps open again, the robotic arm controls the anchoring agent delivery device to continue to feed the anchoring agent above the first claw (201) into the borehole, and proceed to step S5; S5, after the drill frame clamps are closed to fix the anchoring agent, the claw plates (205) of the first claw (201) and the second claw (202) open, and the robotic arm controls the anchoring agent delivery device to descend; S6, the robotic arm controls the anchoring agent delivery device to make the auxiliary top plate (208) above the first gripper (201) press against the bottom end of the anchoring agent; S7, the drill frame clamps open, and the robotic arm controls the anchoring agent delivery device to push up until the auxiliary roof plate (208) contacts the roadway roof plate, thus completely delivering the anchoring agent into the borehole.

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