Anchoring rod trolley floating manipulator

Abstract

The utility model provides a kind of anchor rod trolley floating manipulator, belong to manipulator technical field.The utility model includes: manipulator mounting seat left, manipulator mounting seat right, first long slide bar, second long slide bar, feed rod cylinder seat, mechanical arm, rotary oil cylinder, manipulator finger, clamping cylinder, lower clamping slipper, upper clamping slipper and buffer device.The utility model is not destroyed by external force by increasing buffer device, can prolong the service life of manipulator, and also can protect the advancing beam from being destroyed.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a floating robotic arm for an anchor bolt trolley. Background Technology

[0002] An anchor bolt trolley is a self-moving device used to drill anchor bolt holes in the roof or sidewalls of underground roadways and complete part or all of the anchor bolt installation process. It emerged with the popularization and development of anchor bolt support operations in underground engineering projects such as mine shafts and tunnels, aiming to achieve a high degree of mechanization and intelligence in anchor bolt support construction, thereby reducing the workload of workers and improving work efficiency and construction quality. Currently, the manipulators on the market are all fixed manipulators, which cannot move under external forces. The clamping slips are non-removable, making maintenance and replacement inconvenient. Under external forces, the manipulator itself and the propulsion beam on which the manipulator is installed are easily damaged. Utility Model Content

[0003] In view of this, in order to solve the technical problem that the existing anchor bolt trolley manipulator is a fixed manipulator, and the manipulator itself and the propulsion beam on which the manipulator is installed are easily damaged under the action of external force, this utility model provides an anchor bolt trolley floating manipulator. By adding a buffer device, the manipulator will not be damaged by external force, which can extend the service life of the manipulator and also protect the propulsion beam from damage.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A floating manipulator for anchor bolting trolleys includes:

[0006] Left side of the robotic arm mounting base;

[0007] The robotic arm is mounted on the right side.

[0008] The first long slide bar and the second long slide bar are respectively connected to the left and right ends of the robot arm mounting base;

[0009] The feeding cylinder seat is slidably connected to the first long slide rod and the second long slide rod, and can slide along the axial direction of the first long slide rod and the second long slide rod.

[0010] The robotic arm is hinged to the first long slide bar and can rotate around the first long slide bar and slide along the axis of the first long slide bar.

[0011] The rotating cylinder is hinged at both ends to the feeding cylinder seat and the robotic arm, respectively. The extension and retraction of the rotating cylinder allows the robotic arm to rotate around the first long slide rod.

[0012] The mechanical finger is hinged to the robotic arm;

[0013] A clamping cylinder is hinged at both ends to the robotic arm and the robotic finger respectively, and the robotic finger is rotated by the extension and retraction of the clamping cylinder;

[0014] The lower clamping slip and the upper clamping slip are respectively installed on the robotic arm and the robotic finger;

[0015] A buffer device is provided on the first long slide bar and the second long slide bar to buffer the robotic arm when it is subjected to external force, so as to prevent it from being damaged by the external force.

[0016] Preferably, the buffer device includes:

[0017] A positioning spacer is located on the left side of the feeding rod cylinder seat and is respectively set on the first long slide rod and the second long slide rod;

[0018] The first return spring and the second return spring are sleeved on the first long slide rod and the second long slide rod, and are respectively located on the inner and outer sides of the positioning spacer.

[0019] Preferably, the lower clamping slip and the upper clamping slip are detachably connected to the robotic arm and the robotic finger, respectively.

[0020] Preferably, the robotic arm is connected to the first long slide bar via a wear-resistant copper sleeve.

[0021] Preferably, the mechanical finger is hinged to the mechanical arm via a finger fixing pin.

[0022] Preferably, an adjusting bolt for fine-tuning the position of the feed rod is also provided.

[0023] Compared with the prior art, this utility model has the following beneficial effects:

[0024] The floating manipulator for the anchor trolley provided by this utility model, by adding a buffer device, prevents the manipulator from being damaged by external forces, thus extending the service life of the manipulator and protecting the propulsion beam from damage.

[0025] The addition of a cushioning device enhances the robot's resistance to external forces. In complex and demanding working environments, the robotic arm is frequently subjected to various impacts, which can lead to damage or malfunction. The cushioning device effectively absorbs these forces, reducing direct impact on the arm and ensuring its normal operation and stability.

[0026] Adding a cushioning device can extend the lifespan of a robotic arm. Due to the energy absorption effect of the cushioning device, the robotic arm will not generate excessive stress when subjected to external impacts, thus avoiding premature failure due to fatigue damage. At the same time, this also reduces the frequency of maintenance and replacement of the robotic arm, saving costs and time.

[0027] This invention also protects the propulsion beam from damage. During anchor bolt trolley operation, the propulsion beam is a crucial component, responsible for driving the robotic arm. If the robotic arm is damaged due to a lack of cushioning, it may further affect the safe operation of the propulsion beam. The addition of a cushioning device not only protects the robotic arm itself but also indirectly protects the propulsion beam from damage.

[0028] In summary, the floating manipulator for the anchor bolt trolley provided by this invention significantly improves its adaptability and durability by adding a buffer device. This innovative design not only ensures the stable operation of the manipulator and extends its service life, but also protects the safe operation of the propulsion beam. This is of great significance for improving engineering efficiency, reducing maintenance costs, and ensuring engineering safety.

[0029] It features detachable upper and lower clamping slips, which, compared to traditional fixed clamping slips, are not only suitable for gripping various types of anchor bolts, but also make maintenance more convenient and faster.

[0030] Compared to traditional fixed clamping jaws, it has the following advantages:

[0031] Enhanced applicability: The detachable upper and lower clamping slips design allows this robotic arm to be used with a variety of anchor bolt types. Because the slips are removable and replaceable, selecting the appropriate slips based on different anchor bolt specifications and types greatly increases the robotic arm's adaptability and flexibility.

[0032] Maintenance is more convenient and faster: Because the clamping jaws are detachable, when a part is worn or damaged, it is not necessary to overhaul the entire robot arm; only the corresponding jaw part needs to be replaced. This greatly simplifies the maintenance process and saves maintenance time and costs.

[0033] Easy to adjust and maintain: Compared to traditional fixed clamping jaws, detachable jaws are easier to adjust to suit the precise gripping needs of the robotic arm. At the same time, due to its modular design, daily maintenance and upkeep become simpler and more intuitive.

[0034] In summary, this floating manipulator for anchor bolt trolleys with detachable upper and lower clamping slips not only adapts to various types of anchor bolts but also offers greater ease of maintenance and flexibility. This not only improves engineering efficiency but also reduces maintenance costs and time.

[0035] It is equipped with an adjusting bolt, which allows for fine-tuning of the feeding rod position, thus solving the problem of inaccurate feeding rod due to wear of parts. Attached Figure Description

[0036] Figure 1 This is a perspective view of the present utility model;

[0037] Figure 2 This is the left view of the present invention;

[0038] Figure 3 for Figure 2 A cross-sectional view along the AA direction;

[0039] Figure 4 This is a top view of the present invention;

[0040] Figure 5 This is a rear view of the present invention;

[0041] Figure 6 This is a structural diagram showing the position of the robotic arm (feeding rod position) when the rotating cylinder extends;

[0042] Figure 7 A structural diagram showing the position of the robotic arm (feeding rod position) when the rotating cylinder retracts;

[0043] In the diagram: 1. Left side of the robotic arm mounting base; 2. Right side of the robotic arm mounting base; 3. First long slide rod; 4. Second long slide rod; 5. Feeding cylinder seat; 6. Robotic arm; 7. Rotating cylinder; 8. Robotic finger; 9. Clamping cylinder; 10. Positioning spacer; 11. First return spring; 12. Second return spring; 13. Lower clamping jaw; 14. Upper clamping jaw; 15. Adjusting bolt; 16. Wear-resistant copper sleeve; 17. Finger fixing pin 1; 18. Adjusting bolt seat. Detailed Implementation

[0044] 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. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0045] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0047] like Figure 1-5 As shown, this utility model provides a floating manipulator for an anchor bolt trolley, comprising:

[0048] Robotic arm mounting base 1 (left) and robotic arm mounting base 2 (right). Robotic arm mounting base 1 (left) and robotic arm mounting base 2 (right) serve as the basic and load-bearing components of the robotic arm, fixing it to the propulsion beam.

[0049] The first long slide bar 3 and the second long slide bar 4 are respectively connected at both ends to the left side of the robot arm mounting base 1 and the right side of the robot arm mounting base 2. The left side of the robot arm mounting base 1 and the right side of the robot arm mounting base 2 are connected by the first long slide bar 3 and the second long slide bar 4 to form a guide rail mechanism, which allows the robot arm 6 to slide along the axial direction of the first long slide bar 3 when subjected to external force.

[0050] The feeding cylinder seat 5 is slidably connected to the first long slide rod 3 and the second long slide rod 4, and can slide along the axial direction of the first long slide rod 3 and the second long slide rod 4;

[0051] The robotic arm 6 is hinged to the first long slide bar 3, and is capable of rotating around the first long slide bar 3 and sliding along the axial direction of the first long slide bar 3. When the robotic arm 6 is subjected to an external force, it slides along the axial direction of the first long slide bar 3.

[0052] The rotating cylinder 7 is hinged at both ends to the rod feeding cylinder seat 5 and the robotic arm 6 respectively. The extension and retraction of the rotating cylinder 7 allows the robotic arm 6 to rotate around the first long slide bar 3, thereby realizing the rod picking and feeding actions of the robotic arm 6.

[0053] The mechanical finger 8 is hinged to the mechanical arm 6.

[0054] The clamping cylinder 9 is hinged at both ends to the robotic arm 6 and the robotic finger 8 respectively. The extension and retraction of the clamping cylinder 9 causes the robotic finger 8 to rotate, thereby opening and closing the robotic finger 8 and realizing the gripping and releasing function of the anchor rod.

[0055] The lower clamping slip 13 and the upper clamping slip 14 are respectively mounted on the robotic arm 6 and the robotic finger 8. To facilitate the gripping of various types of anchor bolts and to make maintenance more convenient and faster, in this invention, it is preferable that the lower clamping slip 13 and the upper clamping slip 14 are detachably connected to the robotic arm 6 and the robotic finger 8, respectively.

[0056] A buffer device is provided on the first long slide bar 3 and the second long slide bar 4 to buffer the robotic arm 6 when it is subjected to external force, so as to prevent it from being damaged by the external force.

[0057] In this invention, the buffer device includes:

[0058] The positioning spacer 10 is located on the left side of the feeding cylinder seat 5 and is respectively set on the first long slide rod 3 and the second long slide rod 4.

[0059] The first return spring 11 and the second return spring 12 are sleeved on the first long slide rod 3 and the second long slide rod 4, and are located on the inner and outer sides of the positioning spacer 10, respectively.

[0060] The aforementioned positioning spacer 10 and return spring form a buffer device. When subjected to external force, the robotic arm 6 and the feeding cylinder seat 5 will compress the first return spring 11 and the second return spring 12 and slide along the direction of the first long slide rod 3. When the external force is removed, the robotic arm 6 and the feeding cylinder seat 5 will return to their original positions under the action of the first return spring 11 and the second return spring 12. Since the position of the robotic arm is not fixed under the action of external force, it will not be damaged by external force.

[0061] In this invention, the robotic arm 6 is connected to the first long slide bar 3 via a wear-resistant copper sleeve 16. The wear-resistant copper sleeve 16 reduces wear and extends service life. The use of the wear-resistant copper sleeve 16 not only improves the durability of the robotic arm but also allows for quick replacement during maintenance, thereby reducing downtime and improving work efficiency.

[0062] In this invention, the mechanical finger 8 is hinged to the mechanical arm 6 via a finger fixing pin 17. This is used to hinge the mechanical finger 8 to the mechanical arm 6.

[0063] This invention also includes an adjusting bolt 15 for fine-tuning the position of the feeding rod. This addresses the problem of inaccurate feeding rod operation caused by wear of components. Specifically:

[0064] Adjusting bolt 15 is screwed onto adjusting bolt seat 18, which is located on the side of the robotic arm. For example... Figure 6 The image shows the position of the rotating hydraulic cylinder 7 robotic arm, i.e., the position of the feeding rod. (See image for details.) Figure 7 The diagram shows the position of the robotic arm when the rotating cylinder 7 retracts, i.e., the position of the feeding rod. The position can be adjusted by changing the extension length of the bolt 15. Figure 6 Adjust the position of the feed rod as shown.

[0065] The above are merely preferred embodiments of this utility model; however, the scope of protection of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and its improved concept, should be included within the scope of protection of this utility model.

Claims

1. A floating manipulator for anchor bolt trolleys, characterized in that, include: Left side of the robotic arm mounting base; The robotic arm is mounted on the right side. The first long slide bar and the second long slide bar are respectively connected to the left and right ends of the robot arm mounting base; The feeding cylinder seat is slidably connected to the first long slide rod and the second long slide rod, and can slide along the axial direction of the first long slide rod and the second long slide rod. The robotic arm is hinged to the first long slide bar and can rotate around the first long slide bar and slide along the axis of the first long slide bar. The rotating cylinder is hinged at both ends to the feeding cylinder seat and the robotic arm, respectively. The extension and retraction of the rotating cylinder allows the robotic arm to rotate around the first long slide rod. The mechanical finger is hinged to the robotic arm; A clamping cylinder is hinged at both ends to the robotic arm and the robotic finger respectively, and the robotic finger is rotated by the extension and retraction of the clamping cylinder; The lower clamping slip and the upper clamping slip are respectively installed on the robotic arm and the robotic finger; A buffer device is provided on the first long slide bar and the second long slide bar to buffer the robotic arm when it is subjected to external force, so as to prevent it from being damaged by the external force.

2. The floating manipulator for anchor bolt trolley according to claim 1, characterized in that, The buffer device includes: A positioning spacer is located on the left side of the feeding rod cylinder seat and is respectively set on the first long slide rod and the second long slide rod; The first return spring and the second return spring are sleeved on the first long slide rod and the second long slide rod, and are respectively located on the inner and outer sides of the positioning spacer.

3. The floating manipulator for anchor bolt trolley according to claim 1, characterized in that, The lower clamping slip and the upper clamping slip are detachably connected to the robotic arm and the robotic finger, respectively.

4. The floating manipulator for anchor bolt trolley according to claim 1, characterized in that, The robotic arm is connected to the first long slide bar via a wear-resistant copper sleeve.

5. The floating manipulator for anchor bolt trolley according to claim 1, characterized in that, The mechanical finger is hinged to the mechanical arm via a finger fixing pin.

6. A floating manipulator for anchor bolt trolley according to any one of claims 1-5, characterized in that, It also features an adjusting bolt for fine-tuning the position of the feed rod.

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