Mechanical arm for guniting robot

Abstract

The utility model discloses a mechanical arm for a guniting robot, which belongs to the technical field of roadway guniting devices, and comprises a box girder, the box girder is connected with a long sliding table through a linear guide rail, the upper end of the long sliding table is movably connected with a mechanical arm through two rotary drivers, and the two rotary drivers are connected with the long sliding table. The two rotary drivers are respectively a rotary driver in the vertical direction and a rotary driver in the horizontal direction, and the rotary driver in the vertical direction and the rotary driver in the horizontal direction are connected through a large hinged support; the position posture of the mechanical arm is fed back in real time through combination of a displacement sensor and an absolute value encoder, intelligent sensing of the posture of the mechanical arm is achieved, the absolute value encoder is installed on a mechanical arm joint, angle information of the mechanical arm joint can be fed back to a controller, and the controller completes motion closed-loop control over the mechanical arm through servo control over a hydraulic valve. The closed-loop control precision of the mechanical arm is high, trajectory planning motion control can be conducted on the tail end of the mechanical arm, and the function of the spraying mechanical arm is better met.

Description

Technical Field

[0001] The utility model belongs to the technical field of roadway shotcreting devices, and particularly relates to a robotic arm for a shotcreting robot. Background Technique

[0002] With the rapid development of current science and technology and the wide application of modern large-scale production, the integration and automation degree of coal mine electromechanical equipment are getting higher and higher; correspondingly, with the continuous improvement of the coal mine mining level, higher requirements are put forward for coal mine roadway shotcreting operations. However, at present, coal mine roadway shotcreting construction in China still relies on manual operations; there are problems such as harsh production environment, high danger, large labor intensity, and unstable construction quality.

[0003] Coal mine roadway shotcreting construction in China is facing problems such as low construction efficiency, high labor costs, and difficulty in recruiting workers, which have affected the further development of the coal mine mining industry. How to improve the technical level of shotcreting equipment and realize the automation and intelligence of roadway shotcreting is particularly urgent and important.

[0004] Shotcreting robots can completely replace manual labor and complete the work with high labor intensity and harsh environment in shotcreting operations. At the same time, they can effectively reduce labor intensity and danger, ensure the consistency of shotcreting quality, improve production efficiency, and reduce labor costs. Conducting research on robots suitable for underground shotcreting operations in the coal mine mining industry is of great significance for realizing the automation and intelligence of the coal mine roadway shotcreting process and driving the improvement of the overall technical level of China's coal mine mining industry.

[0005] The research on intelligent industrial robots focuses on the factory automation industry. The research on multi-degree-of-freedom industrial robots mainly focuses on six-degree-of-freedom industrial robots, four-degree-of-freedom industrial robots, etc., and is mainly applied in fields such as handling, gluing, assembly, and welding. However, in the coal mine industry, the research on multi-degree-of-freedom robots suitable for underground operation scenarios is still in its infancy.

[0006] For the existing mine-used concrete auxiliary spraying vehicle, during shotcreting operations, manual control or short-range remote control is still required. Therefore, we propose a robotic arm for a shotcreting robot. Content of the Utility Model

[0007] The purpose of the utility model is to provide a robotic arm for a shotcreting robot to solve the problems raised in the above background technique.

[0008] To achieve the above object, the utility model provides the following technical solutions: A robotic arm for a shotcrete robot, including a box girder, the box girder is connected with a long slide table through a linear guide rail, the upper end of the long slide table is movably connected with a robotic arm through a slewing drive, and there are two slewing drives, namely a slewing drive in the vertical direction and a slewing drive in the horizontal direction, the slewing drive in the vertical direction and the slewing drive in the horizontal direction are connected through a large hinge support, an absolute encoder II is arranged on the right side of the large hinge support, the robotic arm is connected with the slewing drive in the vertical direction through a slewing drive flange, a slewing fixed limit and a vertical fixed limit are arranged on the upper surface of the long slide table, the slewing fixed limit is arranged in front of the slewing drive in the horizontal direction, and the vertical fixed limit is arranged below the slewing drive in the vertical direction.

[0009] Preferably, the robotic arm includes a boom assembly, the lower end of the boom assembly is movably connected with the large hinge support through a slewing flange plate, the upper end of the boom assembly is movably connected with a forearm assembly through a rotation prevention bracket, a forearm swing oil cylinder is arranged inside the rotation prevention bracket, an absolute encoder I is arranged at the front end of the forearm swing oil cylinder, a robotic arm stop is arranged at the lower end of the rear side of the rotation prevention bracket, a central slewing joint is arranged at the front end of the rotation prevention bracket, a wrist swing oil cylinder is arranged at the upper end of the forearm assembly, and a wrist assembly is arranged at the upper end of the wrist swing oil cylinder.

[0010] Preferably, a rotation prevention table is arranged between the upper end of the boom assembly and the rotation prevention bracket, a slewing drive flange is arranged at the lower end of the rotation prevention table, an encoder adapter is arranged at the lower end of the slewing drive flange, and a slewing drive flange is arranged between the lower end of the boom assembly and the large hinge support.

[0011] Preferably, a baffle is arranged on the side wall of the box girder, a hydraulic motor is arranged on the right side of the upper surface of the long slide table, and the power output end of the hydraulic motor is connected with the slewing drive.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] (1) For the robotic arm of the shotcrete robot, by combining a displacement sensor and an absolute encoder, the position and attitude of the robotic arm are fed back in real time to realize the intelligent perception of the robotic arm attitude. Absolute encoders are installed on the robotic arm joints, which can feed back the joint angle information of the robotic arm to the controller. The controller completes the motion closed-loop control of the robotic arm through the servo control of the hydraulic valve. The closed-loop control accuracy of the robotic arm is high, and the trajectory planning motion control can be carried out on the end of the robotic arm, better meeting the functions of the spraying robotic arm.

[0014] (2) The robotic arm for shotcreting robot realizes stepless speed regulation of the robotic arm through precise control of the hydraulic cylinder by a proportional solenoid valve, and realizes manual remote operation through wireless remote control. When the roadway environmental conditions are suitable, autonomous shotcreting operation can be adopted. The robotic arm can perform motion trajectory planning to achieve the effect of one-key shotcreting. The autonomous mode makes the operation simple and convenient, saves time, reduces the operation difficulty, and improves the shotcreting work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the front view of the present utility model;

[0016] Figure 2 is the right view of the present utility model;

[0017] Figure 3 is the right view of the robotic arm of the present utility model;

[0018] Figure 4 is the three-dimensional structural schematic diagram of the boom assembly of the robotic arm of the present utility model.

[0019] In the figure: 1, box girder; 2, long sliding table; 3, baffle; 4, slewing drive; 5, large hinge support; 6, robotic arm; 601, boom assembly; 602, forearm assembly; 603, wrist assembly; 604, wrist swing cylinder; 605, forearm swing cylinder; 606, slewing flange plate; 607, absolute encoder one; 608, robotic arm stop; 7, hydraulic motor; 8, slewing fixed limit; 9, vertical fixed limit; 10, absolute encoder two; 11, central slewing joint; 12, slewing drive flange; 13, encoder adapter; 14, anti-rotation table; 15, anti-rotation bracket. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0021] Please refer to Figures 1-4 , the present utility model provides a robotic arm for a shotcreting robot, including a box girder 1, a baffle 3 is arranged on the side wall of the box girder 1, and the box girder 1 is connected with a long sliding table 2 through a linear guide rail;

[0022] It should be noted that the box girder 1 is connected to the vehicle body or frame, and together with other control boxes, starting boxes, hydraulic system cooling systems, etc., constitutes a shotcreting robot. The power is provided by a hydraulic cylinder, which is equipped with a displacement sensor to be able to sense the current position and displacement in real time, enabling the robotic arm 6 located on the long slide 2 to have the ability to reciprocate in the vehicle axis direction.

[0023] The upper end of the long slide 2 is movably connected with a robotic arm 6 through a slewing drive 4. There are two slewing drives 4, namely the slewing drive 4 in the vertical direction and the slewing drive 4 in the horizontal direction. The slewing drive 4 in the vertical direction and the slewing drive 4 in the horizontal direction are connected through a large hinge support 5. A hydraulic motor 7 is arranged on the right side of the upper surface of the long slide 2, and the power output end of the hydraulic motor 7 is connected to the slewing drive 4.

[0024] It should be noted that the connection between the hydraulic motor 7 and the slewing drive 4 enables the rotation power of the robotic arm 6 to be provided by the hydraulic motor 7, thereby enabling the robotic arm 6 to have the ability to rotate horizontally and swing left and right.

[0025] An absolute encoder II 10 is arranged on the right side of the large hinge support 5. The setting of the absolute encoder II 10 can measure the real-time angle when the robotic arm 6 rotates horizontally or swings left and right, and provide it to the control system to calculate the current position information. The robotic arm 6 is connected to the slewing drive 4 in the vertical direction through a slewing drive flange 12. A slewing fixed limit 8 and a vertical fixed limit 9 are arranged on the upper surface of the long slide 2. The slewing fixed limit 8 is arranged in front of the slewing drive 4 in the horizontal direction, and the vertical fixed limit 9 is arranged below the slewing drive 4 in the vertical direction. The slewing fixed limit 8 and the vertical fixed limit 9 play the role of the initial zero point and provide mechanical limiting during the movement of the robotic arm 6.

[0026] The robotic arm 6 includes a boom assembly 601. The lower end of the boom assembly 601 is movably connected to the large hinge support 5 through a slewing flange plate 606. The upper end of the boom assembly 601 is movably connected to a forearm assembly 602 through a rotation prevention bracket 15. Inside the rotation prevention bracket 15, there is a forearm swing oil cylinder 605. At the front end of the forearm swing oil cylinder 605, there is an absolute encoder 607. At the lower end of the rear side of the rotation prevention bracket 15, there is a robotic arm stop 608. At the front end of the rotation prevention bracket 15, there is a central swivel joint 11. At the upper end of the forearm assembly 602, there is a wrist swing oil cylinder 604. At the upper end of the wrist swing oil cylinder 604, there is a wrist assembly 603. Between the upper end of the boom assembly 601 and the rotation prevention bracket 15, there is a rotation prevention table 14. At the lower end of the rotation prevention table 14, there is a slewing drive flange 12. At the lower end of the slewing drive flange 12, there is an encoder adapter 13. Between the lower end of the boom assembly 601 and the large hinge support 5, there is a slewing drive flange 12. The central swivel joint 11, the rotation prevention table 14, and the rotation prevention bracket 15 facilitate the layout of hydraulic pipelines for the hydraulic system, preventing pipeline chaos and entanglement, and thus avoiding danger;

[0027] It should be noted that the slewing flange plate 606 is the same as the slewing drive flange 12. It is through which the robotic arm 6 is connected to the vertical slewing drive 4. The slewing flange plate 606 is connected to the boom assembly 601. The boom assembly 601 is connected through the forearm swing oil cylinder 605, enabling the forearm to have a swinging ability with an active angle of ±120°. The forearm assembly 602 is also connected to the wrist assembly 603 through the wrist swing oil cylinder 604, enabling the wrist to have a swinging ability with an active angle of ±120°. The absolute encoder 607 measures the real-time angle and provides it to the control system to calculate the current position information. The robotic arm stop 608 plays the role of the initial zero point and provides mechanical limit during the movement of the robotic arm 6. The boom assembly 601 also includes a boom fixed side, a boom moving side, and a hydraulic cylinder connecting the two, enabling the boom to have a telescopic function and facilitating the robotic arm 6 to reach positions in the roadway that are not easily accessible. At the same time, there is also a displacement sensor in the hydraulic cylinder, which can sense the current position and displacement in real time.

[0028] Working principle and usage process of the utility model: When the device is in use, starting the hydraulic motor 7 can drive the rotary drive 4 in the vertical or horizontal direction to rotate, and then enable the robotic arm 6 to perform horizontal rotation or left-right swing, thereby facilitating the smooth movement of the robotic arm 6 to the shotcreting position. Through the displacement sensor inside the hydraulic cylinder, the current position and displacement can be sensed in real time. When the robotic arm 6 rotates horizontally or swings left and right, the absolute encoder II 10 measures the real-time angle and provides it to the control system to calculate the current position information. When the robotic arm 6 does not need to move, the rotary fixed limit 8 and the vertical fixed limit 9 can quickly limit the robotic arm 6. After the large-direction adjustment of the robotic arm 6 is completed, the small-arm swing cylinder 605 works to make the small-arm assembly 602 swing, and the wrist swing cylinder 604 works to make the wrist assembly 603 swing. Then, the real-time angle is measured by the absolute encoder I 607 and provided to the control system, so that the position of the small arm of the robotic arm 6 accurately reaches the specified position, and then shotcreting work can be carried out.

[0029] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A mechanical arm for a shotcrete robot, comprising a box beam (1), characterized in that: The box beam (1) is connected to a long slide (2) through a linear guide rail, and the upper end of the long slide (2) is movably connected to a mechanical arm (6) through a rotary drive (4), and the rotary drive (4) is provided with two, namely a vertical rotary drive (4) and a horizontal rotary drive (4), the vertical rotary drive (4) and the horizontal rotary drive (4) are connected through a large hinge support (5), and an absolute value encoder 2 (10) is provided on the right side of the large hinge support (5), and the mechanical arm (6) is connected to the vertical rotary drive (4) through a rotary drive flange (12), and the upper surface of the long slide (2) is provided with a rotary fixed limit (8) and a vertical fixed limit (9), the rotary fixed limit (8) is provided in front of the horizontal rotary drive (4), and the vertical fixed limit (9) is provided below the vertical rotary drive (4).

2. A mechanical arm for a shotcrete robot according to claim 1, characterized in that: The mechanical arm (6) includes a large arm assembly (601), the lower end of the large arm assembly (601) is movably connected to the large hinge support (5) through a swivel flange plate (606), the upper end of the large arm assembly (601) is movably connected to the small arm assembly (602) through a swivel bracket (15), a small arm swing cylinder (605) is arranged inside the swivel bracket (15), an absolute value encoder 1 (607) is arranged at the front end of the small arm swing cylinder (605), a mechanical arm stopper (608) is arranged at the lower end of the rear side of the swivel bracket (15), a central swivel joint (11) is arranged at the front end of the swivel bracket (15), a wrist swing cylinder (604) is arranged at the upper end of the small arm assembly (602), and a wrist assembly (603) is arranged at the upper end of the wrist swing cylinder (604).

3. A mechanical arm for a shotcrete robot according to claim 2, characterized in that: A stopper (14) is arranged between the upper end of the large arm assembly (601) and the stopper bracket (15), a rotary drive flange (12) is arranged at the lower end of the stopper bracket (14), an encoder adapter (13) is arranged at the lower end of the rotary drive flange (12), and a rotary drive flange (12) is arranged between the lower end of the large arm assembly (601) and the large hinge support (5).

4. A mechanical arm for a shotcrete robot according to claim 1, characterized in that: The side wall of the box beam (1) is provided with a baffle (3), the right side of the upper surface of the long slide (2) is provided with a hydraulic motor (7), and the power output end of the hydraulic motor (7) is connected to the rotary drive (4).

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