Mechanical arm capable of being bent continuously

Abstract

The utility model discloses a continuous bending mechanical arm which comprises a continuous bending joint and a driving mechanism, the continuous bending joint comprises a plurality of fixing frames which are hinged in sequence, and an upper telescopic piece and a lower telescopic piece are arranged between every two adjacent fixing frames. The fixed end and the movable end of each upper telescopic piece are hinged to the upper ends of the two adjacent fixed frames respectively, and the fixed end and the movable end of each lower telescopic piece are hinged to the lower ends of the two adjacent fixed frames respectively. The mechanical arm device capable of being bent continuously has the advantages that due to the fact that all the lower telescopic pieces stretch out and draw back in the same amplitude, it can be guaranteed that when the charging pipe is bent, the bending degrees of all the parts are consistent, and therefore the situation that local parts are excessively bent cannot occur; the service life of the charging pipe can be prolonged, and the conveying smoothness of explosives in the charging pipe can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of charge trolleys, in particular to a continuously bendable mechanical arm. Background Art

[0002] The charging trolley is a special equipment used for transporting and loading explosives in mining operations. When in use, the charging tube is inserted into the blasthole and then pulled out from the blasthole. During the process of pulling the charging tube out of the blasthole, the explosive is injected into the blasthole through the charging tube by a pumping device, thereby loading the blasthole with explosives.

[0003] When inserting a charge tube into a blast hole, it is first necessary to align the charge tube with the blast hole through a guide. The existing guide uses a mechanical arm to guide the charge tube. However, it is difficult for a general mechanical arm to achieve continuous bending of the charge tube, which causes the charge tube to be easily excessively bent locally, which not only affects the service life of the charge tube, but also affects the smooth transportation of the explosives in the subsequent charge tube. Utility Model Content

[0004] The purpose of the utility model is to overcome the above-mentioned technical deficiencies and propose a continuously bendable mechanical arm to solve the technical problem that in the prior art, general mechanical arms are difficult to achieve continuous bending of a charge tube, which causes the charge tube to be easily partially excessively bent, affecting the service life of the charge tube and the subsequent smooth transportation of explosives in the charge tube.

[0005] In order to achieve the above technical purpose, the utility model adopts the following technical solutions:

[0006] The utility model provides a continuously bendable mechanical arm, comprising:

[0007] A continuous bending joint, the continuous bending joint comprising a plurality of fixed frames hinged in sequence, an upper telescopic member and a lower telescopic member are provided between each two adjacent fixed frames, the fixed end and the movable end of each upper telescopic member are respectively hinged to the upper ends of the two adjacent fixed frames, and the fixed end and the movable end of each lower telescopic member are respectively hinged to the lower ends of the two adjacent fixed frames; and,

[0008] A driving mechanism is connected to each of the upper telescopic members and each of the lower telescopic members, and is used to control each of the upper telescopic members to telescope with the same amplitude and each of the lower telescopic members to telescope with the same amplitude.

[0009] In some embodiments, a limiting hole for the charge tube to pass through is opened at the center of the fixed frame.

[0010] In some embodiments, the continuous bending joint also includes a plurality of middle connecting rods, which are arranged between two adjacent fixed frames, and the two ends of each middle connecting rod are respectively hinged to the centers of two adjacent fixed frames; the upper telescopic member includes an upper cylinder body, an upper piston and an upper sliding rod, the upper piston sliding seal is arranged in the upper cylinder body to form an upper accommodating chamber with a variable volume, the upper cylinder body is provided with an upper liquid port connected to the upper accommodating chamber, one end of the upper sliding rod is fixed to the upper piston, and the other end of the upper sliding rod is hinged to the upper end of the fixed frame; the lower telescopic member includes a lower cylinder body, a lower piston and a lower sliding rod, the lower piston sliding seal is arranged in the lower cylinder body to form a lower accommodating chamber with a variable volume, the lower cylinder body is provided with a lower liquid port connected to the lower accommodating chamber, one end of the lower sliding rod is fixed to the upper piston, and the other end of the upper sliding rod is hinged to the upper end of the fixed frame The cam is connected with the oil pump, and the other end of the oil pump is connected with the oil tank, and the other end of the oil pump is connected with the oil tank, the oil tank is connected with the oil pump, the oil pump has a check valve in it, and the check valve is connected with the oil pump end.

[0011] In some embodiments, the driving mechanism further includes a plurality of upper telescopic connecting tubes, one end of each upper telescopic connecting tube is connected to the upper liquid port, and the other end of each upper telescopic connecting tube is connected to the upper main pipe.

[0012] In some embodiments, the driving mechanism further includes a plurality of lower telescopic connecting tubes, one end of each lower telescopic connecting tube is connected to the lower liquid port, and the other end of each lower telescopic connecting tube is connected to the lower main pipe.

[0013] In some embodiments, the oil tank is provided with a first interface, a second interface and a third interface, the first interface is connected to the other end of the upper liquid return valve, the second interface is connected to the other end of the lower liquid return valve, and the third interface is connected to the inlet of the liquid pump.

[0014] In some embodiments, the driving mechanism further includes a liquid pumping tube, one end of which is connected to the third interface, and the other end of which is connected to the inlet of the liquid pump.

[0015] In some embodiments, the driving mechanism further includes a drain pipe, one end of which is connected to the outlet of the liquid pump, and the other end of which is connected to one end of the upper liquid inlet valve and one end of the lower liquid inlet valve.

[0016] In some embodiments, the continuously bendable robotic arm further includes a moving trolley and a fixed seat, the fixed seat is fixed to the moving trolley, and the outermost fixed frame is fixed to the fixed seat.

[0017] In some embodiments, the fixing seat is provided with a through hole for the charge tube to pass through.

[0018] Compared with the prior art, the beneficial effect of the continuously bendable mechanical arm device provided by the utility model is that when in use, the various parts of the charge tube are movably connected to the various fixed frames respectively, and then the driving mechanism controls the various upper telescopic parts to be extended and retracted with the same amplitude, and drives the various lower telescopic parts to be extended and retracted with the same amplitude, so that the various parts of the charge tube can be bent with the same amplitude, so as to cooperate with other devices to make the head end of the charge tube align with the blast hole. Since the various lower telescopic parts are extended and retracted with the same amplitude, the various parts of the charge tube can be ensured to be bent to the same degree when bending, so that local excessive bending will not occur, and the service life of the charge tube and the smoothness of the explosive transportation in the charge tube can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of a continuously bendable mechanical arm provided by an embodiment of the utility model;

[0020] Figure 2 yes Figure 1 A schematic diagram of the structure of the continuous bending joint and the driving mechanism;

[0021] Figure 3 yes Figure 2 A partial enlarged view of the middle area A;

[0022] Figure 4 yes Figure 1 A schematic diagram of the structure of the driving mechanism in FIG.

[0023] Explanation of the accompanying drawings: 1-continuous bending joint, 11-fixed frame, 111-limiting hole, 12-upper telescopic member, 121-upper cylinder body, 1211-upper liquid outlet, 122-upper piston, 123-upper slide rod, 13-lower telescopic member, 131-lower cylinder body, 1311-lower liquid outlet, 132-lower piston, 133-lower slide rod, 14-middle connecting rod, 2-driving mechanism, 21-upper main pipe, 22-lower main pipe, 23-oil tank, 24-upper liquid return valve, 25-lower liquid return valve, 26-liquid pump, 261-liquid suction pipe, 262-liquid discharge pipe, 27-upper liquid inlet valve, 28-lower liquid inlet valve, 291-upper telescopic connecting pipe, 292-lower telescopic connecting pipe, 3-charging pipe, 4-movable trolley, 5-fixed seat, 51-through hole. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0025] In order to solve the technical problem that it is difficult for a general mechanical arm to achieve continuous bending of a charge tube, which causes the charge tube to be easily excessively bent locally, affecting both the service life of the charge tube and the smooth transportation of the explosive in the subsequent charge tube, the utility model provides a continuously bendable mechanical arm, which can achieve continuous bending of the charge tube, thereby increasing the service life of the charge tube and the smoothness of the transportation of the explosive in the charge tube.

[0026] It should be noted that the continuously bendable robotic arm described in the present invention is used for but not limited to the charging trolley. For the convenience of explanation, in the present invention, only the application of the continuously bendable robotic arm to the charging trolley equipment is taken as an example for explanation. The principle of applying the continuously bendable robotic arm to other types of equipment is essentially the same as the principle applied to the charging trolley equipment, and will not be elaborated here.

[0027] See also Figure 1 , Figure 1 Schematic diagram of the structure of a continuously bendable robotic arm in one embodiment of the utility model. The continuously bendable robotic arm includes a continuously bendable joint 1 and a driving mechanism 2.

[0028] The continuous bending joint 1 comprises a plurality of fixed frames 11 hinged in sequence, an upper telescopic member 12 and a lower telescopic member 13 are arranged between each two adjacent fixed frames 11, the fixed end and the movable end of each upper telescopic member 12 are respectively hinged to the upper ends of the two adjacent fixed frames 11, and the fixed end and the movable end of each lower telescopic member 13 are respectively hinged to the lower ends of the two adjacent fixed frames 11;

[0029] The driving mechanism 2 is connected to each of the upper telescopic members 12 and each of the lower telescopic members 13 and is used to control each of the upper telescopic members 12 and each of the lower telescopic members 13 to extend and retract to the same extent.

[0030] When in use, the various parts of the charge tube 3 are movably connected to the various fixed frames 11, and then the driving mechanism 2 controls the various upper telescopic members 12 to telescope with the same amplitude, and drives the various lower telescopic members 13 to telescope with the same amplitude, so that the various parts of the charge tube 3 can be bent with the same amplitude, so as to cooperate with other devices to align the head end of the charge tube 3 with the blast hole. Since the various lower telescopic members 13 telescope with the same amplitude, the various lower telescopic members 13 telescope with the same amplitude, it can be ensured that the bending degree of each part of the charge tube 3 is consistent when bending, so that there will be no local excessive bending, which can improve the service life of the charge tube and the smoothness of the explosive transportation in the charge tube.

[0031] In one embodiment, see Figure 1-Figure 3 A limiting hole 111 for the charge tube to pass through is opened at the center of the fixed frame 11.

[0032] In one embodiment, see Figure 1-Figure 4 The continuous bending joint 1 further comprises a plurality of middle connecting rods 14, wherein the middle connecting rods 14 are arranged between two adjacent fixed frames 11, and the two ends of each middle connecting rod 14 are respectively hinged to the center of two adjacent fixed frames 11;

[0033] The upper telescopic member 12 comprises an upper cylinder body 121, an upper piston 122 and an upper slide bar 123. The upper piston 122 is slidably sealed and disposed in the upper cylinder body 121 to form an upper accommodating chamber with a variable volume. The upper cylinder body 121 is provided with an upper liquid port 1211 communicating with the upper accommodating chamber. One end of the upper slide bar 123 is fixed to the upper piston 122, and the other end of the upper slide bar 123 is hinged to the upper end of the fixed frame 11.

[0034] The lower telescopic member 13 comprises a lower cylinder 131, a lower piston 132 and a lower slide rod 133. The lower piston 132 is slidably sealed and disposed in the lower cylinder 131 to form a lower accommodating chamber with a variable volume. The lower cylinder 131 is provided with a lower liquid port 1311 communicating with the lower accommodating chamber. One end of the lower slide rod 133 is fixed to the lower piston 132, and the other end of the lower slide rod 133 is hinged to the lower end of the fixed frame 11.

[0035] The driving mechanism 2 includes an upper main pipe 21, a lower main pipe 22, an oil tank 23, an upper liquid return valve 24, a lower liquid return valve 25, a liquid pump 26, an upper liquid inlet valve 27 and a lower liquid inlet valve 28. The upper main pipe 21 is connected to each of the upper liquid ports 1211, the lower main pipe 22 is connected to each of the lower liquid ports 1311, one end of the upper liquid return valve 24 is connected to one end of the upper main pipe 21, the other end of the upper liquid return valve 24 is connected to the oil tank 23, and the lower liquid return valve 27 is connected to the lower liquid return valve 28. One end of the upper liquid inlet valve 27 is communicated with the outlet of the liquid pump 26, the other end of the upper liquid inlet valve 27 is communicated with one end of the upper main pipe 21, one end of the lower liquid inlet valve 28 is communicated with the outlet of the liquid pump 26, and the other end of the lower liquid inlet valve 28 is communicated with one end of the lower main pipe 22.

[0036] During use, when it is necessary to control the continuous bending joint 1 to bend uniformly upward, open the lower liquid inlet valve 28 and the upper liquid return valve 24, close the upper liquid inlet valve 27 and the lower liquid return valve 25, and then open the liquid pump 26. The liquid pump 26 draws the oil in the oil tank 23 to the lower main pipe 22, and then enters each lower liquid port 1311 from the lower main pipe 22, thereby pushing each lower piston 132 to extend. When each lower piston 132 extends, each fixed frame 11 will be equivalent to the rotation of the middle connecting rod 14, thereby pushing each upper piston 122 to retract, and making the oil in each upper cylinder body 121 return to the oil tank 23 through the upper main pipe 21, thereby realizing the continuous bending joint 1 to bend uniformly upward. Similarly, when it is necessary to control the continuous bending joint 1 to bend uniformly downward, open the upper liquid inlet valve 27 and the lower liquid return valve 25, close the lower liquid inlet valve 28 and the upper liquid return valve 24, and then open the liquid pump 26.

[0037] In one embodiment, see Figure 1-Figure 4 The drive mechanism 2 further includes a plurality of upper telescopic connecting tubes 291, one end of which is in communication with the upper liquid port 1211, and the other end of which is in communication with the upper main pipe 21. The drive mechanism 2 further includes a plurality of lower telescopic connecting tubes 292, one end of which is in communication with the lower liquid port 1311, and the other end of which is in communication with the lower main pipe 22. The lengths of the upper telescopic connecting tubes 291 and the lower telescopic connecting tubes 292 are variable, so as to adapt to the bending of the continuous bending joint 1.

[0038] In one embodiment, see Figure 1-Figure 4The oil tank 23 is provided with a first interface, a second interface and a third interface. The first interface is connected to the other end of the upper liquid return valve 24, the second interface is connected to the other end of the lower liquid return valve 25, and the third interface is connected to the inlet of the liquid pump 26.

[0039] In one embodiment, see Figure 1-Figure 4 The driving mechanism 2 further includes a liquid pumping tube 261 , one end of which is connected to the third interface, and the other end of which is connected to the inlet of the liquid pump 26 .

[0040] In one embodiment, see Figure 1-Figure 4 The driving mechanism 2 also includes a drain pipe 262, one end of which is connected to the outlet of the liquid pump 26, and the other end of the drain pipe 262 is connected to one end of the upper liquid inlet valve 27 and one end of the lower liquid inlet valve 28.

[0041] In one embodiment, see Figure 1-Figure 3 The continuously bendable robotic arm also includes a moving trolley 4 and a fixed seat 5 , wherein the fixed seat 5 is fixed to the moving trolley 4 , and the outermost fixed frame 11 is fixed to the fixed seat 5 .

[0042] In one embodiment, see Figure 1-Figure 3 The fixing seat 5 is provided with a through hole 51 for the charge tube 3 to pass through.

[0043] In order to better understand the present invention, the following Figures 1 to 4 The technical solution of the utility model is described in detail:

[0044] During use, when it is necessary to control the continuous bending joint 1 to bend uniformly upward, open the lower liquid inlet valve 28 and the upper liquid return valve 24, close the upper liquid inlet valve 27 and the lower liquid return valve 25, and then open the liquid pump 26. The liquid pump 26 draws the oil in the oil tank 23 to the lower main pipe 22, and then enters each lower liquid port 1311 from the lower main pipe 22, thereby pushing each lower piston 132 to extend. When each lower piston 132 extends, each fixed frame 11 will be equivalent to the rotation of the middle connecting rod 14, thereby pushing each upper piston 122 to retract, and making the oil in each upper cylinder body 121 return to the oil tank 23 through the upper main pipe 21, thereby realizing the continuous bending joint 1 to bend uniformly upward. Similarly, when it is necessary to control the continuous bending joint 1 to bend uniformly downward, open the upper liquid inlet valve 27 and the lower liquid return valve 25, close the lower liquid inlet valve 28 and the upper liquid return valve 24, and then open the liquid pump 26.

[0045] Since the lower telescopic parts 13 are telescoped to the same extent, it can be ensured that when the charge tube 3 is bent, the bending degrees of various parts are consistent, so that there will be no local excessive bending, which can improve the service life of the charge tube and the smoothness of the explosive transportation in the charge tube.

[0046] The specific implementation methods of the utility model described above do not constitute a limitation on the protection scope of the utility model. Any other corresponding changes and modifications made according to the technical concept of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. A continuously bendable robotic arm, characterized in that: include: A continuous bending joint, the continuous bending joint comprising a plurality of fixed frames hinged in sequence, an upper telescopic member and a lower telescopic member are provided between each two adjacent fixed frames, the fixed end and the movable end of each upper telescopic member are respectively hinged to the upper ends of the two adjacent fixed frames, and the fixed end and the movable end of each lower telescopic member are respectively hinged to the lower ends of the two adjacent fixed frames; and, A driving mechanism is connected to each of the upper telescopic members and each of the lower telescopic members, and is used to control each of the upper telescopic members to telescope with the same amplitude and each of the lower telescopic members to telescope with the same amplitude.

2. The continuously bendable robotic arm according to claim 1, characterized in that: A limiting hole for the charge tube to pass through is provided at the center of the fixed frame.

3. The continuously bendable mechanical arm according to claim 1, characterized in that: The continuous bending joint further comprises a plurality of middle connecting rods, which are arranged between two adjacent fixed frames, and the two ends of each middle connecting rod are respectively hinged to the center of two adjacent fixed frames; The upper telescopic member comprises an upper cylinder body, an upper piston and an upper slide rod, wherein the upper piston is slidingly and sealably arranged in the upper cylinder body to form an upper accommodating chamber with a variable volume, an upper liquid port communicating with the upper accommodating chamber is provided on the upper cylinder body, one end of the upper slide rod is fixed to the upper piston, and the other end of the upper slide rod is hinged to the upper end of the fixed frame; The lower telescopic member comprises a lower cylinder body, a lower piston and a lower sliding rod, wherein the lower piston is slidingly sealed and arranged in the lower cylinder body to form a lower accommodating chamber with a variable volume, and the lower cylinder body is provided with a lower liquid port communicating with the lower accommodating chamber, one end of the lower sliding rod is fixed to the lower piston, and the other end of the lower sliding rod is hinged to the lower end of the fixed frame; The driving mechanism comprises an upper main pipe, a lower main pipe, an oil tank, an upper liquid return valve, a lower liquid return valve, a liquid pump, an upper liquid inlet valve and a lower liquid inlet valve. The upper main pipe is communicated with each of the upper liquid ports, the lower main pipe is communicated with each of the lower liquid ports, one end of the upper liquid return valve is communicated with one end of the upper main pipe, the other end of the upper liquid return valve is communicated with the oil tank, one end of the lower liquid return valve is communicated with one end of the lower main pipe, the other end of the lower liquid return valve is communicated with the oil tank, the inlet of the liquid pump is communicated with the oil tank, one end of the upper liquid inlet valve is communicated with the outlet of the liquid pump, the other end of the upper liquid inlet valve is communicated with one end of the upper main pipe, one end of the lower liquid inlet valve is communicated with the outlet of the liquid pump, and the other end of the lower liquid inlet valve is communicated with one end of the lower main pipe.

4. The continuously bendable mechanical arm according to claim 3, characterized in that: The driving mechanism further comprises a plurality of upper telescopic connecting tubes, one end of each of which is connected to the upper liquid port, and the other end of each of which is connected to the upper main pipe.

5. The continuously bendable mechanical arm according to claim 3, characterized in that: The driving mechanism further comprises a plurality of lower telescopic connecting tubes, one end of each of which is connected to the lower liquid port, and the other end of each of which is connected to the lower main pipe.

6. The continuously bendable mechanical arm according to claim 3, characterized in that: The oil tank is provided with a first interface, a second interface and a third interface, the first interface is connected to the other end of the upper liquid return valve, the second interface is connected to the other end of the lower liquid return valve, and the third interface is connected to the inlet of the liquid pump.

7. The continuously bendable mechanical arm according to claim 6, characterized in that: The driving mechanism further comprises a liquid pumping tube, one end of which is in communication with the third interface, and the other end of which is in communication with the inlet of the liquid pump.

8. The continuously bendable mechanical arm according to claim 3, characterized in that: The driving mechanism further comprises a liquid discharge pipe, one end of which is connected to the outlet of the liquid pump, and the other end of which is communicated with one end of the upper liquid inlet valve and one end of the lower liquid inlet valve.

9. The continuously bendable mechanical arm according to claim 1, characterized in that: It also includes a moving trolley and a fixed seat, wherein the fixed seat is fixed to the moving trolley, and the outermost fixed frame is fixed to the fixed seat.

10. The continuously bendable mechanical arm according to claim 9, characterized in that: The fixing seat is provided with a through hole for the charge tube to pass through.

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