Manipulator group capable of synchronously rotating

Abstract

The utility model relates to the technical field of mechanical engineering, in particular to a synchronously rotating manipulator group, which comprises a manipulator rotating shaft, a swing motor, a rear support, a front support and at least two manipulator components, the front support and the rear support are arranged at an interval, and the swing motor is fixed on the rear support. The manipulator rotating shaft comprises a connecting shaft and trays in one-to-one correspondence with the manipulator assemblies, the connecting shaft is rotationally connected to the front support and the rear support in series, and the multiple trays are fixed to the connecting shaft at intervals; the mechanical arm assembly is arranged on the tray, and the swing motor is connected to the connecting shaft in a driving mode. According to the utility model, the problem of rod deformation or rod falling caused by asynchronous rotation is avoided, and the technical problem of inconsistent actions of double rod-taking manipulators of the mining trolley in the prior art is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical engineering, in particular to a synchronously rotating manipulator group. Background Art

[0002] Mining tunnels are typically confined, resulting in significant structural limitations on the overall dimensions of mining trolleys and the short length of individual rods. When drilling medium- to long-depth holes, drill rods must be connected to achieve the desired length. To ensure operator safety, reduce labor costs, and improve operational efficiency, drill rod connections are currently mostly automated by a robot. This automated robot connection typically requires both the rod retrieval and rod addition stages. The rod retrieval stage involves the robot grabbing a rod from a storage bin, while the rod addition stage involves the robot moving to the center of the rock drill to complete the rod connection.

[0003] Currently, there are two types of manipulators used for gripping rods: single manipulators and dual manipulators. Single manipulators have the advantages of fewer structural parts and lower cost, but they are only suitable for shorter rods. For long rods, the rod may tilt when the jaws deviate from the center of gravity of the rod, affecting the accuracy of hole alignment. Dual manipulators are usually arranged separately, and the manipulators are driven to rotate by hydraulic cylinders to complete the rod removal and addition actions. Due to the compressibility of hydraulic oil and the influence of hose length, it is easy to cause the cylinder driving the manipulator to rotate to move inconsistently, resulting in inconsistent movement of the dual manipulators. This causes torque and tensile and compressive forces on the rod when transferring the rod, which can cause the rod to deform or even fall off, further affecting the accuracy of subsequent hole alignment operations.

[0004] In summary, there is an urgent need for a structure that can enable the two manipulators to move in unison to solve the problems existing in the prior art. Utility Model Content

[0005] The purpose of this utility model is to provide a synchronously rotating manipulator group to solve the technical problem of inconsistent movements of the dual manipulators of the mining trolley in the prior art. The specific technical solution is as follows:

[0006] The utility model provides a synchronously rotating manipulator group, comprising a manipulator shaft, a driving member, a rear bracket, a front bracket and at least two manipulator components, the front bracket and the rear bracket are fixed at intervals on the propulsion beam of the mining trolley, the driving member is fixed on the rear bracket, the manipulator shaft comprises a connecting shaft and a tray corresponding to the manipulator components one by one, the connecting shaft is rotatably connected in series to the front bracket and the rear bracket, and a plurality of the trays are fixed at intervals on the connecting shaft; the manipulator component is arranged on the tray, and the driving member is drivingly connected to the connecting shaft.

[0007] A further improvement of the synchronously rotating manipulator group of the present invention is that it also includes a coupling, the driving member is a swing motor, the first end of the coupling is connected to one end of the connecting shaft, and the second end of the coupling is fixed to the output shaft of the swing motor.

[0008] A further improvement of the synchronously rotating manipulator group of the present invention is that the coupling and the connecting shaft are connected via a flat key.

[0009] A further improvement of the synchronously rotating manipulator group of the present invention is that a rotation limit block is fixed on the connecting shaft, and an adjusting member for blocking the rotation limit block is provided on the rear bracket.

[0010] A further improvement of the synchronously rotating manipulator group of the present invention is that the manipulator assembly includes a manipulator frame, a cylinder and a movable jaw, the manipulator frame is fixed on the pallet, the movable jaw is movably mounted on the manipulator frame, the manipulator frame is provided with a fixed jaw that cooperates with the movable jaw, the movable jaw and the fixed jaw cooperate to form a clamping space for clamping a drill rod, and the cylinder is connected between the manipulator frame and the movable jaw.

[0011] A further improvement of the synchronously rotating manipulator group of the present invention is that the manipulator assembly also includes an adjusting bolt, which is threadedly connected to the end of the manipulator frame. A limit block is provided on the pallet, and the adjusting bolt cooperates with the limit block to adjust the position of the manipulator frame fixed to the pallet.

[0012] A further improvement of the synchronously rotating manipulator group of the present invention is that the number of the manipulator components is two, namely a first manipulator component and a second manipulator component, the second manipulator component is close to the driving member, and the first manipulator component is far away from the driving member.

[0013] A further improvement of the synchronously rotating manipulator group of the present invention is that it also includes a first gear rod, the manipulator frame is provided with a movable seat, the first end of the first gear rod is connected to the front bracket, and the second end of the first gear rod is passed through the movable seat of the first manipulator assembly.

[0014] A further improvement of the synchronously rotating manipulator group of the present invention is that it also includes a second gear rod and a fixed seat, the fixed seat is fixed on the propulsion beam of the mining trolley, the first end of the second gear rod is connected to the fixed seat, and the second end of the second gear rod is passed through the movable seat of the second manipulator assembly.

[0015] A further improvement of the synchronously rotating manipulator group of the present invention is that the rear bracket and the front bracket are respectively provided with shaft sleeves, and the connecting shaft is passed through the shaft sleeves.

[0016] The application of the technical solution of the utility model has the following beneficial effects:

[0017] The utility model is a synchronously rotating manipulator group, in which two manipulator assemblies are fixed together on a connecting shaft via a tray, so that the connecting shaft drives the two manipulator assemblies to rotate synchronously, avoiding the problem of rod deformation or rod falling caused by asynchronous rotation, and solving the technical problem of inconsistent movement of the dual manipulators for taking rods on mining trolleys in the prior art. The manipulator assembly of the utility model does not include a rod storage assembly, is applicable to a variety of rod storage structures, has a wide range of applications, and has a compact and simple structure. Only one swing motor is used to realize the rotation drive of the two manipulator assemblies, without the need for a dual cylinder drive. The overall structure has a small installation space, low cost, and convenient later maintenance, making it more suitable for drilling operations in mining tunnels.

[0018] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 This is a front view of the synchronously rotating manipulator group of the utility model;

[0021] Figure 2 It is a top view of the synchronously rotating manipulator group of the utility model;

[0022] Figure 3 This is a schematic diagram of the limit position of the manipulator shaft of the synchronously rotating manipulator group of the utility model. Figure 1 ;

[0023] Figure 4 This is a schematic diagram of the limit position of the manipulator shaft of the synchronously rotating manipulator group of the utility model. Figure 2 ;

[0024] Figure 5 This is a front view of the manipulator assembly of the synchronously rotating manipulator group of the present invention;

[0025] Figure 6 This is a side view of the manipulator assembly of the synchronously rotating manipulator group of the present invention;

[0026] Figure 7 This is a schematic diagram of the working principle of the gear lever of the synchronously rotating manipulator group of the utility model Figure 1 ;

[0027] Figure 8 This is a schematic diagram of the working principle of the gear lever of the synchronously rotating manipulator group of the utility model Figure 2 ;

[0028] Figure 9 The utility model is a schematic diagram of the structure of the manipulator shaft of the synchronously rotating manipulator group.

[0029] Among them, 1. Manipulator assembly; 101. Manipulator frame; 102. Cylinder; 103. Adjusting bolt; 104. Movable jaw; 105. Movable seat; 2. Connecting shaft; 201. Front axle; 202. Pallet; 203. Limit block; 204. Intermediate rotating shaft; 205. Rotation limit block; 206. Rear axle; 3. Second gear lever; 4. Limit adjusting bolt; 5. Limit adjusting nut; 6. Bushing; 7. Swing motor; 8. Coupling; 9. Rear bracket; 10. Fixed seat; 11. Front bracket; 12. Rod. DETAILED DESCRIPTION

[0030] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0031] Existing dual-manipulator synchronous structures integrate the manipulator and rod magazine, making them unsuitable for general-purpose rod magazines. Furthermore, these integrated manipulator and rod magazine structures often use dual hydraulic cylinders for drive, resulting in a large installation space. Furthermore, the jaw shafts are fixed at both ends to mounting blocks, significantly limiting their length. For magazines with long drill rods, the accuracy of the jaw position is significantly affected by the stiffness of the jaw shaft.

[0032] See also Figures 1 to 5 As shown, in view of the above problems, the present invention provides a synchronously rotating manipulator group, including at least two manipulator components 1, a manipulator shaft, a driving member, a rear bracket 9 and a front bracket 11, the front bracket 11 and the rear bracket 9 are arranged at intervals, the driving member is fixed to the rear bracket 9, the manipulator shaft includes a connecting shaft 2 and a tray 202 corresponding to the manipulator component 1 one by one, the connecting shaft 2 is rotatably connected in series to the front bracket 11 and the rear bracket 9, and a plurality of the trays 202 are fixed at intervals on the connecting shaft 2; the manipulator component 1 is provided on the tray 202, and the driving member is driven and connected to the connecting shaft 2. In this embodiment, the front bracket 11 and the rear bracket 9 are fixed at intervals on the propulsion beam of the mining trolley. By fixing at least two manipulator assemblies 1 together on the connecting shaft 2 through the tray 202, when the connecting shaft 2 is driven to rotate, the at least two manipulator assemblies 1 can be rotated together, thereby avoiding the problem of inconsistent movement of the two manipulators due to inconsistent movement of the cylinder 102 that drives the manipulator to rotate, which in turn causes torque and tensile and compressive forces on the rod when transmitting the rod, thereby causing the rod to deform or even fall off, and further affecting the accuracy of subsequent hole-aligning operations.

[0033] Preferably, the synchronously rotating manipulator assembly further includes a coupling 8, the driving member being the swing motor 7, the first end of the coupling 8 being connected to one end of the connecting shaft 2, and the second end of the coupling 8 being fixed to the output shaft of the swing motor 7. The coupling 8 serves as a connector between the swing motor 7 and the connecting shaft 2, and prevents the coupled swing motor 7 and the connecting shaft 2 from bearing excessive load, thereby providing overload protection.

[0034] Preferably, Figure 5 As shown, the coupling 8 is connected to the connecting shaft 2 via a flat key. Specifically, the connecting shaft 2 comprises a front shaft 201, an intermediate shaft 204, and a rear shaft 206 connected in series. The intermediate shaft 204 is located between the two trays 202. The front shaft 201 is located on the side of the intermediate shaft 204 away from the swing motor 7. The rear shaft 206 is located between the intermediate shaft 204 and the swing motor 7. The coupling 8 is connected between the rear shaft 206 and the output shaft of the swing motor 7. The rear shaft 206 is provided with a flat key, and the coupling 8 is provided with a keyway. The two side surfaces of the flat key serve as working surfaces, and torque is transmitted by the compression between the key and the side of the keyway.

[0035] Preferably, a rotation limit block 205 is fixed to the connecting shaft 2, and an adjustment member for blocking the rotation limit block 205 is provided on the rear bracket 9. The adjustment member includes a limit adjustment bolt 4 and a limit adjustment nut 5. The limit adjustment bolt 4 and the limit adjustment nut 5 are two in number, namely, an upper limit adjustment bolt and an upper limit adjustment nut, and a lower limit adjustment bolt and a lower limit adjustment nut. The upper limit adjustment bolt and the upper limit adjustment nut are located above the connecting shaft 2, and the lower limit adjustment bolt and the lower limit adjustment nut are located below the connecting shaft 2. Specifically, when the connecting shaft 2 rotates in the opposite direction, the lower limit adjustment bolt contacts the rotation limit block 205, and the lower limit adjustment nut ensures that the lower limit adjustment bolt is reliably threadedly connected to the rear bracket 9 and remains stationary, thereby limiting further reverse rotation of the connecting shaft 2. When the connecting shaft 2 rotates in the forward direction, the upper limit adjustment bolt contacts the rotation limit block 205, and the upper limit adjustment nut securely screws the upper limit adjustment bolt to the rear bracket 9 to maintain it stationary, thereby limiting further forward rotation of the connecting shaft 2. The rotation angle of the connecting shaft 2 is adjusted by adjusting the contact distance between the upper and lower limit adjustment bolts 4 and limit adjustment nuts 5 and the rotation limit block 205.

[0036] Preferably, Figure 3 and Figure 4As shown, the manipulator assembly 1 includes a manipulator frame 101, a cylinder 102, and a movable jaw 104. The manipulator frame 101 is fixed to a pallet 202, and the movable jaw 104 is movably mounted on the manipulator frame 101. The manipulator frame 101 is provided with a fixed jaw that cooperates with the movable jaw 104. The movable jaw 104 and the fixed jaw cooperate to form a clamping space for clamping a drill rod. The cylinder 102 is connected between the manipulator frame 101 and the movable jaw 104. Specifically, a rib is welded to the outside of the manipulator frame 101 to strengthen the overall structural strength. One end of the cylinder 102 is connected to the manipulator frame 101 by a pin, and the other end is fixed to the movable jaw 104 by a pin. By controlling the telescopic movement of the cylinder 102, the movable jaw 104 is placed in a clamped or opened state. The manipulator frame 101 is fixed to the pallet 202 by bolts, and the pallet 202 is provided with waist-shaped holes for bolt fixing.

[0037] Preferably, the manipulator assembly 1 further comprises an adjusting bolt 103, which is threadedly connected to the end of the manipulator frame 101. A limit block 203 is provided on the tray 202. The adjusting bolt 103 cooperates with the limit block 203 to adjust the position of the manipulator frame 101 fixed to the tray 202. The adjusting bolt 103 is provided with three nuts, two of which are clamped on both sides of the limit block 203, and the third nut is provided inside the manipulator frame. Thus, by adjusting the position of the three nuts on the adjusting bolt 103, the position of the manipulator frame 101 on the tray 202 is adjusted, thereby adjusting the height of the movable jaw 104.

[0038] Preferably, the number of the manipulator components 1 is two, namely a first manipulator component 1 and a second manipulator component 1 , the second manipulator component is close to the driving member, and the first manipulator component 1 is far away from the driving member.

[0039] Preferably, Figure 1 and Figure 2 As shown, it also includes a first baffle, the manipulator frame 101 is provided with a movable seat 105, the first end of the first baffle is connected to the front bracket 11, and the second end of the first baffle is passed through the movable seat 105 of the first manipulator assembly 1.

[0040] Preferably, it also includes a second baffle 3 and a fixed seat 10, the fixed seat 10 is fixed on the propulsion beam of the mining trolley, the first end of the second baffle 3 is connected to the fixed seat 10, and the second end of the second baffle 3 is passed through the movable seat 105 of the second manipulator assembly 1. The first baffle 3 and the second baffle 3 can rotate as the manipulator assembly 1 rotates. Specifically, when the manipulator assembly 1 is in the rod-taking position, the movable jaws 104 are open, and the first baffle 3 and the second baffle 3 are higher than the position of the rod 12, thereby limiting the rod 12 from falling within the opening range of the movable jaws 104. When the manipulator assembly 1 is in the rod-adding position, the first baffle 3 and the second baffle 3 are lower than the position of the rod 12, thereby completing the rod-adding action.

[0041] Preferably, the rear bracket 9 and the front bracket 11 are respectively provided with a shaft sleeve 6, and the connecting shaft 2 is passed through the shaft sleeve 6. The shaft sleeve 6 can realize the normal rotation of the connecting shaft 2, avoiding direct wear of the connecting shaft 2 and the rear bracket 9 and the front bracket 11.

[0042] like Figures 1 to 5 As shown, at the rod-taking station, the extended oil cylinder 102 puts the movable jaw 104 in an open state, and the drill rods or anchor rods in the rod storage fall into the opening range of the movable jaw 104 under the limiting action of the first and second stop bars 3. The retracted oil cylinder 102 causes the movable jaw 104 to clamp the fallen drill rods or anchor rods and drive the swing motor 7. The output torque of the swing motor 7 is transmitted to the intermediate rotating shaft 204 through the coupling 8 and the flat key in the rear shaft 206, thereby driving the connecting shaft 2 to rotate. The manipulator assembly 1 is fastened to the tray 202 by bolts, so that the manipulator assembly 1 rotates with the connecting shaft 2, realizing the synchronous rotation effect of the dual manipulators. When the manipulator assembly 1 rotates to the rod-adding station, the limit adjustment bolt 4 arranged above the rear bracket 9 contacts the limit block 203, thereby limiting the further rotation of the manipulator assembly 1.

[0043] When manipulator assembly 1 is in the rod-adding position, the rock drill on the propulsion beam performs the rod-adding operation. Once the rod-adding operation is complete, cylinder 102 is extended, opening movable jaw 104 and driving swing motor 7 in the reverse direction, causing connecting shaft 2 to rotate in the opposite direction, thereby causing manipulator assembly 1 to rotate in the opposite direction. When manipulator assembly 1 returns to the rod-removing position, the limit adjustment bolt 4 located below rear support 9 contacts the rotation limit block 205, limiting further rotation of manipulator assembly 1 and completing a repeating operation.

[0044] The synchronously rotating manipulator group of the present invention fixes two manipulator assemblies 1 on the connecting shaft 2 through a tray 202, so that the connecting shaft 2 drives the two manipulator assemblies 1 to rotate synchronously, avoiding the problem of rod deformation or rod falling caused by asynchronous rotation, and solving the technical problem of inconsistent movement of the dual manipulators for taking rods on mining trolleys in the prior art. The manipulator assembly 1 of the present invention does not include a rod storage assembly, is applicable to a variety of rod storage structures, has a wide range of applications, and has a compact and simple structure. Only one swing motor 7 is used to achieve the rotation drive of the two manipulator assemblies 1, without the need for a dual oil cylinder 102 drive. The overall structure has a small installation space, low cost, and convenient later maintenance, making it more suitable for drilling operations in mining tunnels.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A synchronously rotating manipulator group, characterized in that: The invention comprises a manipulator shaft, a driving member, a rear bracket (9), a front bracket (11) and at least two manipulator assemblies (1); the front bracket (11) and the rear bracket (9) are arranged at intervals, the driving member is fixed on the rear bracket (9), the manipulator shaft comprises a connecting shaft (2) and a tray (202) corresponding to each manipulator assembly (1), the connecting shaft (2) is rotatably connected in series to the front bracket (11) and the rear bracket (9), and a plurality of trays (202) are fixed on the connecting shaft (2) at intervals; the manipulator assembly (1) is arranged on the tray (202), and the driving member is drivingly connected to the connecting shaft (2).

2. The synchronously rotating manipulator assembly according to claim 1, characterized in that: It also includes a coupling (8), the driving member is a swing motor (7), the first end of the coupling (8) is connected to one end of the connecting shaft (2), and the second end of the coupling (8) is fixed to the output shaft of the swing motor (7).

3. The synchronously rotating manipulator assembly according to claim 2, characterized in that: The coupling (8) and the connecting shaft (2) are connected via a flat key.

4. The synchronously rotating manipulator assembly according to claim 1, characterized in that: A rotation limit block (205) is fixed on the connecting shaft (2), and an adjusting member for blocking the rotation limit block (205) is provided on the rear bracket (9).

5. The synchronously rotating manipulator assembly according to claim 1, characterized in that: The manipulator assembly (1) comprises a manipulator frame (101), an oil cylinder (102) and a movable jaw (104); the manipulator frame (101) is fixed on a tray (202); the movable jaw (104) is movably mounted on the manipulator frame (101); a fixed jaw cooperating with the movable jaw (104) is provided on the manipulator frame (101); the movable jaw (104) and the fixed jaw cooperate to form a clamping space for clamping a drill rod; the oil cylinder (102) is connected between the manipulator frame and the movable jaw (104).

6. The synchronously rotating manipulator assembly according to claim 5, characterized in that: The manipulator assembly (1) further comprises an adjusting bolt (103), wherein the adjusting bolt (103) is threadedly connected to the end of the manipulator frame (101), and a limit block (203) is provided on the tray (202). The adjusting bolt (103) cooperates with the limit block (203) to adjust the position of the manipulator frame (101) fixed to the tray (202).

7. The synchronously rotating manipulator assembly according to claim 5, characterized in that: The number of the manipulator components (1) is two, namely a first manipulator component (1) and a second manipulator component (1), the second manipulator component is close to the driving member, and the first manipulator component (1) is far away from the driving member.

8. The synchronously rotating manipulator assembly according to claim 7, characterized in that: It also includes a first baffle, the manipulator frame (101) is provided with a movable seat (105), the first end of the first baffle is connected to the front bracket (11), and the second end of the first baffle is passed through the movable seat (105) of the first manipulator assembly (1).

9. The synchronously rotating manipulator assembly according to claim 8, characterized in that: It also includes a second baffle (3) and a fixed seat (10), wherein the fixed seat (10) is used to be fixed to the propulsion beam of the mining trolley, the first end of the second baffle (3) is connected to the fixed seat (10), and the second end of the second baffle (3) is passed through the movable seat (105) of the second manipulator assembly (1).

10. The synchronously rotating manipulator assembly according to claim 1, characterized in that: The rear bracket (9) and the front bracket (11) are respectively provided with shaft sleeves (6), and the connecting shaft (2) is passed through the shaft sleeves (6).

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