Arch frame mechanical arm base device

Abstract

The utility model provides an arch frame mechanical arm base device, relates to the technical field of arch frame mechanical arm bases, and aims to solve the problems that left-right swing of an existing arch frame trolley grabbing and lifting device is controlled through a rotary speed reducer, rotation in one direction can only be completed, overall flexibility is low, and energy consumption is large in a rotary speed reducer driving mode. The L-shaped arm is rotatably connected with a rotary seat, the side wall of the L-shaped arm is fixedly connected with a base, the base is internally and rotatably connected with a swinging oil cylinder, and the rotary seat is connected with the output end of the swinging oil cylinder through a pin shaft.

Description

Technical Field

[0001] This utility model relates to the field of arch frame robotic arm base technology, and in particular to an arch frame robotic arm base device. Background Technology

[0002] In tunnel construction, especially in soft rock sections, post-excavation support is crucial. Steel arch frames, as the primary support structure, directly impact construction progress and worker safety through their installation efficiency and safety. However, traditional steel arch frame installation relies heavily on manual labor or auxiliary equipment, resulting in high labor intensity, low efficiency, and compromised safety. Arch frame installation and its support work encompasses various tasks, including erecting the arch frame, installing anchor bolts, welding reinforcing bars, and installing wire mesh. Historically, manual labor has been the primary method, relying heavily on manual labor and carrying, leading to high personnel costs, high labor intensity, poor safety, and low automation. In particular, the national "Nine Safety Regulations for Tunnel Construction" mandates strict control over the number of workers and mechanization of work areas. The level of standardization, mechanization, specialization, and informatization in tunnel construction urgently needs improvement. Improving tunnel construction safety and efficiency, and replacing manual labor with mechanized tunnel construction, are future development trends.

[0003] The existing arch frame trolley lifting device uses a rotary reducer to control the left and right swing, which can only complete rotation in one direction. This results in low overall flexibility and high energy consumption due to the rotary reducer drive method. Therefore, it is particularly important to design an arch frame robotic arm base device to solve the above technical problems. Utility Model Content

[0004] The purpose of this utility model is to solve the problems of the existing arch frame trolley lifting device, which uses a rotary reducer to control the left and right swing, which can only complete the rotation in one direction, has low overall flexibility, and the rotary reducer drive method consumes a lot of energy. Therefore, an arch frame mechanical arm base device is proposed.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an arch frame robotic arm base device, including an L-arm, a rotary seat rotatably connected to the L-arm, a base fixedly connected to the side wall of the L-arm, a swing cylinder rotatably located in the base, and the output end of the rotary seat and the swing cylinder connected by a pin.

[0006] Preferably, a gripper arm connecting seat is rotatably connected to the rotary seat via a rotating rod, and a rotating shaft is also installed on the gripper arm connecting seat.

[0007] Preferably, the rotary base may also be rotatably connected to a pitch cylinder, the output end of which is connected to the rotating shaft.

[0008] Preferably, the swing cylinder is rotatably mounted in the base.

[0009] Preferably, the pitch cylinder is rotatably mounted in the rotary seat.

[0010] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0011] In this invention, during use, a swing cylinder is installed on the L-arm. The output end of the swing cylinder, in conjunction with a pin, completes the swinging motion of the rotary seat on the L-arm. A pitch cylinder structure is then installed on the rotary seat. The output end of the pitch cylinder, in conjunction with a rotating rod, completes the relative rotation of the grab arm around the rotating rod. Compared to the conventional method of driving with a geared motor, this invention achieves adjustment of the robotic arm's swing and pitch angles, improving the overall flexibility of the structure. The overall structure is compact, with a reasonable spatial layout, and is easy to install and maintain. It solves the problems of existing arch frame trolley grabbing devices that use a rotary reducer to control the left and right swing, resulting in only unidirectional rotation, low overall flexibility, and high energy consumption due to the rotary reducer drive method. Attached Figure Description

[0012] Figure 1 This is an overall view of the arch frame robotic arm base device of this utility model;

[0013] Figure 2 This is a schematic diagram of the swing state of the rotary seat in the arch frame robotic arm base device of this utility model;

[0014] Figure 3 This is a schematic diagram of the pitch state of the gripper connecting seat in the arch frame robotic arm base device of this utility model;

[0015] Figure 4 This is a schematic diagram of the rotary seat swinging at a positive 45 degrees in the arch frame robotic arm base device of this utility model;

[0016] Figure 5 This is a schematic diagram showing the swing direction of the rotary seat at 45 degrees in the arch frame robotic arm base device of this utility model;

[0017] Figure 6 This is a schematic diagram of the gripper arm connecting seat of the arch frame robotic arm base device of this utility model in a 90-degree pitch state;

[0018] Figure 7 This is a schematic diagram of the gripper arm connecting seat of the arch frame robotic arm base device of this utility model in a pitch-5 degree state.

[0019] Legend: 1. L-arm; 2. Rotary base; 3. Base; 301. Limit ring; 4. Swing cylinder; 401. Pin; 5. Rotary rod; 501. Grab arm connecting seat; 502. Rotary shaft; 6. Pitch cylinder. Detailed Implementation

[0020] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0021] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0022] This utility model provides a base device for an arch-frame robotic arm, including an L-arm 1. A rotary seat 2 is rotatably connected to the L-arm 1. A base 3 is fixedly connected to the side wall of the L-arm 1. A swing cylinder 4 is rotatably connected to the base 3. The rotary seat 2 and the output end of the swing cylinder 4 are connected via a pin 401. The swing cylinder 4 is rotatably mounted in the base 3. A gripper arm connecting seat 501 is rotatably connected to the rotary seat 2 via a rotating rod 5. A rotating shaft 502 is also installed on the gripper arm connecting seat 501. A pitch cylinder 602 is also rotatably connected to the rotary seat 2. The output end of the pitch cylinder 602 is connected to the rotating shaft 502. The pitch cylinder 602 is rotatably mounted in the rotary seat 2.

[0023] like Figure 1-7As shown, in actual use, when the rotary seat 2 needs to rotate and swing, the swing cylinder 4 in the base 3, in conjunction with its output end, drives the rotary seat 2 to rotate around the pin 401. The swing angle is -45° to +45°. Since the end of the swing cylinder 4 is rotatably mounted in the base 3, it is not easy to jam during actual swinging. When it is necessary to perform a pitch operation on the gripper arm connection, the rotary seat 2 first returns to the position parallel to the L-arm 1, and then the pitch angle of the gripper arm connection seat 501 is adjusted. The output end of the pitch cylinder 602 in the rotary seat 2 cooperates with the rotating shaft 502 to drive the gripper arm connection seat 501 to rotate around the rotating rod 5. The pitch adjustment of the gripper arm connecting seat 501 is achieved within a pitch angle range of -5° to +90°. This is accomplished by installing a swing cylinder 4 on the L-arm 1, with the output end of the swing cylinder 4 engaging with the pin 401 to complete the swinging of the rotary seat 2 on the L-arm 1. A pitch cylinder 602 is then installed on the rotary seat 2, with the output end of the pitch cylinder 602 engaging with the rotating rod 5 to complete the relative rotation of the gripper arm connecting seat around the rotating rod 5. Compared to the conventional method of driving with a geared motor, the technical solution adopted in this invention enables the adjustment of the robotic arm in terms of swing and pitch angles, improving the overall flexibility of the structure. The overall structure is compact, the spatial layout is reasonable, and it is easy to install and maintain.

[0024] Working principle: When the rotary seat needs to rotate and swing, the swing cylinder in the base, in conjunction with the output end, drives the rotary seat to rotate around the pin shaft. The swing angle is -45° to +45°. Since the swing cylinder, in conjunction with the limit ring, can be rotatably installed in the base, it is not easy to jam during actual swinging. When it is necessary to perform pitch operation on the grab arm connection, the rotary seat first returns to the position parallel to the L-arm. Then, the pitch angle of the grab arm connection seat is adjusted. The output end of the pitch cylinder in the rotary seat works with the rotating shaft to drive the grab arm connection seat to rotate around the rotating rod, thereby achieving the pitch adjustment of the grab arm connection seat. The pitch angle range is -5° to +90°.

Claims

1. A centering jib robot base device comprising an L-arm (1), characterized in that, The L arm (1) is rotatably connected with a rotary seat (2), the side wall of the L arm (1) is fixedly connected with a base (3), the base (3) is rotatably connected with an oscillating oil cylinder (4), and the rotary seat (2) and the output end of the oscillating oil cylinder (4) are connected through a pin shaft (401).

2. The archway robotic arm base apparatus of claim 1, wherein, The rotary seat (2) is rotatably connected with a grabbing arm connecting seat (501) through a rotating rod (5), and the grabbing arm connecting seat (501) is further provided with a rotating shaft (502).

3. The archway robotic arm base apparatus of claim 2, wherein, The rotary seat (2) is further rotatably connected with a pitching oil cylinder (6), and the output end of the pitching oil cylinder (6) is connected with the rotating shaft (502).

4. The archway robotic arm base apparatus of claim 1, wherein, The oscillating oil cylinder (4) is relatively rotatably arranged in the base (3).

5. The archway robotic arm base apparatus of claim 3, wherein, The pitching oil cylinder (6) is relatively rotatably arranged in the rotary seat (2).

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