Multi-degree-of-freedom manipulator mechanism and mining lagging jack trolley

Abstract

The utility model discloses a multi-degree-of-freedom mechanical arm mechanism and a mining lagging jack trolley, the multi-degree-of-freedom mechanical arm mechanism comprises a mechanical arm, rotating arms and a connecting arm, the rotating arms comprise a first rotating arm, a second rotating arm and a third rotating arm, the second rotating arm is connected with the first rotating arm, the second rotating arm is perpendicular to the first rotating arm, and the third rotating arm is connected with the connecting arm. One end of the connecting arm is connected with the second rotating arm, the other end of the connecting arm is connected with the third rotating arm, the third rotating arm is perpendicular to the second rotating arm, and the manipulator is connected with the third rotating arm; connecting rods used for being connected with a hanging basket are arranged on the two sides of the connecting arm, and through holes are formed in the connecting rods; and the manipulator is also provided with a through hole connected with the hanging basket. The mechanical arm mechanism has the effects that the use freedom degree of the mechanical arm mechanism is improved, and the bearing capacity of the end of the mechanical arm mechanism is optimized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mine roadway construction technology, in particular to a multi-degree-of-freedom mechanical hand construction and a mine arch support trolley. BACKGROUND

[0002] The mechanical hand construction of the prior art realizes the multi-degree-of-freedom movement of the mechanical hand through the application of the telescopic oil cylinder, but the telescopic oil cylinder is fixed at one end and telescopic at the other end, so that the degree of freedom of the mechanical hand construction of this structure is limited, and this structure also makes the overall length of the mechanical hand construction longer, resulting in complex stress at the end of the mechanical hand construction, limited bearing capacity, and in the prior art, the mechanical hand can only be connected with the hanging basket, the connection mode is limited, so that the mechanical hand can only choose between connecting the hanging basket and working, so there is room for improvement.

[0003] The vehicle body of the mine arch support trolley of the prior art is usually designed as an integral frame, the vehicle body size of the integral frame is large, and the space occupied by the vehicle body turning is large, while the cross section of the underground mine roadway is small, so that the space for the mine arch support trolley to operate is limited, and the erection efficiency is relatively low, so there is room for improvement. CONTENT OF THE INVENTION

[0004] Therefore, the present application provides a multi-degree-of-freedom mechanical hand construction which can simplify the overall structure of the mechanical hand construction, so that the mechanical hand construction not only can move with more degrees of freedom, but also has a shorter mechanical hand construction length, thereby making the stress at the end of the mechanical hand construction better, so that the mechanical hand construction can carry more weight; the present application also provides a mine arch support trolley which can flexibly turn and travel in the mine roadway, thereby improving the efficiency of the mine roadway arch erection.

[0005] In summary, in order to improve the degree of freedom of the mechanical hand construction and optimize the bearing capacity of the end of the mechanical hand construction, the present application provides a multi-degree-of-freedom mechanical hand construction; in order to improve the erection efficiency of the mine arch support trolley, the present application provides a mine arch support trolley.

[0006] The multi-degree-of-freedom mechanical hand construction provided by the present application adopts the following technical scheme:

[0007] The multi-degree-of-freedom mechanical arm mechanism comprises a mechanical arm, a rotating arm and a connecting arm, the rotating arm comprises a first rotating arm, a second rotating arm and a third rotating arm, the second rotating arm is connected with the first rotating arm and is arranged perpendicularly to the first rotating arm, one end of the connecting arm is connected with the second rotating arm and the other end of the connecting arm is connected with the third rotating arm, the third rotating arm is arranged perpendicularly to the second rotating arm, and the mechanical arm is connected with the third rotating arm; connecting rods for connecting with a hanging basket are arranged on both sides of the connecting arm, and through holes are formed in the connecting rods; through holes for connecting with the hanging basket are also formed in the mechanical arm.

[0008] By adopting the above technical scheme, the mechanical arm can realize vertical rotation and horizontal rotation through the first rotating arm and the second rotating arm, and the mechanical arm can realize vertical rotation of itself through the third rotating arm, and due to the existence of the first rotating arm and the second rotating arm, the mechanical arm can realize vertical rotation in any direction, and due to the cooperation of the first rotating arm and the third rotating arm, the mechanical arm has a wider vertical rotation range than the prior art, and the multi-degree-of-freedom mechanical arm mechanism can realize multi-degree-of-freedom movement through the three rotating arms and the connecting arm, thereby increasing the degree of freedom of the mechanical arm mechanism, shortening the overall length of the mechanical arm mechanism, reducing the stress on the first rotating arm at the lowest end when the mechanical arm mechanism bears heavy objects, and enabling the mechanical arm mechanism to bear more heavy objects, increasing the degree of freedom of the mechanical arm mechanism, and enabling the mechanical arm mechanism to quickly assemble and disassemble the hanging basket, thereby enabling the hanging basket to be arranged at the mechanical arm or the connecting rod of the connecting arm, enabling the mechanical arm mechanism to simultaneously realize installation of the hanging basket and independent work of the mechanical arm, and enabling the mechanical arm mechanism to have rich use scenarios.

[0009] Preferably, the rotating arm comprises a shell and a spiral swing motor, the shell is connected with the spiral swing motor, and the spiral swing motor is at least partially located outside the shell.

[0010] By adopting the above technical scheme, the rotating arm realizes rotary rotation.

[0011] Preferably, the middle part of the first rotating arm is provided with a first fixed connecting seat, both ends of the first rotating arm are rotatably connected with a first hinged seat, the middle part of the second rotating arm is provided with a second fixed connecting seat, one end of the second rotating arm is rotatably connected with a rotating seat, the middle part of the third rotating arm is provided with a third fixed connecting seat, both ends of the third rotating arm are rotatably connected with a third hinged seat, the second fixed connecting seat of the second rotating arm is connected with the first hinged seat of the first rotating arm, and the first rotating arm is arranged perpendicularly to the second rotating arm, one end of the connecting arm is connected with the rotating seat of the second rotating arm, and the other end is connected with the third fixed connecting seat of the third rotating arm, and the mechanical hand is connected with the third hinged seat of the third rotating arm.

[0012] By adopting the above technical scheme, the second rotating arm is hinged on the first rotating arm, the first rotating arm can drive the second rotating arm to rotate, the third rotating arm is hinged on the second rotating arm through the connecting seat, the second rotating arm can drive the third rotating arm to rotate, the mechanical hand is hinged on the third rotating arm, the third rotating arm can drive the mechanical hand to rotate, and the first rotating arm and the second rotating arm and the second rotating arm and the third rotating arm are arranged perpendicularly to be freely combined, so that the mechanical hand has rich movement effect.

[0013] Preferably, the mechanical hand comprises a clamping plate, a clamp and a clamp oil cylinder, the clamping plate is connected with the third hinged seat of the third rotating arm, the clamp is connected with the clamping plate, the clamp oil cylinder is connected with the clamp, the through hole is arranged on the clamping plate, and the position of the through hole is close to the clamp.

[0014] By adopting the above technical scheme, the hanging basket can be quickly disassembled and assembled through the through hole on the clamping plate, the clamp oil cylinder drives the clamp to perform clamping movement, and the through hole is close to the clamp, so that the clamp can extrude the connection between the hanging basket and the clamping plate, and the tightness of the connection between the hanging basket and the clamping plate is increased.

[0015] Preferably, the mechanical hand further comprises a telescopic mechanical arm and a rotating mechanism, one end of the mechanical arm is connected with the rotating mechanism, the other end is connected with the first rotating arm, and the rotating mechanism is provided with a first oil cylinder, one end of the first oil cylinder is connected with the rotating mechanism, and the other end is connected with the mechanical arm.

[0016] By adopting the above technical scheme, the mechanical hand can also be rotated in a large range in the vertical direction through the telescopic mechanical arm, and rotated in a large range in the horizontal direction through the rotating mechanism, so that the mechanical hand has a larger clamping range.

[0017] Preferably, the hanging basket further comprises a basket body and a connecting piece, the connecting piece comprises a horizontal rod, a vertical rod and an inclined rod, the horizontal rod is connected with the basket body, one end of the inclined rod is connected with the basket body and the other end is connected with the horizontal rod, so that the horizontal rod, the inclined rod and the basket body form a triangle together, the vertical rod is arranged on the lower side of the horizontal rod, and a pin hole is formed in the lower part of the vertical rod.

[0018] By adopting the above technical scheme, the connecting piece of the hanging basket is relatively stable by forming a triangle together with the horizontal rod, the inclined rod and the basket body, the hanging basket is matched with the through hole through the vertical rod, and the hanging basket is limited in the through hole through the pin shaft hole, so that the hanging basket can be quickly assembled and disassembled.

[0019] The mining arch support trolley provided in the application adopts the following technical scheme:

[0020] The mining arch support trolley comprises a front frame and a rear frame, and the front frame is hinged to the rear frame.

[0021] By adopting the above technical scheme, the frame body is divided into two parts, the front frame and the rear frame, and is hinged, so that the rear frame can swing left and right at a certain angle relative to the front frame through the hinge. Compared with the traditional integrated frame of the tunnel arch support trolley, the front frame and the rear frame of the mining arch support trolley can act independently, greatly reducing the turning radius of the device and ensuring that the device can flexibly travel in a narrow cross-section mine roadway.

[0022] Preferably, the mechanical hand mechanism as described above is further connected with the rear frame.

[0023] By adopting the above technical scheme, the construction point of the arch support trolley is usually at the rear end of the arch support trolley, the mechanical hand mechanism is arranged on the rear frame, which can greatly shorten the required length and cross-sectional size of the mechanical hand mechanism, thereby improving the site adaptability of the arch support trolley. At the same time, since the front frame usually also installs a cab, a power system, a hydraulic system and an electrical control system, etc., the rear placement of the mechanical hand mechanism can make the center of gravity of the whole vehicle more centralized, so that the front and rear axle loads are more balanced, avoiding the problem of overturning of the arch support trolley caused by the offset of the center of gravity.

[0024] Preferably, the mechanical hand mechanism comprises a first mechanical hand mechanism and a second mechanical hand mechanism, the first mechanical hand mechanism is a main arm, the second mechanical hand mechanism is an auxiliary arm, the first mechanical hand mechanism is arranged close to the front frame, the second mechanical hand mechanism is arranged away from the front frame, and the height of the first mechanical hand mechanism is greater than the height of the second mechanical hand mechanism.

[0025] By adopting the technical scheme, the second mechanical hand mechanism can swing left and right and pitch up and down below the first mechanical hand mechanism, so that the second mechanical hand mechanism can be used as a left arm and a right arm, without the need of changing hands of the two mechanical hand mechanisms, so that the two arm supports have a larger activity space and a wider construction range when working, and the collision of the two arms can be better avoided, the problems of large space occupied by the three arms and the influence of the two-arm changing hands on the erection efficiency are solved, and the double-arm three-station construction of the arch support trolley can be realized at ease.

[0026] Preferably, the rear frame is provided with a support leg, the support leg is provided with a telescopic connecting cross bar, the support leg comprises a first support leg and a second support leg, and the first support leg and the second support leg are asymmetrically arranged on the rear frame.

[0027] By adopting the technical scheme, the first support leg and the second support leg are staggered, the plane formed by the first support leg and the second support leg is larger, the support of the first rotary support and the second support leg is more stable, and the plane formed by the first support leg and the second support leg can be further increased due to the telescopic connecting cross bar on the support leg, so that the user can adjust the plane range formed by the first support leg and the second support leg according to the actual use demand of the mine arch support trolley, and the support leg has a better support effect.

[0028] In summary, the present application has at least one of the following beneficial technical effects:

[0029] 1. A multi-degree-of-freedom mechanical hand mechanism, comprising a mechanical hand, a rotary arm and a connecting arm, the rotary arm comprising a first rotary arm, a second rotary arm and a third rotary arm, the second rotary arm being connected with the first rotary arm and being arranged perpendicularly to the first rotary arm, the connecting arm being connected at one end with the second rotary arm and at the other end with the third rotary arm, and the third rotary arm being arranged perpendicularly to the second rotary arm, the mechanical hand being connected with the third rotary arm; connecting rods for connecting with a hanging basket are arranged on both sides of the connecting arm, and through holes are formed in the connecting rods; through holes for connecting with the hanging basket are also formed in the mechanical hand;

[0030] 2. The connecting piece of the hanging basket is relatively stable by forming a triangle with the cross bar, the inclined rod and the basket body, the hanging basket is connected with the through hole through the vertical rod, and the hanging basket is limited in the through hole through the pin hole, so that the hanging basket can be quickly assembled and disassembled;

[0031] 3. The frame body is divided into two parts, front frame and rear frame, and is hinged, so that the rear frame can swing left and right at a certain angle relative to the front frame through the hinge. Compared with the traditional tunnel arch trolley with an integral frame, the front frame and the rear frame of the mine arch trolley can act independently, greatly reducing the turning radius of the device and ensuring that the device can flexibly drive in a narrow cross-section mine roadway;

[0032] 4. By arranging the two mechanical manipulators on the rear frame in front and back staggered arrangement, the second mechanical manipulator can swing left and right below the first mechanical manipulator and pitch up and down, so that the second mechanical manipulator can be used as a left arm and a right arm, without the need to change hands of the two mechanical manipulators, so that the two arm supports have greater activity space when working, have wider construction range, and can better avoid the collision of the two arms, solve the problem of large space occupied by three arms, and solve the problem of two-arm hand changing affecting erection efficiency, and can comfortably realize double-arm three-station construction of the arch trolley.

[0033] 5. The first foot and the second foot are staggered, the plane formed by the first foot and the second rotary bearing is larger, and the support of the first rotary bearing and the second foot is more stable. Because the foot is provided with a telescopic connecting cross bar, the plane formed by the first foot and the second foot can be further increased. The user can adjust the plane range formed by the first foot and the second foot according to the actual use demand of the mine arch trolley, and the foot has excellent support effect. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a structure diagram of the mechanical manipulator in the embodiment;

[0035] Figure 2 It is a structure diagram of the mechanical manipulator in the embodiment;

[0036] Figure 3 It is a structure diagram of the hanging basket in the embodiment;

[0037] Figure 4 It is a structure diagram of the mechanical manipulator in the embodiment;

[0038] Figure 5 It is a turning diagram of the mine arch trolley in the embodiment;

[0039] Figure 6 It is a diagram of the hinge between the front frame and the rear frame in the embodiment;

[0040] Figure 7 It is a sectional view of Figure 6 ; and

[0041] Figure 8This is a schematic diagram of the operation of the mining arch frame trolley in this embodiment.

[0042] Reference numerals: 1. Robotic arm; 2. Rotary arm; 3. Connecting arm; 4. First rotary arm; 5. Second rotary arm; 6. Third rotary arm; 7. Connecting rod; 8. Through hole; 9. First fixed connecting seat; 10. First hinge seat; 11. Second fixed connecting seat; 12. Rotating seat; 13. Third fixed connecting seat; 14. Third hinge seat; 15. Clamping plate; 16. Fixture; 17. Fixture cylinder; 18. Robotic arm; 19. Rotation mechanism; 20. First 21. Hydraulic cylinder; 22. Basket body; 23. Connecting piece; 24. Horizontal bar; 25. Vertical bar; 26. Diagonal bar; 27. Front frame; 28. Rear frame; 29. ​​Robotic arm mechanism; 30. First robotic arm mechanism; 31. Support leg; 32. Connecting horizontal bar; 33. First ear plate; 34. Second ear plate; 35. First connecting plate; 36. Third ear plate; 37. Fourth ear plate; 38. Second connecting plate; 39. Support platform; 40. Hanging basket. Detailed Implementation

[0043] The following is in conjunction with the appendix Figures 1-8 This application will be described in further detail.

[0044] Example 1

[0045] This application discloses a multi-degree-of-freedom robotic arm mechanism.

[0046] Reference Figures 1-4 The system includes a robotic arm 1, a rotary arm 2, and a connecting arm 3. The rotary arm 2 includes a first rotary arm 4, a second rotary arm 5, and a third rotary arm 6. The second rotary arm 5 is connected to the first rotary arm 4. One end of the connecting arm 3 is connected to the second rotary arm 5, and the other end is connected to the third rotary arm 6. The robotic arm 1 is connected to the third rotary arm 6. The first rotary arm 4 and the second rotary arm 5 are arranged perpendicularly to each other. The second rotary arm 5 and the third rotary arm 6 are also arranged perpendicularly to each other.

[0047] The rotary arm 2 includes a housing and a helical swing motor. The helical swing motor includes a fixed part and a rotating part. The fixed part of the helical swing motor is bolted to the housing, and the rotating part of the helical swing motor extends out of the housing. A first fixed connecting seat 9 is provided in the middle of the first rotary arm 4. The first fixed connecting seat 9 includes a first ear plate 33, a second ear plate 34, and a first connecting plate 35. The first ear plate 33 and the second ear plate 34 are symmetrically arranged, and the first ear plate 33 and the second ear plate 34 have axial openings for sleeved connection with the first rotary arm 4. The first connecting plate 35 is bolted to one end of the first ear plate 33 and the second ear plate 34, so that the first connecting plate 35 is perpendicular to the first ear plate 33 and the second ear plate 34. The first ear plate 33 and the second ear plate 34 of the first fixed connecting seat 9 are symmetrically sleeved on the first... The first ear plate 33 and the second ear plate 34 are bolted to the housing of the first rotary arm 4 to reinforce the tightness of the connection between the first fixed connecting seat 9 and the first rotary arm 4. The two ends of the first rotary arm 4 are also provided with a first hinge seat 10. The first hinge seat 10 includes a third ear plate 36, a fourth ear plate 37 and a second connecting plate 38. The third ear plate 36 and the fourth ear plate 37 are arranged opposite to each other. The third ear plate 36 and the fourth ear plate 37 are provided with a second hole in the axial direction. The second connecting plate 38 is bolted to one end of the third ear plate 36 and the fourth ear plate 37. The third ear plate 36 is fixedly connected to the rotating part of the spiral swing motor. The fourth ear plate 37 is rotatably connected to the end of the housing away from the rotating part, so that the rotation of the spiral swing motor can drive the first hinge seat 10 to rotate on the first rotary arm 4.

[0048] The second rotating arm 5 is sleeved and hinged with a second fixed connecting seat 11 in the middle. The structure of the second fixed connecting seat 11 is the same as that of the first fixed connecting seat 9. The second fixed connecting seat 11 is bolted to the end of the first hinge seat 10 away from the third ear plate 36, so that the first rotating arm 4 can drive the second rotating arm 5 to rotate around the first rotating arm 4. The second rotating arm 5 is perpendicular to the first rotating arm 4. The rotating part of the second rotating arm 5 is located at the upper end, and the upper end of the second rotating arm 5 is bolted to a rotating seat 12. The lower end of the connecting arm 3 is bolted to the rotating seat 12 of the second rotating arm 5, so that the second rotating arm 5 can drive the connecting arm 3 to rotate. The connecting arm 3 is symmetrically welded with a connecting rod 7 in the middle. The cross-section of the connecting rod 7 is rectangular. The connecting rod 7 has a through hole 8 in the radial direction, and the axial direction of the through hole 8 is parallel to the axial direction of the connecting arm 3.

[0049] The middle part of the third rotating arm 6 is sleeved and hinged with a third fixed connecting seat 13, the structure of the third fixed connecting seat 13 is the same as that of the first fixed connecting seat 9, both ends of the third rotating arm 6 are hinged with a third hinged seat 14, the structure of the third hinged seat 14 is the same as that of the first hinged seat 10, and the third fixed connecting seat 13 of the third rotating arm 6 is bolted at one end of the connecting arm 3 away from the second rotating arm 5, so that when the second rotating arm 5 drives the connecting arm 3 to rotate, the third rotating arm 6 is also driven to rotate.

[0050] The mechanical arm 1 comprises a clamping plate 15, a clamp 16 and a clamp oil cylinder 17, the clamping plate 15 is bolted at one end close to the third rotating arm 6 with the third hinged seat 14 of the third rotating arm 6, so that the third rotating arm 6 rotates to drive the clamping plate 15 to rotate, the clamp 16 is uniformly arranged on the clamping plate 15, the clamp 16 is symmetrically hinged on both sides of the clamping plate 15, the clamp oil cylinder 17 is arranged on one side of the clamping plate 15 close to the third rotating arm 6, both ends of the clamp oil cylinder 17 are respectively hinged with both ends of the clamp 16, so that the clamp oil cylinder 17 drives the clamp 16 to perform a clamping action by extension and contraction, and a through hole 8 is symmetrically arranged on the clamping plate 15, the distance between the two through holes 8 is consistent with the distance between the two through holes 8 on the connecting rod 7.

[0051] In summary, the mechanical arm 1 can realize vertical rotation and horizontal rotation through the first rotating arm 4 and the second rotating arm 5, the mechanical arm 1 realizes vertical rotation of itself through the third rotating arm 6, and due to the existence of the first rotating arm 4 and the second rotating arm 5, the mechanical arm 1 can realize vertical rotation in any direction, and through the cooperation of the first rotating arm 4 and the third rotating arm 6, the mechanical arm 1 has a wider vertical rotation range than the prior art, and the mechanical hand structure 28 can realize multi-degree-of-freedom movement through the three rotating arms 2 and one connecting arm 3, thereby increasing the degree of freedom of use of the mechanical hand structure 28, and making the overall length of the mechanical hand structure 28 shorter, so that the stress on the first rotating arm 4 at the lowest end is smaller when the mechanical hand structure 28 is used to bear heavy objects, so that the mechanical hand structure 28 can bear more heavy objects, and the degree of freedom of use of the mechanical hand structure 28 is increased, and through the arrangement of the connecting rod 7, the mechanical hand structure 28 can be quickly assembled and disassembled with the hanging basket 40, so that the hanging basket 40 can be arranged at the mechanical arm 1, and also can be arranged at the connecting rod 7 of the connecting arm 3, so that the mechanical hand structure 28 can simultaneously realize installation of the hanging basket 40 and independent work of the mechanical arm 1, so that the mechanical hand structure 28 has rich use scenarios.

[0052] Further, in the embodiment, the mechanical hand mechanism 28 further comprises a hanging basket 40, the hanging basket 40 comprises a basket body 21 and connecting pieces 22, the connecting pieces 22 are symmetrically arranged on the basket body 21, and the interval of the two connecting pieces 22 is consistent with the interval of the two through holes 8, the connecting piece 22 comprises a horizontal rod 23, a vertical rod 24 and an inclined rod 25, the horizontal rod 23 is arranged perpendicularly to the side wall of the basket body 21, the horizontal rod 23 is connected with the basket body 21, one end of the inclined rod 25 is welded with the horizontal rod 23, and the other end is welded with the basket body 21, so that the horizontal rod 23, the inclined rod 25 and the basket body 21 form a small triangle shape, the horizontal rod 23, the inclined rod 25 and the basket body 21 together form a triangle, so that the connecting piece 22 of the hanging basket 40 is relatively stable, the vertical rod 24 is welded on the lower side of the horizontal rod 23, the outer diameter of the vertical rod 24 is smaller than the inner diameter of the through hole 8, so that the vertical rod 24 can be matched with the through hole 8, and a pin hole is arranged at the lower part of the vertical rod 24, when the user needs to install the hanging basket 40 on the connecting arm 3, the user inserts the two vertical rods 24 of the hanging basket 40 into the two through holes 8 of the connecting arm 3, and limits the hanging basket 40 on the connecting arm 3 by inserting the pin into the pin hole at the lower part of the hanging basket 40, when the user needs to disassemble the hanging basket 40, the pin is pulled out, and then the hanging basket 40 can be taken out, and the hanging basket 40 can also be arranged at the two through holes 8 of the clamping plate 15.

[0053] Further, in the embodiment, the through hole 8 on the clamping plate 15 is located below the middle position of the clamp 16, so that the user inserts the two vertical rods 24 of the hanging basket 40 into the through hole 8, when the clamp 16 is closed, the clamp 16 gives the connecting piece 22 of the hanging basket 40 a downward extrusion force, so that the hanging basket 40 can be tightly connected without installing the pin.

[0054] Further, in the embodiment, the mechanical hand mechanism 28 further comprises a telescopic mechanical arm 18 and a rotary mechanism 19, one end of the mechanical arm 18 is hinged with the rotary mechanism 19, the other end is bolted with the first fixed connecting seat 9 of the first rotary arm 4, and a first oil cylinder 20 is hinged on the mechanical arm 18, the other end of the first oil cylinder 20 is hinged with the rotary mechanism 19, so that the mechanical hand 1 can also rotate in the vertical direction in a large range through the telescopic mechanical arm 18, and rotate in the horizontal direction in a large range through the rotary mechanism 19, so that the mechanical hand mechanism 28 has a larger clamping range.

[0055] Further, in the embodiment, the rotary mechanism 19 of the application is not particularly limited, and the rotary mechanism 19 known to those skilled in the art which can realize the rotary function can be used, and those skilled in the art can select and adjust according to the specific application and product requirements; the preferred rotary mechanism 19 of the application is a disc-shaped rotary mechanism 19 with built-in rotary oil cylinder, preferably the rotary mechanism 19 formed by the oil cylinder symmetrically hinged on both sides of the mechanical arm 18 and the base.

[0056] Further, in the embodiment, the mechanical arm 18 of the application is not particularly limited, and any mechanical arm 18 with two or more arm segments capable of realizing the telescopic function can be used, which is well known to those skilled in the art, and those skilled in the art can select and adjust according to the specific application and product requirements; the preferred mechanical arm 18 of the application is a mechanical arm 18 with a rope row type hydraulic telescopic mechanism or a cylinder pin type telescopic mechanism.

[0057] Further, in the embodiment, the rotary arm 2 of the application is not particularly limited, and any mechanical structure capable of realizing the rotary function can be used, which is well known to those skilled in the art, and those skilled in the art can select and adjust according to the specific application and product requirements; the preferred rotary arm 2 of the application is a rotary arm 2 with a built-in rotary oil cylinder.

[0058] Embodiment 2

[0059] The embodiment of the application discloses a mine arch support trolley.

[0060] With reference to Figures 5-7 , the front frame 26 and the rear frame 27 are connected by a hinge, the hinge includes a double-ear hinge seat welded at the rear end of the front frame 26 and a single-ear hinge seat welded at the front end of the rear frame 27, the double-ear hinge seat and the single-ear hinge seat are both provided with hinge holes in the axial direction, the hinge holes are inserted with joint bearings, the single-ear hinge seat is inserted into the double-ear hinge seat, so that the hinge holes of the double-ear hinge seat and the hinge holes of the single-ear hinge seat are located on the same axis, the joint bearings of the double-ear hinge seat and the joint bearings of the single-ear hinge seat are inserted with a pin shaft, the pin shaft is fastened to the double-ear hinge seat by a shaft end plate, so as to prevent the pin shaft from moving axially and improve the stability of the hinge effect of the pin shaft, the frame body is divided into two parts, the front frame 26 and the rear frame 27, and is hinged, so that the rear frame 27 can swing left and right at a certain angle relative to the front frame 26 through the hinge, compared with the integral frame of the traditional tunnel arch support trolley, the front frame 26 and the rear frame 27 of the mine arch support trolley can act independently, which greatly reduces the turning radius of the device and ensures that the device can flexibly drive in the narrow cross-section mine roadway.

[0061] The front frame 26 is integrated with a cab, a power system, a hydraulic system and an electrical control system.

[0062] Further, in the embodiment, the rear end of the front frame 26 is welded with two double-ear hinged seats which are arranged one above the other, the front end of the rear frame 27 is welded with two single-ear hinged seats which are also arranged one above the other, the double-ear hinged seat is hinged with the single-ear hinged seat, the two hinged seats arranged one above the other make the connection of the front frame and the rear frame more stable, for the mining arch support platform car which has more load on the rear frame, the two hinged seats arranged one above the other are beneficial to strengthen the connection strength of the front frame 26 and the rear frame 27, and can place higher load without other structure support of the rear frame 27, and the front frame 26 will not be tilted or have other adverse use conditions relative to the rear frame 27.

[0063] Further, in the embodiment, referring to Figure 8 , the two sides of the rear frame 27 are asymmetrically provided with telescopic legs 31, the upper part of the telescopic leg 31 is bolted with a telescopic connecting cross bar 32, the connecting cross bar 32 is internally provided with an oil cylinder, the other end of the connecting cross bar 32 is bolted on the side wall of the rear frame 27, the two telescopic legs 31 are respectively called first telescopic leg 31 and second telescopic leg 31, the first telescopic leg 31 and the second telescopic leg 31 are asymmetrically arranged, so that the lower ends of the first telescopic leg 31 and the second telescopic leg 31 are respectively located at the diagonal lines of the virtual quadrilateral, the first telescopic leg 31 and the second telescopic leg 31 are staggered, the plane formed by the first telescopic leg 31 and the second telescopic leg 31 is larger, and the support of the first rotary support and the second telescopic leg 31 is more stable, and because the telescopic connecting cross bar 32 is arranged on the telescopic leg 31, the plane formed by the first telescopic leg 31 and the second telescopic leg 31 can be further increased, and the user can adjust the plane range formed by the first telescopic leg 31 and the second telescopic leg 31 according to the actual use demand of the mining arch support platform car, so that the telescopic leg 31 has a better supporting effect.

[0064] Further, in the embodiment, referring to Figures 1-8 , the rear frame 27 is further provided with a mechanical hand structure 28, the mechanical hand structure 28 includes a rotary mechanism 19, a telescopic mechanical arm 18, a mechanical hand 1, a rotary arm 2 and a connecting arm 3, the rotary arm 2 includes a first rotary arm 4, a second rotary arm 5 and a third rotary arm 6, the rotary mechanism 19 is bolted on the upper side of the rear frame 27, one end of the mechanical arm 18 is hinged with the rotary mechanism 19, the other end is connected with the first rotary arm 4, the rotary mechanism 19 is further hinged with a first oil cylinder 20, the other end of the first oil cylinder 20 is hinged with the mechanical arm 18, the second rotary arm 5 is connected with the first rotary arm 4, one end of the connecting arm 3 is connected with the second rotary arm 5, the other end is connected with the third rotary arm 6, the mechanical hand 1 is connected with the third rotary arm 6, and the first rotary arm 4 and the second rotary arm 5 are arranged perpendicularly, and the second rotary arm 5 and the third rotary arm 6 are arranged perpendicularly.

[0065] The rotary arm 2 includes a housing and a helical swing motor. The helical swing motor includes a fixed part and a rotating part. The fixed part of the helical swing motor is bolted inside the housing, and the rotating part of the helical swing motor extends out of the housing. A first fixed connecting seat 9 is provided in the middle of the first rotary arm 4. The first fixed connecting seat 9 includes a first ear plate 33, a second ear plate 34, and a first connecting plate 35. The first ear plate 33 and the second ear plate 34 are symmetrically arranged, and the first ear plate 33 and the second ear plate 34 have axial openings for sleeved connection with the first rotary arm 4. The first connecting plate 35 is bolted to one end of the first ear plate 33 and the second ear plate 34, so that the first connecting plate 35 is perpendicular to the first ear plate 33 and the second ear plate 34. The first ear plate 33 and the second ear plate 34 of the first fixed connecting seat 9 are symmetrically sleeved on the housing of the first rotary arm 4, and the first ear plate 33... 3 and the second ear plate 34 are also bolted to the housing of the first rotary arm 4 to reinforce the tightness of the connection between the first fixed connecting seat 9 and the first rotary arm 4. The first fixed connecting seat 9 of the first rotary arm 4 is bolted to the end of the robotic arm 18. The two ends of the first rotary arm 4 are also provided with first hinge seats 10. The first hinge seat 10 includes a third ear plate 36, a fourth ear plate 37 and a second connecting plate 38. The third ear plate 36 and the fourth ear plate 37 are arranged opposite to each other. The third ear plate 36 and the fourth ear plate 37 are provided with second holes in the axial direction. The second connecting plate 38 is bolted to one end of the third ear plate 36 and the fourth ear plate 37. The third ear plate 36 is fixedly connected to the rotating part of the spiral swing motor. The fourth ear plate 37 is rotatably connected to the end of the housing away from the rotating part, so that the rotation of the spiral swing motor can drive the first hinge seat 10 to rotate on the first rotary arm 4.

[0066] The second rotating arm 5 is sleeved and hinged with a second fixed connecting seat 11 in the middle. The structure of the second fixed connecting seat 11 is the same as that of the first fixed connecting seat 9. The second fixed connecting seat 11 is bolted to the end of the first hinge seat 10 away from the third ear plate 36, so that the first rotating arm 4 can drive the second rotating arm 5 to rotate around the first rotating arm 4. The second rotating arm 5 is perpendicular to the first rotating arm 4. The rotating part of the second rotating arm 5 is located at the upper end, and the upper end of the second rotating arm 5 is bolted to a rotating seat 12. The lower end of the connecting arm 3 is bolted to the rotating seat 12 of the second rotating arm 5, so that the second rotating arm 5 can drive the connecting arm 3 to rotate. The connecting arm 3 is symmetrically welded with a connecting rod 7 in the middle. The cross-section of the connecting rod 7 is rectangular. The connecting rod 7 has a through hole 8 in the radial direction, and the axial direction of the through hole 8 is parallel to the axial direction of the connecting arm 3.

[0067] The middle part of the third rotating arm 6 is sleeved and hinged with a third fixed connecting seat 13, the structure of the third fixed connecting seat 13 is the same as that of the first fixed connecting seat 9, the two ends of the third rotating arm 6 are hinged with a third hinged seat 14, the structure of the third hinged seat 14 is the same as that of the first hinged seat 10, and the third fixed connecting seat 13 of the third rotating arm 6 is bolted at the end of the connecting arm 3 away from the second rotating arm 5, so that when the second rotating arm 5 drives the connecting arm 3 to rotate, the third rotating arm 6 is also driven to rotate.

[0068] The manipulator 1 comprises a clamping plate 15, clamps 16 and clamp oil cylinders 17, the clamping plate 15 is bolted at one end close to the third rotating arm 6 with the third hinged seat 14 of the third rotating arm 6, so that the third rotating arm 6 can drive the clamping plate 15 to rotate when the third rotating arm 6 rotates, and the clamps 16 are uniformly arranged on the clamping plate 15, the clamps 16 are symmetrically hinged on both sides of the clamping plate 15, the clamp oil cylinders 17 are arranged on one side of the clamping plate 15 close to the third rotating arm 6, and the two ends of the clamp oil cylinders 17 are respectively hinged with the two ends of the clamps 16, so that the clamp oil cylinders 17 drive the clamps 16 to perform a clamping action when the clamp oil cylinders 17 are extended and retracted, and the clamping plate 15 is symmetrically provided with through holes 8, and the distance between the two through holes 8 is consistent with the distance between the two through holes 8 on the two connecting rods 7.

[0069] Further, in the embodiment, the mechanical arm structure 28 further comprises a hanging basket 40, the hanging basket 40 comprises a basket body 21 and connecting pieces 22, the connecting pieces 22 are symmetrically arranged on the basket body 21, and the distance between the two connecting pieces 22 is consistent with the distance between the two through holes 8, the connecting piece 22 comprises a horizontal rod 23, a vertical rod 24 and an inclined rod 25, the horizontal rod 23 is arranged perpendicular to the side wall of the basket body 21, the horizontal rod 23 is connected with the basket body 21, one end of the inclined rod 25 is welded with the horizontal rod 23, and the other end is welded with the basket body 21, so that the horizontal rod 23, the inclined rod 25 and the basket body 21 form a small triangle shape, the vertical rod 24 is welded on the lower side of the horizontal rod 23, the outer diameter of the vertical rod 24 is smaller than the inner diameter of the through hole 8, so that the vertical rod 24 can cooperate with the through hole 8, and a pin hole is formed in the lower part of the vertical rod 24, when a user needs to install the hanging basket 40 on the connecting arm 3, the user inserts the two vertical rods 24 of the hanging basket 40 into the two through holes 8 of the connecting arm 3, and limits the hanging basket 40 on the connecting arm 3 by inserting the pin into the pin hole in the lower part of the hanging basket 40, when the user needs to disassemble the hanging basket 40, the pin is pulled out, and then the hanging basket 40 can be taken out, and the hanging basket 40 can also be arranged at the two through holes 8 of the clamping plate 15.

[0070] Further, in the embodiment, the through hole 8 on the clamping plate 15 is below the middle position of the clamp 16, so that when the user inserts the two vertical rods 24 of the hanging basket 40 into the through hole 8, the clamp 16 gives the connecting piece 22 of the hanging basket 40 a downward extrusion force when the clamp 16 is closed, so that the hanging basket 40 can be tightly connected without installing the pin.

[0071] Further, in the embodiment, the mechanical arm mechanism 28 further comprises a telescopic mechanical arm 18 and a rotating mechanism 19, one end of the mechanical arm 18 is hinged to the rotating mechanism 19, the other end is bolted to the first fixed connecting seat 9 of the first rotating arm 4, a first oil cylinder 20 is hinged to the mechanical arm 18, the other end of the first oil cylinder 20 is hinged to the rotating mechanism 19.

[0072] Further, in the embodiment, the rotating mechanism 19 of the present application is not particularly limited, and any rotating mechanism 19 known to those skilled in the art that can realize the rotating function can be used, and those skilled in the art can select and adjust according to the specific application and product requirements; the preferred rotating mechanism 19 of the present application is a disc-shaped rotating mechanism 19 with built-in rotating oil cylinders, preferably a rotating mechanism 19 formed by symmetrically hinging oil cylinders on both sides of the mechanical arm 18 and the base.

[0073] Further, in the embodiment, the mechanical arm 18 of the present application is not particularly limited, and any mechanical arm 18 known to those skilled in the art that can realize the telescopic function with two or more arm segments can be used, and those skilled in the art can select and adjust according to the specific application and product requirements; the preferred mechanical arm 18 of the present application is a rope row type hydraulic telescopic mechanism or a cylinder pin type telescopic mechanism.

[0074] Further, in the embodiment, the rotating arm 2 of the present application is not particularly limited, and any mechanical arm 18 known to those skilled in the art that can realize the rotating function can be used, and those skilled in the art can select and adjust according to the specific application and product requirements; the preferred rotating arm 2 of the present application is a rotating arm 2 with built-in rotating oil cylinders.

[0075] Further, in the embodiment, two mechanical arm mechanisms 28 are provided on the rear frame 27, which are the first mechanical arm mechanism 29 and the second mechanical arm mechanism 30, wherein the first mechanical arm mechanism 29 is the main arm, the first mechanical arm mechanism 29 is located at the front of the rear frame 27, a support table 39 is bolted to the front of the rear frame 27, the first mechanical arm mechanism 29 is bolted to the support table 39, so that the position of the first mechanical arm mechanism 29 is relatively high, the second mechanical arm mechanism 30 is the auxiliary arm, the second mechanical arm mechanism 30 is bolted to the rear of the rear frame 27, so that the position of the second mechanical arm mechanism 30 is relatively low, thereby forming a front and rear staggered arrangement of the two mechanical arm mechanisms 28, so that after the first mechanical arm mechanism 29 is lifted, the second mechanical arm mechanism 30 can be tilted up and down and swung left and right below it, thereby realizing the coordinated arch erection construction of the two arms of the arch table.

[0076] And since the construction point of the arch frame trolley is usually at the rear end of the arch frame trolley, the required telescopic length of the first mechanical hand mechanism 29 bolted at the front part of the rear frame 27 is usually longer in the same construction scene, and by bolting the second mechanical hand mechanism 30 at the rear part of the rear frame 27, the length and cross-sectional size specification of the required second mechanical hand mechanism 30 can be greatly shortened, so that the second mechanical hand mechanism 30 can meet the work of cooperating with the first mechanical hand mechanism 29 through one-stage telescopic without large-stroke telescopic oil cylinders, thereby improving the site adaptability of the arch frame trolley, in addition, compared with the arch frame trolley in which the two mechanical hand mechanisms 28 are arranged at the front end of the vehicle body, the mine-used arch frame trolley with the two mechanical hand mechanisms 28 arranged at the rear can make the position of the whole vehicle center of gravity more centralized, so that the front and rear axle loads of the arch frame trolley are more balanced, avoiding the problem of arch frame trolley overturning caused by the center of gravity offset.

[0077] The mechanical hand 1 of the conventional arch frame trolley for tunnel is fixed at a work station for construction, and is implemented in the limited space range to grasp and place the arch, or the mechanical hand 1 is designed into a complex symmetrical two-set structure to realize the interchanging of left and right work stations. Compared with this, the specific structure of the mechanical hand 1 structure in the present application combines the front and rear arrangement of the first mechanical hand 1 structure and the second mechanical hand 1 structure, so that the arch frame trolley can grasp and place the arch at any position within the reachable working range, and the structure is simple and the action is flexible.

[0078] Further, in the embodiment, the telescopic supporting leg 31 is a prior art, which usually includes an inner supporting leg, an outer supporting leg and an oil cylinder, the oil cylinder is located in the outer supporting leg, one end of the oil cylinder is hinged with the outer supporting leg, the other end is hinged with the inner supporting leg, and the inner supporting leg is at least partially located in the outer supporting leg, so as to realize the conversion between the retracted state and the supporting state of the supporting leg 31. The present application does not have special restrictions on the supporting leg 31, and the supporting leg 31 known to those skilled in the art which can realize the telescopic function and support the arch frame trolley can be used, and those skilled in the art can select and adjust according to the specific application and product requirements.

[0079] Further, in the embodiment, the present application does not have special restrictions on the connecting cross rod 32, and the cross rod 23 known to those skilled in the art which can realize the telescopic function can be used, and those skilled in the art can select and adjust according to the specific application and product requirements. In general, the connecting cross rod 32 includes a plurality of rods, the rods are sleeved and telescopic through oil cylinders, gear racks and the like, which are common structures in the prior art, and will not be described here.

[0080] It should be noted that the embodiments of the present application can be arbitrarily combined into new embodiments when the schemes do not conflict and the technical schemes can coexist.

[0081] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application, so that: all equivalent changes made according to the structure, shape, principle of the present application should be covered in the protection scope of the present application.

Claims

1. A multi-degree of freedom robotic hand mechanism, characterized by: The mechanical arm (1), the rotating arm (2) and the connecting arm (3) are included, the rotating arm (2) includes the first rotating arm (4), the second rotating arm (5) and the third rotating arm (6), the second rotating arm (5) is connected with the first rotating arm (4), and the second rotating arm (5) is arranged perpendicularly to the first rotating arm (4), one end of the connecting arm (3) is connected with the second rotating arm (5), the other end is connected with the third rotating arm (6), and the third rotating arm (6) is arranged perpendicularly to the second rotating arm (5), and the mechanical arm (1) is connected with the third rotating arm (6); Both sides of the connecting arm (3) are provided with connecting rods (7) for connecting with the hanging basket (40), and the connecting rods (7) are provided with through holes (8); the mechanical arm (1) is also provided with through holes (8) for connecting with the hanging basket (40).

2. The robotic hand mechanism of claim 1, wherein: The rotating arm (2) includes a shell and a spiral swing motor, the shell is connected with the spiral swing motor, and the spiral swing motor is at least partially located outside the shell.

3. The robotic hand mechanism of claim 1, wherein: The middle part of the first rotating arm (4) is provided with a first fixed connecting seat (9), both ends of the first rotating arm (4) are rotatably connected with first hinged seats (10), the middle part of the second rotating arm (5) is provided with a second fixed connecting seat (11), one end of the second rotating arm (5) is rotatably connected with a rotating seat (12), the middle part of the third rotating arm (6) is provided with a third fixed connecting seat (13), both ends of the third rotating arm (6) are rotatably connected with third hinged seats (14), the second fixed connecting seat (11) of the second rotating arm (5) is connected with the first hinged seat (10) of the first rotating arm (4), and the first rotating arm (4) is arranged perpendicularly to the second rotating arm (5), one end of the connecting arm (3) is connected with the rotating seat (12) of the second rotating arm (5), the other end is connected with the third fixed connecting seat (13) of the third rotating arm (6), and the mechanical arm (1) is connected with the third hinged seat (14) of the third rotating arm (6).

4. The robotic hand mechanism of claim 3, wherein: The mechanical arm (1) includes a clamping plate (15), a clamp (16) and a clamp oil cylinder (17), the clamping plate (15) is connected with the third hinged seat (14) of the third rotating arm (6), the clamp (16) is connected with the clamping plate (15), the clamp oil cylinder (17) is connected with the clamp (16), the through hole (8) is arranged on the clamping plate (15), and the position of the through hole (8) is close to the clamp (16).

5. The robotic hand mechanism of claim 1, wherein: The telescopic mechanical arm (18) and the rotating mechanism (19) are further included, one end of the mechanical arm (18) is connected with the rotating mechanism (19), the other end is connected with the first rotating arm (4), and the rotating mechanism (19) is provided with a first oil cylinder (20), one end of the first oil cylinder (20) is connected with the rotating mechanism (19), and the other end is connected with the mechanical arm (18).

6. The robotic hand mechanism of claim 1, wherein: The hanging basket (40) comprises a basket body (21) and a connecting piece (22), the connecting piece (22) comprises a horizontal rod (23), a vertical rod (24) and an inclined rod (25), the horizontal rod (23) is connected with the basket body (21), one end of the inclined rod (25) is connected with the basket body (21), and the other end is connected with the horizontal rod (23), so that the horizontal rod (23), the inclined rod (25) and the basket body (21) jointly form a triangle, and the vertical rod (24) is arranged on the lower side of the horizontal rod (23), and a bolt hole is formed in the lower part of the vertical rod (24), and the vertical rod (24) is matched with the through hole (8).

7. A mine arching jumbo characterized in that: The front frame (26) and the rear frame (27) are hinged.

8. The arch conveyor of claim 7, wherein: The mechanical hand mechanism (28) as claimed in any one of claims 1-6 is further connected with the rear frame (27).

9. The arch conveyor of claim 8, wherein: The mechanical hand mechanism (28) comprises a first mechanical hand mechanism (29) and a second mechanical hand mechanism (30), the first mechanical hand mechanism (29) is a main arm, the second mechanical hand mechanism (30) is an auxiliary arm, the first mechanical hand mechanism (29) is arranged close to the front frame (26), the second mechanical hand mechanism (30) is arranged away from the front frame (26), and the height of the first mechanical hand mechanism (29) is greater than that of the second mechanical hand mechanism (30).

10. The arch conveyor of claim 7, wherein: The rear frame (27) is provided with a supporting leg (31), the supporting leg (31) is provided with a telescopic connecting horizontal rod (32), the supporting leg (31) comprises a first supporting leg (31) and a second supporting leg (31), and the first supporting leg (31) and the second supporting leg (31) are asymmetrically arranged on the rear frame (27).

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