Device for improving positioning precision of arm support and trolley arm support

Abstract

The utility model belongs to the technical field of tunnel construction, and particularly relates to a device for improving positioning accuracy of an arm support and a trolley arm support, the device for improving the positioning accuracy of the arm support comprises an arm seat, a big arm adapter, a planetary gear train mechanism and an angle sensor, and the arm seat is fixed on a rock drilling trolley; the big arm adapter is connected with a big arm, the big arm adapter is mounted on the arm seat through a first pin shaft, and the big arm, the big arm adapter and the first pin shaft rotate synchronously; the planetary gear train mechanism is connected and fixed to the upper end of the first pin shaft and used for amplifying the rotation angle of the rotating joint. The angle sensor is arranged above the planetary gear train mechanism and used for detecting the amplified rotation angle. According to the utility model, the resolution and the detection precision of the angle sensor can be improved, and the positioning precision of boom type trolley operation is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of tunnel construction, and particularly relates to a device for improving arm positioning accuracy and a trolley arm. Background Art

[0002] The precise positioning of the boom is a crucial task in tunnel engineering. Whether in drilling positioning or automatic charging, high requirements are placed on the precise positioning of the boom, which directly affects the construction quality, construction efficiency and degree of automation of the tunnel. At present, the way to position the boom is mostly to directly connect the angle sensor with the pin shaft, and directly rely on the accuracy of the sensor to accurately detect and control the rotation angle. However, this method has obvious disadvantages in the long drill boom structure. When the sensor accuracy reaches the highest, due to the long boom, the error fed back at the end of the boom still does not meet the construction requirements. It is necessary to develop a control device to improve the sensor detection accuracy and solve the current accuracy disadvantages of the sensor in the long boom structure.

[0003] In the existing technology, such as the "Drilling Positioning Accuracy Control Device for a Rock Drilling Vehicle" with application number 202020878416.4, a technical solution has been provided to effectively protect the display screen of the rock drilling vehicle, including isolation panels, enclosures and other structures, which can protect the display screen in all directions, ensure the clarity and accuracy of the data display, and avoid positioning errors caused by damage to the display screen. However, this technical solution focuses on the protection of the display screen and does not fundamentally improve the drilling positioning accuracy. In addition, although this technology can reduce the interference of environmental factors on the equipment, it does not directly provide a device for fine-tuning and rapid positioning of angle accuracy. It still has various limitations and problems and cannot fully meet the needs of improving drilling positioning accuracy. Therefore, it is of great practical significance and market demand to design a new angle magnification device that can effectively improve the drilling positioning accuracy of the drilling trolley. Summary of the invention

[0004] The purpose of the utility model is to solve the problem in the prior art that, during the positioning operation of a boom-type trolley, the positioning accuracy is insufficient due to the long boom and the resolution limitation of the angle sensor cannot meet the requirement of precise positioning of the boom. A device for improving the positioning accuracy of the boom and a trolley boom equipped with a planetary gear mechanism are proposed, which can effectively improve the angle detection accuracy of the angle sensor, thereby improving the positioning accuracy of the entire trolley boom, improving the level of construction automation, and improving the quality of construction operations.

[0005] To achieve the above purpose, the technical solution adopted is:

[0006] A device for improving arm positioning accuracy, comprising:

[0007] A boom base, which is fixed on the drilling rig;

[0008] A boom adapter, which is connected to the boom, the boom adapter is mounted on the arm seat via a first pin shaft, and the boom, the boom adapter and the first pin shaft rotate synchronously;

[0009] A planetary gear train mechanism, which is connected and fixed to the upper end of the first pin shaft and is used to amplify the rotation angle of the rotary joint;

[0010] And an angle sensor is arranged above the planetary gear train mechanism and is used to detect the amplified rotation angle.

[0011] According to the device for improving the positioning accuracy of the arm support of the utility model, further, the planetary gear system mechanism includes an internal gear sun gear bracket, an internal gear sun gear, a plurality of planetary gears and an external gear sun gear; the lower end of the internal gear sun gear bracket is connected to the upper end of the first pin shaft, and the upper end of the internal gear sun gear bracket is connected and fixed to the internal gear sun gear; the plurality of planetary gears are placed inside the internal gear sun gear and the two are meshed with each other; the external gear sun gear is placed between the plurality of planetary gears and meshed with them; the plurality of planetary gears and the external gear sun gear are fixed to the internal gear sun gear bracket via a second pin shaft.

[0012] According to the device for improving the positioning accuracy of the arm support of the utility model, further, the planetary gear train mechanism also includes a planetary frame, and the bottom of the planetary frame is fixed to the upper end of the second pin shaft.

[0013] According to the device for improving the positioning accuracy of the arm support of the utility model, further, the angle sensor is fixedly arranged above the planetary support.

[0014] According to the device for improving the positioning accuracy of the arm support of the utility model, further, it also includes an angle magnifying device shell for covering the planetary gear train mechanism and the angle sensor; the angle magnifying device shell is connected and fixed to the angle sensor.

[0015] The utility model also provides a trolley arm support, comprising:

[0016] Multi-section variable angle robotic arm;

[0017] The planetary gear train mechanism and angle sensor as described above; the planetary gear train mechanism and angle sensor are installed on each rotating joint of the robotic arm;

[0018] The control system receives the signal from the angle sensor and issues control instructions;

[0019] And the power transmission module receives instructions from the control system and controls the coordinated operation of each rotating joint of the robotic arm.

[0020] The beneficial effects achieved by adopting the above technical solution are:

[0021] The device for improving the positioning accuracy of the boom of the utility model adds a planetary gear train mechanism, which can amplify the rotation angle of the rotating joint, and indirectly improve the resolution and detection accuracy of the angle sensor. The introduction of the planetary gear train ensures that the tiny rotation changes of the rotating joint can be effectively captured by the angle sensor. For the same measurement accuracy, the cost and technical requirements of the sensor are reduced, and the dependence on the skills of the operator is also reduced. In addition, the application of this technology can significantly improve the positioning accuracy of boom-type trolleys, effectively increase construction efficiency, reduce the safety hazards and additional corrective operations caused by boom positioning errors, and has significant economic benefits and social effects. Therefore, the utility model significantly improves the accuracy and reliability of construction, and brings positive technological progress to underground rock drilling projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments of the present invention are briefly introduced below. The drawings are only used to show some embodiments of the present invention, but not to limit all embodiments of the present invention thereto.

[0023] Figure 1 It is a structural schematic diagram of a device for improving arm positioning accuracy according to Embodiment 1 of the utility model;

[0024] Figure 2 It is an exploded schematic diagram of the planetary gear train mechanism, the angle sensor and the angle magnifying device housing of the first embodiment of the utility model;

[0025] Figure 3 It is a structural schematic diagram of a planetary gear train mechanism and an angle sensor in Embodiment 1 of the present utility model.

[0026] The meanings of the numbers in the figure are:

[0027] 1. Arm base, 2. Upper arm adapter;

[0028] 3. Planetary gear train mechanism, 301. Internal gear sun gear support, 302. Internal gear sun gear, 303. Planetary gear, 304. External gear sun gear, 305. Planet carrier;

[0029] 4. Angle sensor, 5. Angle amplifier housing, 6. Screws. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings of the specific embodiments of the utility model to clearly and completely describe the exemplary scheme of the utility model. Unless otherwise defined, the technical terms or scientific terms used in the utility model should be the common meanings understood by people with ordinary skills in the relevant field.

[0031] Embodiment 1

[0032] like Figure 1 As shown, the device for improving the positioning accuracy of the boom of this embodiment includes an arm seat 1, a boom adapter 2, a planetary gear mechanism 3 and an angle sensor 4. The arm seat 1 is fixed on the rock drilling trolley, and the boom adapter 2 is connected to the boom; the boom adapter 2 is installed on the arm seat 1 through a first pin shaft. Optionally, the boom adapter 2 and the first pin shaft are connected as a whole through bolts, and the first pin shaft is inserted into the mounting hole of the arm seat 1, so that the boom, the boom adapter 2 and the first pin shaft can achieve synchronous rotation. The planetary gear mechanism 3 is connected and fixed to the upper end of the first pin shaft, and is used to amplify the rotation angle of the rotating joint. The angle sensor 4 is arranged above the planetary gear mechanism 3, and is used to detect the amplified rotation angle, so as to improve the accuracy of angle detection.

[0033] This embodiment installs a planetary gear mechanism 3 between the rotating joint and the angle sensor 4, and utilizes the principle of mechanical angle increase to amplify the rotation angle of the rotating joint. The use of this angle increase mechanism improves the measurement sensitivity of the angle and increases the resolution of the detection angle, thereby allowing more precise control of the movement of the robotic arm.

[0034] like Figure 2 and Figure 3 As shown, the planetary gear train mechanism 3 includes an inner gear sun gear support 301, an inner gear sun gear 302, three planetary gears 303, an outer gear sun gear 304 and a planetary carrier 305; the lower end of the inner gear sun gear support 301 is connected to the upper end of the first pin shaft, which can be connected by a key or interference fit. The upper end of the inner gear sun gear support 301 is connected and fixed to the inner gear sun gear 302, and the inner gear sun gear 302 and the inner gear sun gear support 301 can be connected by a circle of screws on the edge. The three planetary gears 303 are placed inside the inner gear sun gear 302 and the two are meshed for transmission. The outer gear sun gear 304 is placed between the three planetary gears 303 and meshed with them for transmission. The three planetary gears 303 and the outer gear sun gear 304 are fixed to the inner gear sun gear support 301 through the second pin shaft. When the arm adapter 2 drives the inner gear sun gear 302 to rotate, the outer gear sun gear 304 is driven to rotate through the planetary gear 303. Since the diameter of the inner gear sun gear 302 is large and the diameter of the outer gear sun gear 304 is small, the small rotation angle of the inner gear sun gear 302 can be magnified to improve the angle detection accuracy. The bottom of the planet carrier 305 can be fixed to the upper end of the second pin shaft by screws, and of course other connection methods such as interference fit can also be used.

[0035] The angle sensor 4 is fixedly arranged above the planet carrier 305 , including but not limited to being connected by screws.

[0036] In addition to the above structure, the device for improving the positioning accuracy of the arm support in this embodiment also includes an angle magnifying device shell 5, which is used to cover the planetary gear train mechanism 3 and the angle sensor 4, and serves as an outer shield to prevent dust and improve appearance. The angle magnifying device shell 5 is fixedly connected to the angle sensor 4 by screws 6.

[0037] By setting a planetary gear mechanism 3 between the rotating joint and the angle sensor 4, the angle measurement is amplified, and a higher measurement value can be obtained even with a slight rotation of the rotating joint, thereby effectively improving the accuracy of the arm-type trolley operation positioning (such as drilling positioning), and improving the operating efficiency and safety. It is particularly suitable for mines, tunnels and other fields that require high-precision and high-efficiency drilling operations.

[0038] Embodiment 2

[0039] The present embodiment provides a trolley arm, comprising a five-section variable angle mechanical arm, the above-mentioned planetary gear train mechanism 3, an angle sensor 4, a control system and a power transmission module. The five-section variable angle mechanical arm has five rotating joints to achieve multi-dimensional flexible operation. The planetary gear train mechanism 3 and the angle sensor 4 are installed on each rotating joint of the mechanical arm, and the rotation angle of the rotating joint is amplified by the mechanical angle increase principle of the planetary gear train. The angle sensor 4 detects the amplified rotation angle. The control system receives the signal of the angle sensor 4, sends a control instruction to the power transmission module, and accurately controls the mechanical arm. The power transmission module receives the instruction of the control system and controls the coordinated and precise operation of each rotating joint of the mechanical arm.

[0040] The utility model can accurately control the rotation angle of each joint of the mechanical arm by installing an angle amplification mechanism with a planetary gear train between the rotating joint and the angle sensor 4. The design of the planetary gear train can effectively enhance the resolution of the angle sensor 4, so that it can sense smaller angle changes, and then achieve high-precision positioning of the arm through precise adjustment of the control system. In addition, the power transmission module ensures the smoothness and coordination of the rotation action, while reducing the error caused by mechanical clearance or vibration.

[0041] In short, the utility model can significantly improve the positioning accuracy of boom-type trolleys during construction operations, ensure the accuracy of boom positioning, and improve operation efficiency and safety. By utilizing modern advanced angle sensing technology and precise planetary gear train mechanical structure, the accuracy of operation positioning is greatly improved, which has a positive impact on engineering fields such as tunnel construction.

[0042] It should be noted that modifications based on this solution and intermediate solutions also fall within the protection scope of the present utility model.

[0043] Technical solution for transformation:

[0044] Adjusting the structure of the planetary gear train: In some specific application scenarios, it may be necessary to adjust the size or ratio of the planetary gear train to adapt to different working conditions and precision requirements. For example, the size ratio of the sun gear to the planetary gear can be adjusted to achieve different magnifications.

[0045] Diversification of sensors: In addition to using angle sensors, you can also consider introducing other types of sensors, such as magnetic encoders or laser sensors, to provide more measurement data and higher measurement accuracy.

[0046] Increase redundancy design: Add redundancy design to key transmission or measurement parts, such as a dual planetary gear configuration. Even if one set fails, the other set can ensure the normal operation of the equipment.

[0047] Intermediate technical solution:

[0048] Simplified planetary gear train: In the early stages of research and development, you may have considered using a simplified planetary gear train structure, such as using only a single planetary gear. Although this solution has lower accuracy, it is lower in cost and is suitable for occasions where accuracy requirements are not very high.

[0049] Non-standard gear ratio: We have tried many different gear ratio configurations to find the best gear ratio. Although these intermediate solutions were not ultimately adopted, they still have experimental and application value.

[0050] It should be noted that when one element is “connected”, “coupled” or “connected” to another element, it may mean that they are directly connected, coupled or connected, but it should be understood that there may be intermediate elements between the two; that is, the positional relationships of direct connection and indirect connection are covered.

[0051] It should be noted that the use of "a" or "an" and similar words does not necessarily indicate a quantitative limitation. "Include" or "comprising" and similar words mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, but do not exclude other elements or objects.

[0052] It should be noted that terms such as "up", "down", "left" and "right" indicating orientation or positional relationship are only used to indicate relative positional relationship. This is for the convenience of describing the present utility model, and does not mean that the device or element must have a specific orientation, be constructed and operated in a specific orientation. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0053] The preferred embodiments for implementing the present invention have been described in detail above, but it should be understood that the role of these embodiments is only to exemplify, and is not intended to limit the scope, applicability or configuration of the present invention in any way. The protection scope of the present invention is defined by the attached claims and their equivalents. A person of ordinary skill in the art can make many changes to the above embodiments under the guidance of the present invention, and these changes all fall within the protection scope of the present invention.

Claims

1. A device for improving the positioning accuracy of a boom, characterized in that: include: A boom base, which is fixed on the drilling rig; A boom adapter, which is connected to the boom, the boom adapter is mounted on the arm seat via a first pin shaft, and the boom, the boom adapter and the first pin shaft rotate synchronously; A planetary gear train mechanism, which is connected and fixed to the upper end of the first pin shaft and is used to amplify the rotation angle of the rotary joint; And an angle sensor is arranged above the planetary gear train mechanism and is used to detect the amplified rotation angle.

2. The device for improving arm positioning accuracy according to claim 1, characterized in that: The planetary gear train mechanism includes an internal gear sun gear bracket, an internal gear sun gear, multiple planetary gears and an external gear sun gear; the lower end of the internal gear sun gear bracket is connected to the upper end of a first pin shaft, and the upper end of the internal gear sun gear bracket is connected and fixed to the internal gear sun gear; the multiple planetary gears are placed inside the internal gear sun gear and the two are meshed with each other; the external gear sun gear is placed between the multiple planetary gears and meshed with them; the multiple planetary gears and the external gear sun gear are fixed to the internal gear sun gear bracket through a second pin shaft.

3. The device for improving arm positioning accuracy according to claim 2, characterized in that: The planetary gear train mechanism also includes a planet carrier, and the bottom of the planet carrier is fixed to the upper end of the second pin shaft.

4. The device for improving arm positioning accuracy according to claim 3, characterized in that: The angle sensor is fixedly arranged above the planet carrier.

5. The device for improving arm positioning accuracy according to claim 1, characterized in that: It also includes an angle magnifying device shell, which is used to cover the planetary gear train mechanism and the angle sensor; the angle magnifying device shell is connected and fixed to the angle sensor.

6. A trolley arm, characterized in that: Include: Multi-section variable angle robotic arm; The device for improving the positioning accuracy of the arm as claimed in any one of claims 1 to 5; the planetary gear train mechanism and the angle sensor are installed on each rotating joint of the mechanical arm; The control system receives the signal from the angle sensor and issues control instructions; And the power transmission module receives instructions from the control system and controls the coordinated operation of each rotating joint of the robotic arm.

Images