Manipulator with crushing function

Abstract

The manipulator with the crushing function comprises a horizontal rotating mechanism, a multi-degree-of-freedom telescopic arm mechanism and a grabbing mechanism, one end of the multi-degree-of-freedom telescopic arm mechanism is connected with the horizontal rotating mechanism, and the other end of the multi-degree-of-freedom telescopic arm mechanism is connected with the grabbing mechanism; the multi-degree-of-freedom telescopic arm mechanism comprises an axial rotating part, and a crushing part is arranged on the multi-degree-of-freedom telescopic arm mechanism. The mechanical arm has the effects of improving the efficiency of tunnel primary supporting and improving the degree of freedom of the mechanical arm and the crushing device.

Description

Technical Field

[0001] The present application relates to the field of arch installation technology, and in particular to a manipulator with a crushing function. Background Art

[0002] During the initial support of the tunnel, the operator can use the manipulator to facilitate the installation of the arch frame. However, during the installation of the arch frame, for the under-excavated part of the tunnel inner wall, the operator needs to put away the manipulator and replace it with a crushing device or other tools that can excavate the tunnel inner wall to correct the tunnel inner wall. During the initial support of the tunnel, constantly replacing the manipulator and crushing device will reduce the efficiency of the initial support of the tunnel.

[0003] In the prior art, the combination of the manipulator and the crushing device is limited, so that the freedom of the manipulator and the crushing device is restricted.

[0004] In order to improve the efficiency of primary support of tunnels and improve the freedom of manipulator and crushing device, we propose a manipulator with crushing function. Utility Model Content

[0005] In order to improve the efficiency of primary support of tunnels and improve the degree of freedom of the manipulator and crushing device, the present application provides a manipulator with a crushing function.

[0006] The present application provides a manipulator with a crushing function that adopts the following technical solution:

[0007] A robot with a crushing function includes a horizontal rotation mechanism, a multi-degree-of-freedom telescopic arm mechanism and a grasping mechanism, one end of the multi-degree-of-freedom telescopic arm mechanism is connected to the horizontal rotation mechanism, and the other end is connected to the grasping mechanism; the multi-degree-of-freedom telescopic arm mechanism includes an axial rotation part, and the multi-degree-of-freedom telescopic arm mechanism is provided with a crushing part.

[0008] By adopting the above technical solution, the grabbing mechanism and the crushing part can be freely rotated in the horizontal direction through the horizontal rotation mechanism, and the grabbing mechanism and the crushing part can be conveniently brought to any position of the face through the multi-degree-of-freedom telescopic arm mechanism, so that the user can conveniently replace the use of the grabbing mechanism and the crushing part on the multi-degree-of-freedom telescopic arm mechanism, thereby improving the efficiency of the initial support of the tunnel, and allowing the user to conveniently change the position of the grabbing mechanism for grabbing, and also conveniently change the position of the crushing part for crushing. Since the crushing part is arranged on the multi-degree-of-freedom telescopic arm mechanism, in order not to affect the grabbing work of the grabbing mechanism, the crushing part often avoids affecting the installation of the grabbing mechanism, and thus the crushing part needs to specially adjust its own angle to realize the crushing work in any direction. The axial rotation part effectively assists the crushing part in adjusting the direction, and the axial rotation part also facilitates the grabbing process of the grabbing mechanism in any direction.

[0009] Preferably, the axially rotating member is a second turntable.

[0010] By adopting the above technical solution, the turntable has an extremely high rotation ability, and can usually achieve a 360° stroke. By rotating the crushing parts and the grabbing mechanism through the second turntable, the crushing parts can adjust their own angles to achieve crushing work in any direction without affecting the installation of the grabbing mechanism, and it also facilitates the grabbing process of the grabbing mechanism in any direction.

[0011] Preferably, the horizontal rotation mechanism includes a first turntable and a leveling seat, the first turntable is connected to the leveling seat, and the multi-degree-of-freedom telescopic arm mechanism is connected to the first turntable.

[0012] By adopting the above technical solution, the first turntable is used to make the manipulator with crushing function have a 360° rotation stroke, so that the crushing parts and the grabbing mechanism can adjust their positions in the horizontal direction. The first turntable and the second turntable are used to make the crushing parts and the grabbing mechanism rotate arbitrarily in the horizontal direction, so that the crushing parts and the grabbing mechanism can work on any working surface around the trolley. The axial rotation of the multi-degree-of-freedom telescopic arm mechanism can be realized through the second turntable, so that the crushing parts and the grabbing mechanism can rotate arbitrarily in the direction of extension of the multi-degree-of-freedom telescopic arm mechanism, so that the crushing parts and the grabbing mechanism have extremely high degrees of freedom.

[0013] Preferably, the multi-degree-of-freedom telescopic arm mechanism also includes a vertical rotation mechanism and an axial telescopic mechanism, one end of the vertical rotation mechanism is connected to the horizontal rotation mechanism, and the other end is connected to the axial telescopic mechanism, and the vertical rotation mechanism is also connected to the axial rotation member.

[0014] By adopting the above technical solution, the robot arm with crushing function can not only rotate in the horizontal direction and axially rotate the multi-freedom telescopic arm mechanism, but also rotate in the vertical direction and axially extend and retract the multi-freedom telescopic arm mechanism, so that the crushing parts and grasping mechanism can work on any working surface with extremely high freedom.

[0015] Preferably, the vertical rotation mechanism includes a first vertical rotation mechanism and a second vertical rotation mechanism, the first vertical rotation mechanism is connected to the horizontal rotation mechanism, one end of the axial rotation member is connected to the first vertical rotation mechanism, and the other end is connected to the second vertical rotation mechanism, the second vertical rotation mechanism is connected to the axial telescopic mechanism, and the axial telescopic mechanism is connected to the grasping mechanism and the crushing member.

[0016] By adopting the above technical solution, the robot arm with crushing function not only has two-way folding in the vertical direction, but also can realize the vertical rotation of the first vertical rotation mechanism and the second vertical rotation mechanism in any direction through the horizontal rotation mechanism and the axial rotation member, and also makes the first vertical rotation mechanism and the second vertical rotation mechanism able to cooperate with each other to realize the rotation in any different vertical directions, thereby making the crushing part and the grasping mechanism able to work on any working surface with extremely high degree of freedom.

[0017] Preferably, the first vertical rotation mechanism includes a first swing arm, a second swing arm and a mounting platform, the mounting platform is connected to the horizontal rotation mechanism, one end of the first swing arm and the second swing arm are both connected to the mounting platform, a connecting rod is provided between the other end of the first swing arm and the other end of the second swing arm, and a first oil cylinder is connected between the middle part of the first swing arm and the mounting platform, and the second swing arm is also connected to the axial rotation member; the second vertical rotation mechanism includes a connecting platform and a third swing arm for connecting to the axial rotation member, one end of the connecting platform is connected to the axial rotation member, and the other end is connected to the third swing arm, and a second oil cylinder is provided between the connecting platform and the third swing arm.

[0018] By adopting the above technical solution, the first oil cylinder is extended and retracted to drive the first swing arm, and the first swing arm drives the second swing arm to rotate, thereby enabling the first vertical rotation mechanism to rotate in the vertical direction; the second oil cylinder is extended and retracted to drive the third swing arm to rotate on the connecting platform, thereby enabling the second vertical rotation mechanism to rotate in the vertical direction.

[0019] Preferably, the position of the first vertical rotation mechanism can be interchanged with the position of the second vertical rotation mechanism.

[0020] By adopting the above technical solution, it is also possible to achieve the cooperation between the first vertical rotation mechanism and the second vertical rotation mechanism to realize rotation in any different vertical directions.

[0021] Preferably, a hanging basket is provided on the mounting platform.

[0022] By adopting the above technical solution, it is convenient for workers to follow the crushing parts and the grabbing mechanism to observe the tunnel face and operate the crushing parts and the grabbing mechanism.

[0023] Preferably, the axial telescopic mechanism includes a main telescopic arm and a secondary telescopic arm, the main telescopic arm is provided with a countersunk hole, the secondary telescopic arm is at least partially located inside the main telescopic arm, and a third oil cylinder is provided between the secondary telescopic arm and the main telescopic arm.

[0024] By adopting the above technical solution, the movement of the third oil cylinder causes the auxiliary telescopic arm to extend and retract along the countersunk hole in the main telescopic arm, thereby realizing the axial extension and retraction of the crushing part and the grabbing mechanism.

[0025] Preferably, the gripping mechanism includes a clamp base, a clamp and a fourth oil cylinder, the clamp base is connected to the multi-degree-of-freedom telescopic arm mechanism, one end of the fourth oil cylinder is connected to the clamp base, and the other end is connected to the multi-degree-of-freedom telescopic arm mechanism, and the clamp is connected to the clamp base.

[0026] By adopting the above technical solution, the movement of the fourth oil cylinder enables the angle between the axial telescopic mechanism and the clamp base to be controlled, thereby controlling the clamping angle of the clamp base.

[0027] In summary, this application includes at least one of the following beneficial technical effects:

[0028] 1. The horizontal rotation mechanism allows the grabbing mechanism and crushing parts to rotate freely in the horizontal direction. The multi-degree-of-freedom telescopic arm mechanism allows the grabbing mechanism and crushing parts to be easily brought to any position on the tunnel face, allowing users to easily replace the grabbing mechanism and crushing parts on the multi-degree-of-freedom telescopic arm mechanism, improving the efficiency of primary tunnel support. Users can easily change the position of the grabbing mechanism for grabbing, and also easily change the position of the crushing parts for crushing. Since the crushing parts are arranged on the multi-degree-of-freedom telescopic arm mechanism, in order not to affect the grabbing work of the grabbing mechanism, the crushing parts often avoid affecting the installation of the grabbing mechanism, thereby requiring the crushing parts to specifically adjust their own angles to achieve crushing work in any direction. The axial rotation part effectively assists in the position adjustment of the crushing parts, and the axial rotation part also facilitates the grabbing process of the grabbing mechanism in any direction;

[0029] 2. The turntable has a very high rotation capacity, which can usually achieve a 360° travel. The crushing parts and the grabbing mechanism are rotated by the second turntable. The crushing parts can adjust their own angles to achieve crushing work in any direction without affecting the installation of the grabbing mechanism, and it also facilitates the grabbing process of any direction by the grabbing mechanism.

[0030] 3. The first turntable enables the manipulator with crushing function to have a 360° rotation stroke, so that the crushing parts and the grabbing mechanism can be adjusted in the horizontal direction. The first turntable and the second turntable allow the crushing parts and the grabbing mechanism to rotate arbitrarily in the horizontal direction, so that the crushing parts and the grabbing mechanism can work on any working surface around the trolley. The second turntable can also realize the axial rotation of the multi-degree-of-freedom telescopic arm mechanism, so that the crushing parts and the grabbing mechanism can rotate arbitrarily in the direction of extension of the multi-degree-of-freedom telescopic arm mechanism, so that the crushing parts and the grabbing mechanism have extremely high degrees of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the structure of the manipulator with crushing function in this embodiment;

[0032] Figure 2 In this embodiment Figure 1 Right view of .

[0033] Figure numerals: 1. horizontal rotation mechanism; 2. multi-degree-of-freedom telescopic arm mechanism; 3. grabbing mechanism; 4. crushing part; 5. second turntable; 6. first turntable; 7. leveling seat; 8. vertical rotation mechanism; 9. axial telescopic mechanism; 10. first vertical rotation mechanism; 11. second vertical rotation mechanism; 12. first swing arm; 13. second swing arm; 14. mounting platform; 15. first oil cylinder; 16. connecting platform; 17. third swing arm; 18. second oil cylinder; 19. protrusion; 20. main telescopic arm; 21. auxiliary telescopic arm; 22. clamp base; 23. clamp; 24. fourth oil cylinder; 25. cavity; 26. connecting rod; 27. axial rotation part. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-2 This application is described in further detail.

[0035] The embodiment of the present application discloses a robot arm with a crushing function.

[0036] Reference Figure 1 and Figure 2 , including a horizontal rotation mechanism 1, a multi-degree-of-freedom telescopic arm mechanism 2 and a grabbing mechanism 3. One end of the multi-degree-of-freedom telescopic arm mechanism 2 is connected to the horizontal rotation mechanism 1, and the other end is connected to the grabbing mechanism 3. The multi-degree-of-freedom telescopic arm mechanism 2 is provided with a crushing part 4. The horizontal rotation mechanism 1 allows the grabbing mechanism 3 and the crushing part 4 to rotate freely in the horizontal direction. The multi-degree-of-freedom telescopic arm mechanism 2 can be conveniently brought to any position of the tunnel face, so that the user can conveniently replace the grabbing mechanism 3 and the crushing part 4 on the multi-degree-of-freedom telescopic arm mechanism 2, thereby improving the efficiency of the primary support of the tunnel.

[0037] The horizontal rotation mechanism 1 includes a first turntable 6 and a leveling seat 7. The leveling seat 7 is "L"-shaped, which makes it convenient for the user to install the manipulator with crushing function on the relevant manipulator arm of the arch trolley. The first turntable 6 is bolted to the leveling seat 7, and the first turntable 6 can rotate from -180° to 180°, so that the first turntable 6 has a 360° stroke, so that the grabbing mechanism 3 and the crushing part 4 can be rotated at any position in the horizontal direction, and thus the crushing part 4 and the grabbing mechanism 3 can work on any working surface around the trolley.

[0038] The multi-degree-of-freedom telescopic arm mechanism 2 includes a vertical rotation mechanism 8, an axial rotation member 27 and an axial telescopic mechanism 9. The vertical rotation mechanism 8 includes a first vertical rotation mechanism 10 and a second vertical rotation mechanism 11, so that the manipulator with a crushing function not only has two-way folding in the vertical direction, but also can realize the vertical rotation of the first vertical rotation mechanism 10 and the second vertical rotation mechanism 11 in any direction through the horizontal rotation mechanism 1 and the axial rotation member 27, and also makes the first vertical rotation mechanism 10 and the second vertical rotation mechanism 11 can cooperate with each other to realize any different vertical direction rotation, so that the crushing part 4 and the grasping mechanism 3 can work on any working surface with extremely high degrees of freedom. The first vertical rotation mechanism 10 includes a first swing arm 12, a second swing arm 13, a mounting platform 14 and a first oil cylinder 15. The mounting platform 14 is bolted to the upper side of the first turntable 6, so that the mounting platform 14 can The first turntable 6 rotates in the horizontal plane, and one end of the mounting platform 14 is inclined upward and has a protrusion 19, and a cavity 25 is opened in the mounting platform 14. The first swing arm 12 is "L"-shaped and the second swing arm 13 is triangular. One end of the first swing arm 12 and one corner of the second swing arm 13 are hinged to the protrusion 19 of the mounting platform 14, and a connecting rod 26 is hinged between the other end of the first swing arm 12 and the other corner of the second swing arm 13. The last corner of the second swing arm 13 is bolted to the lower side of the axial rotating member 27. One end of the first oil cylinder 15 is connected to the mounting platform 14, and the other end is hinged to the corner in the middle of the first swing arm 12, so that the first oil cylinder 15 is located in the cavity 25 of the mounting platform 14. The first oil cylinder 15 is telescopic to drive the first swing arm 12 to rotate around the protrusion 19 of the mounting platform 14, and then the connecting rod 26 drives the second swing arm 13 to rotate, so that the first vertical rotation mechanism 10 drives the axial rotating member 27 to rotate in the vertical direction.

[0039] The second vertical rotation mechanism 11 includes a connecting platform 16 and a third swing arm 17. The connecting platform 16 is bolted to the upper side of the axial rotation member 27. The third swing arm 17 is hinged on the connecting platform 16. A second oil cylinder 18 is hinged between the connecting platform 16 and the third swing arm 17, so that the second oil cylinder 18 can be extended and retracted to drive the third swing arm 17 to rotate vertically on the axial rotation member 27.

[0040] The axial telescopic mechanism 9 includes a main telescopic arm 20 and a secondary telescopic arm 21. The main telescopic arm 20 is bolted to the upper side of the third swing arm 17. A countersunk hole is opened on the main telescopic arm 20, and the secondary telescopic arm 21 is located inside the main telescopic arm 20. A third oil cylinder is connected between the inner end of the main telescopic arm 20 and the lower end of the secondary telescopic arm 21, so that the third oil cylinder can telescope and move, driving the secondary telescopic arm 21 to telescope and move along the countersunk hole of the main telescopic arm 20. The crushing part 4 is bolted to one side of the main telescopic arm 20. The grabbing mechanism 3 includes a clamp base 22 and a clamp 23. The clamp base 22 is hinged to the upper end of the secondary telescopic arm 21. A fourth oil cylinder 24 is provided between the clamp base 22 and the main telescopic arm 20, and the fourth oil cylinder 24 is symmetrically installed with the crushing part 4, which can minimize the rotation influence of the crushing part 4 on the clamp base 22. The clamp 23 is located on the clamp base 22. The clamp 23 includes a grab and a fifth oil cylinder, so that the grab realizes the grabbing function through the fifth oil cylinder.

[0041] Furthermore, in this embodiment, the axial rotating member 27 is the second turntable 5, and the rotation stroke of the second turntable 5 is 360°. The crushing member 4 and the grabbing mechanism 3 are rotated by the second turntable 5. The crushing member 4 does not affect the installation of the grabbing mechanism 3. The crushing member 4 can adjust its own angle to achieve crushing work in any direction, and it also facilitates the grabbing process of the grabbing mechanism 3 in any direction.

[0042] Furthermore, in this embodiment, the axial rotating member 27 may also be other mechanisms capable of realizing a rotation function, and the rotation stroke may be 90°-720°.

[0043] Furthermore, in this embodiment, a hanging basket may be provided on the upper side of the mounting platform 14 to facilitate the staff to follow the crushing piece 4 and the grabbing mechanism 3 to observe the tunnel face and to manipulate the crushing piece 4 and the grabbing mechanism 3 .

[0044] Furthermore, in this embodiment, when the axial telescopic mechanism 9 is in a retracted state, the end of the crushing member 4 is higher than the end height of the axial telescopic mechanism 9, so that the crushing member 4 can perform crushing work at will; when the axial telescopic mechanism 9 is in an extended state, the end of the crushing member 4 is lower than the end height of the axial telescopic mechanism 9, so that the grabbing mechanism 3 connected to the end of the axial telescopic mechanism 9 can adjust the grabbing angle at will without being restricted by the crushing member 4.

[0045] Furthermore, in this embodiment, the crushing part 4 can also be installed at the end of the auxiliary telescopic arm 21. By tilting the crushing part 4, the crushing part 4 will not affect the use of the grabbing mechanism 3. The tilted crushing part 4 can adjust the crushing angle and crushing position through the cooperation of the axial rotating part 27, the first vertical rotating mechanism 10 and the second vertical rotating mechanism 11.

[0046] Furthermore, in this embodiment, the position of the first vertical rotation mechanism 10 can be interchanged with the position of the second vertical rotation mechanism 11; the first vertical rotation mechanism 10 can also be the same as the second vertical rotation mechanism 11; the first vertical rotation mechanism 10 and the second vertical rotation mechanism 11 can also adopt other structures that can rotate in the vertical direction, as long as they can complete the vertical rotation.

[0047] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A manipulator with a crushing function, characterized by: The invention comprises a horizontal rotation mechanism (1), a multi-degree-of-freedom telescopic arm mechanism (2) and a gripping mechanism (3); one end of the multi-degree-of-freedom telescopic arm mechanism (2) is connected to the horizontal rotation mechanism (1), and the other end is connected to the gripping mechanism (3); the multi-degree-of-freedom telescopic arm mechanism (2) comprises an axial rotation part (27); and a crushing part (4) is provided on the multi-degree-of-freedom telescopic arm mechanism (2).

2. The robot according to claim 1, characterized in that: The axial rotating member (27) is a second turntable (5).

3. The robot according to claim 1, wherein: The horizontal rotation mechanism (1) comprises a first turntable (6) and a leveling seat (7); the first turntable (6) is connected to the leveling seat (7); and the multi-degree-of-freedom telescopic arm mechanism (2) is connected to the first turntable (6).

4. The robot according to claim 1, characterized in that: The multi-degree-of-freedom telescopic arm mechanism (2) further comprises a vertical rotation mechanism (8) and an axial telescopic mechanism (9), wherein one end of the vertical rotation mechanism (8) is connected to the horizontal rotation mechanism (1), and the other end is connected to the axial telescopic mechanism (9), and the vertical rotation mechanism (8) is also connected to the axial rotation member (27).

5. The robot according to claim 4, characterized in that: The vertical rotation mechanism (8) includes a first vertical rotation mechanism (10) and a second vertical rotation mechanism (11), wherein the first vertical rotation mechanism (10) is connected to the horizontal rotation mechanism (1), one end of the axial rotation member (27) is connected to the first vertical rotation mechanism (10), and the other end is connected to the second vertical rotation mechanism (11), the second vertical rotation mechanism (11) is connected to the axial telescopic mechanism (9), and the axial telescopic mechanism (9) is connected to the grabbing mechanism (3) and the crushing member (4).

6. The robot according to claim 5, characterized in that: The first vertical rotation mechanism (10) comprises a first swing arm (12), a second swing arm (13) and a mounting platform (14); the mounting platform (14) is connected to the horizontal rotation mechanism (1); one end of each of the first swing arm (12) and the second swing arm (13) is connected to the mounting platform (14); a connecting rod (26) is provided between the other end of the first swing arm (12) and the other end of the second swing arm (13); and the middle part of the first swing arm (12) is connected to the mounting platform (14). A first oil cylinder (15) is connected between the second vertical rotation mechanism (11), and the second swing arm (13) is also connected to the axial rotation member (27); the second vertical rotation mechanism (11) includes a connecting platform (16) and a third swing arm (17) for connecting to the axial rotation member (27), one end of the connecting platform (16) is connected to the axial rotation member (27), and the other end is connected to the third swing arm (17), and a second oil cylinder (18) is provided between the connecting platform (16) and the third swing arm (17).

7. The robot according to claim 6, characterized in that: The position of the first vertical rotation mechanism (10) can be interchanged with the position of the second vertical rotation mechanism (11).

8. The robot according to claim 6, characterized in that: A hanging basket is provided on the mounting platform (14).

9. The robot according to claim 4, characterized in that: The axial telescopic mechanism (9) comprises a main telescopic arm (20) and a secondary telescopic arm (21); a countersunk hole is provided on the main telescopic arm (20); the secondary telescopic arm (21) is at least partially located in the countersunk hole of the main telescopic arm (20); and a third oil cylinder is provided between the secondary telescopic arm (21) and the main telescopic arm (20).

10. The robot according to claim 1, characterized in that: The gripping mechanism (3) comprises a clamp base (22), a clamp (23) and a fourth oil cylinder (24); the clamp base (22) is connected to the multi-degree-of-freedom telescopic arm mechanism (2); one end of the fourth oil cylinder (24) is connected to the clamp base (22) and the other end is connected to the multi-degree-of-freedom telescopic arm mechanism (2); and the clamp (23) is connected to the clamp base (22).

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