Manipulator device for mounting mine roadway side wall steel arch

Abstract

The utility model discloses a manipulator device for mounting a mine roadway side wall steel arch, which comprises a horizontal oscillating cylinder and a connecting seat, the horizontal oscillating cylinder is mounted in the connecting seat, a rotary speed reducer is mounted on one side of the connecting seat, a rotary seat is mounted on an output shaft of the rotary speed reducer, and the rotary seat is mounted on the other side of the connecting seat. A telescopic arm outer cylinder is rotatably mounted in the rotary seat, a telescopic arm pitching oil cylinder is rotatably arranged on the side face of the rotary seat, the telescopic end of the telescopic arm pitching oil cylinder is hinged to the end, away from the rotary seat, of the telescopic arm outer cylinder, a telescopic arm inner cylinder is slidably arranged in the telescopic arm outer cylinder, and a swing hinged support is rotatably mounted at the end of the telescopic arm inner cylinder. A clamping jaw fixing base is rotationally installed on the side face of the swing hinged support. The manipulator device for installing the side wall steel arch of the mining roadway is compact in structure, has a multi-degree-of-freedom adjusting function, can meet the installation of the steel arch in a narrow space, and is particularly suitable for the installation of the side wall steel arch.

Description

Technical Field

[0001] This utility model relates to the field of steel arch frame installation technology, specifically a robotic arm device for installing steel arch frames on the side walls of mine roadways. Background Technology

[0002] During mine roadway excavation, steel arch frames are typically used to support the roadway sidewalls to prevent collapses caused by surrounding rock deformation, thereby improving the structural strength and service life of the sidewalls. These steel arch frames are mostly cold-formed steel sections, such as I-beams, H-beams, and U-beams. Their overall structure is relatively large, while mine roadways have limited space. Therefore, for ease of transportation and installation, steel arch frames are usually disassembled into multiple sections, such as dome arch frames and sidewall arch frames. These disassembled sections are then assembled and installed within the roadway to support the sidewalls. The steel arch frames themselves are large and heavy, making manual assembly difficult. Therefore, mechanical equipment is often used for assistance. However, common mechanical equipment is often bulky and inconvenient for adjusting various angles, making the assembly of steel arch frames for roadway sidewall support quite challenging. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the existing defects and provide a robotic arm device for installing steel arch frames on the side walls of mine roadways. It has a compact structure and multiple degrees of freedom adjustment function, which can meet the installation of steel arch frames in narrow spaces. It is particularly suitable for the installation of steel arch frames on side walls and can effectively solve the problems in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a robotic arm device for installing steel arch frames on the side walls of mine roadways, comprising a horizontal swing cylinder and a connecting seat. The horizontal swing cylinder is installed inside the connecting seat. A rotary reducer is installed on one side of the connecting seat, and a rotary seat is installed on the output shaft of the rotary reducer. A telescopic arm outer cylinder is rotatably installed inside the rotary seat, and a telescopic arm pitch cylinder is rotatably arranged on the side of the rotary seat. The telescopic end of the telescopic arm pitch cylinder is hinged to the end of the telescopic arm outer cylinder away from the rotary seat. A telescopic arm inner cylinder is slidably arranged inside the telescopic arm outer cylinder. A swing hinge seat is rotatably installed at the end of the telescopic arm inner cylinder. A chuck fixing seat is rotatably installed on the side of the swing hinge seat, and a chuck left and right swing cylinder for driving the chuck fixing seat to rotate is arranged on the side of the swing hinge seat. A chuck assembly is installed on the chuck fixing seat, and a chuck opening and closing cylinder for driving the chuck assembly to open and close is arranged on the side of the chuck fixing seat. A chuck pitch cylinder for driving the swing hinge seat to rotate is installed on the side of the telescopic arm inner cylinder.

[0005] As a preferred embodiment of the present invention, the claw assembly includes a claw, and an extension block is provided at the end of the claw. The extension block is installed at the end of the claw via a claw pin.

[0006] As a preferred technical solution of this utility model, the claw assembly is symmetrically arranged in two sets, and each set of claw assembly contains two claws, and the two claws in each set of claw assembly are symmetrically arranged.

[0007] As a preferred technical solution of this utility model, the claw assembly is hinged to the claw fixing seat by a pin provided on the claw fixing seat.

[0008] As a preferred technical solution of this utility model, the side of the extension block is provided with multiple positioning holes, the claw pin is detachable, and there are two sets of claw pins.

[0009] As a preferred embodiment of this utility model, a basket is provided on the upper side of the connecting seat, and the top of the basket is open.

[0010] Compared with the prior art, the beneficial effects of this utility model are:

[0011] The robotic arm device for installing steel arch frames on the side walls of mine roadways, as exemplified by this utility model, has a compact structure and multiple degrees of freedom adjustment function, which can meet the installation requirements of steel arch frames in narrow spaces, and is particularly suitable for the installation of steel arch frames on side walls. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of this utility model;

[0013] Figure 2 This is a schematic diagram of the claw assembly in this utility model;

[0014] Figure 3 This is a schematic diagram of the structure of the claw fixing seat in this utility model;

[0015] Figure 4 This is a schematic diagram of the connecting seat in this utility model.

[0016] In the diagram: 1 Horizontal swing cylinder, 2 Connecting seat, 3 Rotary reducer, 4 Rotary seat, 5 Telescopic boom pitch cylinder, 6 Telescopic boom outer cylinder, 7 Telescopic boom inner cylinder, 8 Swing hinge seat, 9 Claw left and right swing cylinder, 10 Claw fixing seat, 11 Claw assembly, 111 Claw, 112 Claw pin, 113 Extension block, 12 Claw opening and closing cylinder, 13 Claw pitch cylinder, 14 Suspended basket. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Please see Figure 1-4 This utility model provides a technical solution: a robotic arm device for installing steel arch frames on the side walls of mine roadways, including a horizontal swing cylinder 1 and a connecting seat 2. The side of the horizontal swing cylinder 1 is bolted to the front end of a conventional L-arm, and the horizontal swing cylinder 1 is provided with an upper mounting surface and a lower mounting surface. Both the upper mounting surface and the lower mounting surface of the horizontal swing cylinder 1 are connected to the connecting seat 2 by bolts. The robotic arm device can be controlled to swing left and right by the horizontal swing cylinder 1, which facilitates the use of the robotic arm device.

[0019] A rotary reducer 3 is installed on one side of the connecting seat 2. The rotary reducer 3 is bolted to the front of the connecting seat 2, and a rotary seat 4 is bolted to the output shaft of the rotary reducer 3. By operating the rotary reducer 3, the rotary seat 4 and the structure installed on the rotary seat 4 can be driven to rotate, thereby improving the flexibility of this robotic arm device.

[0020] A telescopic boom outer cylinder 6 is rotatably mounted inside a slewing base 4. An upper hinge seat is provided on the side of the slewing base 4, and a lower hinge seat is provided on the lower part of the side of the telescopic boom outer cylinder 6. The upper hinge seat on the side of the slewing base 4 is connected to the lower hinge seat on the side of the telescopic boom outer cylinder 6 via a pin. A telescopic boom pitch cylinder 5 is rotatably mounted on the side of the slewing base 4, and a lower hinge seat is also provided on the side of the slewing base 4. The telescopic boom pitch cylinder 5 is rotatably mounted inside the lower hinge seat on the side of the slewing base 4. An upper hinge seat is provided on the telescopic boom outer cylinder 6 at a position away from the slewing base 4. The telescopic boom pitch cylinder 5 is hinged to the upper hinge seat on the side of the telescopic boom outer cylinder 6 via a pin. By operating the telescopic boom pitch cylinder 5 to extend and retract, the telescopic boom outer cylinder 6 is controlled to pitch around the upper hinge seat on the side of the slewing base 4, which facilitates the adjustment of the telescopic boom pitch angle.

[0021] The telescopic arm outer cylinder 6 is slidably provided with the telescopic arm inner cylinder 7. The telescopic arm outer cylinder 6 and the telescopic arm inner cylinder 7 can be connected by a telescopic cylinder, and the telescopic arm inner cylinder 7 can be controlled to slide within the telescopic arm outer cylinder 6 by the telescopic cylinder, which facilitates the use and adjustment of the telescopic arm length in this robotic arm device.

[0022] A swing hinge seat 8 is rotatably mounted at the end of the inner cylinder 7 of the telescopic arm. The swing hinge seat 8 is mounted at the end of the inner cylinder 7 of the telescopic arm via a pin. A chuck pitch cylinder 13 is mounted on the side of the inner cylinder 7 of the telescopic arm to drive the swing hinge seat 8 to rotate. An upper hinge seat is provided on the upper side of the swing hinge seat 8. The extension and retraction end of the chuck pitch cylinder 13 is rotatably connected to the upper hinge seat on the side of the swing hinge seat 8 via a pin. By controlling the extension and retraction of the chuck pitch cylinder 13, the swing hinge seat 8 can rotate around the upper hinge seat on the side of the inner cylinder 7 of the telescopic arm, further improving the flexibility of this manipulator device during use.

[0023] A chuck fixing seat 10 is rotatably mounted on the side of the swing hinge seat 8, and a chuck left and right swing cylinder 9 is provided on the side of the swing hinge seat 8 to drive the chuck fixing seat 10 to rotate. It should be noted that the side of the swing hinge seat 8 is provided with two hinge points, upper and lower. One end of the chuck fixing seat 10 is rotatably connected to the upper hinge point of the swing hinge seat 8 through a pin, and one end of the chuck left and right swing cylinder 9 is rotatably connected to the lower hinge point of the swing hinge seat 8 through a pin. The telescopic end of the chuck left and right swing cylinder 9 is rotatably connected to the side of the chuck fixing seat 10 away from the swing hinge seat 8. By operating the telescopic extension of the chuck left and right swing cylinder 9, the chuck fixing seat 10 can rotate around the upper hinge point on the side of the swing hinge seat 8, which facilitates the use of this robot device.

[0024] A gripper assembly 11 is installed on the gripper fixing seat 10. The gripper assembly 11 includes a gripper 111. An extension block 113 is provided at the end of the gripper 111. The extension block 113 is installed at the end of the gripper 111 through a gripper pin 112. Two sets of gripper assemblies 11 are symmetrically arranged, and each set of gripper assemblies 11 contains two grippers 111. The two grippers 111 in each set of gripper assemblies 11 are symmetrically arranged to facilitate the use of the gripper assembly 11. The gripper assembly 11 is hinged to the gripper fixing seat 10 through a pin. A gripper opening and closing cylinder 12 is provided on the side of the gripper fixing seat 10 to drive the gripper assembly 11 to open and close. By controlling the gripper opening and closing cylinder 12 to open and close the gripper assembly 11, the robot arm device can easily grip the steel arch frame.

[0025] The extension block 113 has multiple positioning holes on its side. The claw pin 112 is detachable and there are two sets of claw pins 112. By placing the claw pins 112 in the positioning holes at different positions, the installation angle of the extension block 113 can be adjusted, which makes it easier for this robotic arm device to grasp different types of steel arch frames, such as I-beams, H-beams, and U-beams.

[0026] A basket 14 is provided on the upper side of the connecting seat 2, and the top of the basket 14 is open to facilitate personnel operation.

[0027] The horizontal swing cylinder 1, rotary reducer 3, telescopic boom pitch cylinder 5, chuck left and right swing cylinder 9, chuck opening and closing cylinder 12, and chuck pitch cylinder 13 used in this utility model are all commonly used electronic components in the prior art. Their working methods and circuit structures are known technologies. The operation of the horizontal swing cylinder 1, rotary reducer 3, telescopic boom pitch cylinder 5, chuck left and right swing cylinder 9, chuck opening and closing cylinder 12, and chuck pitch cylinder 13 is controlled by an externally set switch group or PLC controller. This method is a common technical means used by technicians and will not be described in detail here.

[0028] The parts not disclosed in this utility model are all prior art, and their specific structures, materials, and working principles will not be described in detail. Although embodiments of this utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this utility model, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm device for installing steel arch frames on the side walls of mine roadways, comprising a horizontal swing cylinder (1) and a connecting seat (2), characterized in that: The horizontal swing cylinder (1) is installed in the connecting seat (2). A rotary reducer (3) is installed on one side of the connecting seat (2), and a rotary seat (4) is installed on the output shaft of the rotary reducer (3). A telescopic arm outer cylinder (6) is rotatably installed in the rotary seat (4), and a telescopic arm pitch cylinder (5) is rotatably arranged on the side of the rotary seat (4). The telescopic end of the telescopic arm pitch cylinder (5) is hinged to the end of the telescopic arm outer cylinder (6) away from the rotary seat (4). A telescopic arm inner cylinder (7) is slidably arranged in the telescopic arm outer cylinder (6). A swing hinge seat (8) is rotatably installed at the end of the cylinder (7). A claw fixing seat (10) is rotatably installed on the side of the swing hinge seat (8). A claw left and right swing cylinder (9) is provided on the side of the swing hinge seat (8) to drive the claw fixing seat (10) to rotate. A claw assembly (11) is installed on the claw fixing seat (10). A claw opening and closing cylinder (12) is provided on the side of the claw fixing seat (10) to drive the claw assembly (11) to open and close. A claw pitching cylinder (13) is installed on the side of the inner cylinder (7) of the telescopic arm to drive the swing hinge seat (8) to rotate.

2. The robotic arm device for installing steel arch frames on the side walls of mine roadways according to claim 1, characterized in that: The jaw assembly (11) includes a jaw (111), and an extension block (113) is provided at the end of the jaw (111). The extension block (113) is installed at the end of the jaw (111) via a jaw pin (112).

3. The robotic arm device for installing steel arch frames on the side walls of mine roadways according to claim 2, characterized in that: The claw assembly (11) is symmetrically arranged in two sets, and each set of claw assembly (11) contains two claws (111), and the two claws (111) in each set of claw assembly (11) are symmetrically arranged.

4. The robotic arm device for installing steel arch frames on the side walls of mine roadways according to claim 2, characterized in that: The claw assembly (11) is hinged to the claw fixing seat (10) by a pin provided on the claw fixing seat (10).

5. The robotic arm device for installing steel arch frames on the side walls of mine roadways according to claim 2, characterized in that: The extension block (113) has multiple positioning holes on its side, and the claw pin (112) is detachable, with two sets of claw pins (112).

6. The robotic arm device for installing steel arch frames on the side walls of mine roadways according to claim 1, characterized in that: The upper side of the connecting seat (2) is provided with a basket (14), and the top of the basket (14) is open.

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