Mechanical arm assembly for intelligent anchor rod drill carriage

Abstract

The mechanical arm assembly for the intelligent anchor rod drill carriage comprises a base, a first connecting base is arranged above the base, a second arm body is arranged above the first connecting base, and a second connecting base and a third connecting base are arranged below the second arm body. A first arm body is arranged between the first connecting base and the second connecting base, a first hydraulic cylinder is arranged between the first connecting base and the third connecting base, a third arm body is arranged in the mounting groove, a second hydraulic cylinder is arranged in the mounting groove, and a fourth arm body is arranged at the front end of the third arm body. A fourth connecting base is arranged above the third arm body, a third hydraulic cylinder is arranged between the fourth connecting base and the fourth arm body, the arm body of the mechanical arm assembly is formed by combining a plurality of arm bodies, the length and the angle of the arm body are adjusted, the operation state of the mechanical arm assembly is changed, the working range of the anchor rod drill carriage is enlarged, and the mechanical arm assembly is suitable for being used in the field of anchor rod drill carriages. And the use effect of the mechanical arm assembly is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm assembly technology, specifically a robotic arm assembly for an intelligent anchor drilling rig. Background Technology

[0002] An anchor bolt drilling rig is a self-propelled device that drills anchor bolt holes in the roof or sidewalls of underground roadways and completes part or all of the anchor bolt installation process. It is a self-propelled support machine that drills holes in rock and installs anchor bolts, mainly used for anchor bolt support construction in underground mines, roadways, and other underground engineering projects. It increases soil stability through the friction and adhesion between the anchor bolts and the soil or rock, ensuring safe and stable construction of underground projects. The robotic arm assembly is a crucial component of the anchor bolt drilling rig. A robotic arm is a mechanical device that can simulate the movements of a human arm, including a base, arm body, joints, end effector, drive system, and control system.

[0003] Chinese Patent Publication No. CN210599040U, authorized on May 22, 2020, discloses an anchor bolt drilling rig with robotic arms. It includes a vehicle body, a temporary support frame, and at least two movable robotic arms. The lower end of the temporary support frame is connected to the vehicle body, and the upper end is suspended above the vehicle body. The lower end of each robotic arm is connected to the vehicle body, and the upper end of the robotic arm is equipped with an anchor bolting machine for installing anchor bolts. The robotic arm drives the anchor bolting machine to move, making the relative position between the anchor bolting machine and the vehicle body adjustable. The anchor bolting machine and the robotic arm are connected by an adjustment mechanism, allowing for adjustable relative positions between them. This utility model provides an anchor bolt drilling rig with robotic arms, which can increase the anchor bolt installation range without changing the length of the connecting arms, and the anchor bolting machine has good adjustment accuracy within a small range, thus making the anchor bolt installation process fast and accurate.

[0004] The existing robotic arm assembly has only one arm body, and the arm body has a limited length, which limits the operating radius of the robotic arm assembly, reduces the working range of the anchor drilling rig, and cannot meet the usage requirements. Utility Model Content

[0005] The purpose of this utility model is to provide a robotic arm assembly for an intelligent anchor bolt drilling rig, in order to solve the problem mentioned in the background art that the existing robotic arm assembly has only one arm body with a limited length, which limits the operating radius of the robotic arm assembly, reduces the working range of the anchor bolt drilling rig, and fails to meet the usage requirements.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a robotic arm assembly for an intelligent anchor bolt drilling rig, comprising a base, a first connecting seat above the base, a second arm body above the first connecting seat, a second connecting seat and a third connecting seat below the second arm body, the second and third connecting seats being connected to the second arm body by screws, a first arm body being disposed between the first and second connecting seats, and both ends of the first arm body being rotatably connected to the first and second connecting seats respectively, a first hydraulic cylinder being disposed between the first and third connecting seats, and both ends of the first hydraulic cylinder being rotatably connected to the first and third connecting seats respectively, and an mounting bracket being provided at the upper end of the second arm body. The mounting groove contains a third arm body that is slidably connected to a second arm body. A second hydraulic cylinder is also located inside the mounting groove and positioned on one side of the third arm body. Both ends of the second hydraulic cylinder are fixedly connected to the second and third arm bodies, respectively. A fourth arm body is rotatably connected to the front end of the third arm body. A fourth connecting seat is located above the third arm body and connected to the third arm body by screws. A third hydraulic cylinder is positioned between the fourth connecting seat and the fourth arm body, with both ends rotatably connected to the fourth connecting seat and the fourth arm body, respectively. A connecting plate is located above the fourth arm body and welded integrally with it.

[0007] Preferably, the second arm body has a through groove on its side wall, there are two through grooves, and the two through grooves are located on both sides of the second arm body. The two through grooves are equipped with sliders, and the sliders are slidably connected to the second arm body. The sliders are fixedly connected to the third arm body.

[0008] Preferably, the bottom of the mounting groove is provided with a roller groove, and the lower end of the third arm is provided with a first ball bearing. There are at least six first balls bearings, and the first balls bearings are equidistantly arranged at the lower end of the third arm bearing. One end of the first ball bearing extends into the interior of the roller groove, and the first ball bearing is in rolling connection with the second arm bearing and the third arm bearing.

[0009] Preferably, a rotating disk structure is provided at the center of the lower end of the first connecting seat, and the rotating disk structure is fixedly connected to the first connecting seat. The first connecting seat and the base are rotatably connected through the rotating disk structure. A reduction motor is provided inside the base, and the reduction motor is connected to the base by screws. The output end of the reduction motor is connected to the lower end of the rotating disk structure.

[0010] Preferably, the lower end of the first connecting seat is provided with a second ball bearing, and there are six second balls bearings arranged in a circular and equidistant manner at the lower end of the first connecting seat. The second balls bearings are in contact with the upper end of the base and are in rolling connection with the base and the first connecting seat.

[0011] Preferably, the base is provided with four mounting holes, which are equidistant from each other on the base. Each mounting hole is provided with a mounting bolt inside. A rubber pad is provided at the lower end of the base and is in close contact with the base.

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

[0013] 1. This utility model device comprises a first arm, a second arm, a third arm, a fourth arm, a first hydraulic cylinder, a second hydraulic cylinder, and a third hydraulic cylinder. The first arm, second arm, third arm, and fourth arm are combined to form a robotic arm. The first arm is rotatably connected to the second arm, the third arm is slidably connected to the second arm, and the fourth arm is rotatably connected to the third arm. The first hydraulic cylinder drives the first and second arms to rotate, the second hydraulic cylinder drives the third arm to extend and retract along the mounting groove, and the third hydraulic cylinder drives the fourth arm to rotate. Under the combined action of the first, second, and third hydraulic cylinders, the height, length, and angle of the robotic arm are changed, thereby improving the usability of the robotic arm components.

[0014] 2. The utility model device uses a geared motor and a rotating disk structure. The first connecting seat and the base are rotatably connected by the rotating disk structure. The geared motor drives the rotating disk structure to rotate, and as the rotating disk structure rotates, it drives the first connecting seat to rotate, thereby changing the orientation angle of the robotic arm. Attached Figure Description

[0015] Figure 1 This is the front view of the existing robotic arm assembly;

[0016] Figure 2 A top view of the existing robotic arm assembly;

[0017] Figure 3 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 4 This is a cross-sectional view of the present invention;

[0019] Figure 5 For the present utility model Figure 3 A magnified view of a portion of area A;

[0020] Figure 6 This is a structural diagram showing the connection between the third arm and the second arm of this utility model;

[0021] Figure 7 For the present utility model Figure 4 A magnified view of a portion of area B.

[0022] In the diagram: 1. Base; 2. Mounting hole; 3. Mounting bolt; 4. Rubber pad; 5. First connecting seat; 6. First arm body; 7. Second arm body; 8. Second connecting seat; 9. Third connecting seat; 10. First hydraulic cylinder; 11. Mounting groove; 12. Third arm body; 13. Second hydraulic cylinder; 14. Fourth connecting seat; 15. Fourth arm body; 16. Connecting plate; 17. Third hydraulic cylinder; 18. Gear motor; 19. Rotary disc structure; 20. First ball bearing; 21. Through groove; 22. Slider; 23. Roller groove; 24. Second ball bearing. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0024] Please see Figure 2-7 This utility model provides an embodiment of a robotic arm assembly for an intelligent anchor bolt drilling rig, comprising a base 1, a first connecting seat 5 above the base 1, a second arm 7 above the first connecting seat 5, a second connecting seat 8 and a third connecting seat 9 below the second arm 7, the second connecting seat 8 and the third connecting seat 9 being connected to the second arm 7 by screws, a first arm 6 being disposed between the first connecting seat 5 and the second connecting seat 8, with both ends of the first arm 6 being rotatably connected to the first connecting seat 5 and the second connecting seat 8 respectively, a first hydraulic cylinder 10 being disposed between the first connecting seat 5 and the third connecting seat 9, with both ends of the first hydraulic cylinder 10 being rotatably connected to the first connecting seat 5 and the third connecting seat 9 respectively, a mounting groove 11 being provided at the upper end of the second arm 7, a third arm 12 being disposed inside the mounting groove 11 and slidably connected to the second arm 7, and a second hydraulic cylinder 13 being disposed inside the mounting groove 11. The second hydraulic cylinder 13 is located on one side of the third arm 12. The two ends of the second hydraulic cylinder 13 are fixedly connected to the second arm 7 and the third arm 12, respectively. The front end of the third arm 12 is provided with a fourth arm 15, which is rotatably connected to the third arm 12. The top of the third arm 12 is provided with a fourth connecting seat 14, which is connected to the third arm 12 by screws. The fourth hydraulic cylinder 17 is provided between the fourth connecting seat 14 and the fourth arm 15, and the two ends of the third hydraulic cylinder 17 are rotatably connected to the fourth connecting seat 14 and the fourth arm 15, respectively. The top of the fourth arm 15 is provided with a connecting plate 16, which is welded to the fourth arm 15 as a whole. The base 1 is provided with four mounting holes 2, which are equidistant from each other. Each mounting hole 2 is provided with a mounting bolt 3. The lower end of the base 1 is provided with a rubber pad 4, which is fitted and connected to the base 1.

[0025] In use: Use mounting bolts 3 to connect to the machine body through mounting holes 2, and fix the robotic arm to the anchor drilling rig. The anchor drilling machine is connected to the connecting plate 16. The first arm body 6, the second arm body 7, the third arm body 12, and the fourth arm body 15 are combined to form the robotic arm. The first arm body 6 and the second arm body 7 are rotatably connected, the third arm body 12 and the second arm body 7 are slidably connected, and the fourth arm body 15 and the third arm body 12 are rotatably connected. The first hydraulic cylinder 10 drives the first arm body 6 and the second arm body 7 to rotate, the second hydraulic cylinder 13 drives the third arm body 12 to extend and retract along the mounting groove 11, and the third hydraulic cylinder 17 drives the fourth arm body 15 to rotate. Under the combined action of the first hydraulic cylinder 10, the second hydraulic cylinder 13, and the third hydraulic cylinder 17, the height, length, and angle of the robotic arm are changed, increasing the working range of the robotic arm of the anchor drilling rig.

[0026] Please see Figure 1 , Figure 3 and Figure 4 The second arm 7 has two through grooves 21 on its side wall, located on both sides of the second arm 7. Each through groove 21 contains a slider 22, which is slidably connected to the second arm 7 and fixedly connected to the third arm 12. A roller groove 23 is provided at the bottom of the mounting groove 11. At least six first balls 20 are provided at the lower end of the third arm 12, equidistantly spaced. One end of each first ball 20 extends into the roller groove 23, and the first balls 20 are tactilely connected to both the second arm 7 and the third arm 12. The slider 22 slides in the through groove 21 as the third arm 12 extends and retracts, while the first balls 20 roll along the roller groove 23. This provides guidance and limitation for the extending and retracting third arm 12, reduces the resistance to extension and retraction, and improves the stability of the second arm 7.

[0027] Please see Figure 2 and Figure 5A rotating disk structure 19 is provided at the center of the lower end of the first connecting seat 5, and the rotating disk structure 19 is fixedly connected to the first connecting seat 5. The first connecting seat 5 and the base 1 are rotatably connected through the rotating disk structure 19. A reduction motor 18 is provided inside the base 1, and the reduction motor 18 is connected to the base 1 by screws. The output end of the reduction motor 18 is connected to the lower end of the rotating disk structure 19. Six second balls 24 are provided at the lower end of the first connecting seat 5, and the six second balls 24 are arranged in a circular and equidistant manner at the lower end of the first connecting seat 5. The second balls 24 are in contact with the upper end of the base 1, and the second balls 24 are in a rolling connection with the base 1 and the first connecting seat 5. The reduction motor 18 drives the rotating disk structure 19 to rotate. As the rotating disk structure 19 rotates, it drives the first connecting seat 5 to rotate, changing the orientation angle of the robotic arm. The second balls 24 support the first connecting seat 5 and can also reduce the rotational resistance of the first connecting seat 5, thereby improving the horizontal rotational stability of the robotic arm.

[0028] Working principle: The mounting bolt 3 passes through the mounting hole 2 and connects to the machine body, fixing the robotic arm to the anchor drilling rig. The anchor drilling machine is connected to the connecting plate 16. The first arm body 6, the second arm body 7, the third arm body 12, and the fourth arm body 15 are combined to form the robotic arm. The first arm body 6 and the second arm body 7 are rotatably connected, the third arm body 12 and the second arm body 7 are slidably connected, and the fourth arm body 15 and the third arm body 12 are rotatably connected. The first hydraulic cylinder 10 drives the first arm body 6 and the second arm body 7 to rotate, the second hydraulic cylinder 13 drives the third arm body 12 to extend and retract along the mounting groove 11, and the third hydraulic cylinder 17 drives the fourth arm body 15 to rotate. Under the combined action of the first hydraulic cylinder 10, the second hydraulic cylinder 13, and the third hydraulic cylinder 17, the height, length, and angle of the robotic arm are changed. The reduction motor 18 is turned on to drive the rotating disk structure 19 to rotate. As the rotating disk structure 19 rotates, it drives the first connecting seat 5 to rotate, changing the orientation angle of the robotic arm and increasing the working range of the robotic arm of the anchor drilling rig.

[0029] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mechanical arm assembly for a smart anchor rod jumbo, comprising a base (1), characterized in that: The upper portion of the base (1) is provided with a first connecting seat (5), the upper portion of the first connecting seat (5) is provided with a second arm body (7), the lower portion of the second arm body (7) is provided with a second connecting seat (8) and a third connecting seat (9), and the second connecting seat (8) and the third connecting seat (9) are connected with the second arm body (7) through screws, a first arm body (6) is arranged between the first connecting seat (5) and the second connecting seat (8), and both ends of the first arm body (6) are rotatably connected with the first connecting seat (5) and the second connecting seat (8) respectively, a first hydraulic cylinder (10) is arranged between the first connecting seat (5) and the third connecting seat (9), and both ends of the first hydraulic cylinder (10) are rotatably connected with the first connecting seat (5) and the third connecting seat (9) respectively, the upper end of the second arm body (7) is provided with a mounting groove (11), the inside of the mounting groove (11) is provided with a third arm body (12), and the third arm body (12) is slidably connected with the second arm body (7), the inside of the mounting groove (11) is provided with a second hydraulic cylinder (13), and the second hydraulic cylinder (13) is arranged on one side of the third arm body (12), both ends of the second hydraulic cylinder (13) are fixedly connected with the second arm body (7) and the third arm body (12) respectively, the front end of the third arm body (12) is provided with a fourth arm body (15), and the fourth arm body (15) is rotatably connected with the third arm body (12), the upper portion of the third arm body (12) is provided with a fourth connecting seat (14), and the fourth connecting seat (14) is connected with the third arm body (12) through screws, a third hydraulic cylinder (17) is arranged between the fourth connecting seat (14) and the fourth arm body (15), and both ends of the third hydraulic cylinder (17) are rotatably connected with the fourth connecting seat (14) and the fourth arm body (15) respectively, the upper portion of the fourth arm body (15) is provided with a connecting plate (16), and the connecting plate (16) and the fourth arm body (15) are welded as a whole.

2. The mechanical arm assembly for the intelligent anchor rod jumbo according to claim 1, characterized in that: The side wall of the second arm body (7) is provided with a through groove (21), the through groove (21) is provided with two, and the two through grooves (21) are arranged on both sides of the second arm body (7), the inside of the two through grooves (21) is provided with a sliding block (22), and the sliding block (22) is slidably connected with the second arm body (7), and the sliding block (22) is fixedly connected with the third arm body (12).

3. The mechanical arm assembly for the intelligent anchor rod jumbo according to claim 1, characterized in that: The bottom of the mounting groove (11) is provided with a rolling groove (23), the lower end of the third arm body (12) is provided with a first rolling ball (20), the first rolling ball (20) is provided with at least six, and the first rolling ball (20) is equidistantly arranged at the lower end of the third arm body (12), one end of the first rolling ball (20) extends to the inside of the rolling groove (23), and the first rolling ball (20) is rollingly connected with the second arm body (7) and the third arm body (12).

4. The mechanical arm assembly for the intelligent anchor rod jumbo according to claim 1, characterized in that: The lower end of the first connecting seat (5) is provided with a rotating disc structure (19), and the rotating disc structure (19) is fixedly connected with the first connecting seat (5); the first connecting seat (5) is rotatably connected with the base (1) through the rotating disc structure (19); the inside of the base (1) is provided with a speed reducer motor (18), and the speed reducer motor (18) is connected with the base (1) through screws; the output end of the speed reducer motor (18) is connected with the lower end of the rotating disc structure (19).

5. The mechanical arm assembly for the intelligent anchor rod jumbo according to claim 1, characterized in that: The lower end of the first connecting seat (5) is provided with second balls (24), and six second balls (24) are arranged at equal intervals in a circular shape at the lower end of the first connecting seat (5); the second balls (24) are in contact with the upper end of the base (1), and the second balls (24) are rotatably connected with the base (1) and the first connecting seat (5).

6. The mechanical arm assembly for the intelligent anchor rod jumbo according to claim 1, characterized in that: The base (1) is provided with mounting holes (2), and four mounting holes (2) are arranged at equal intervals on the base (1); the inside of each mounting hole (2) is provided with a mounting bolt (3); the lower end of the base (1) is provided with a rubber pad (4), and the rubber pad (4) is connected with the base (1) in a close fit manner.

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