Rack-mounted robot

Abstract

The utility model relates to a rack fixed mechanical hand belongs to the field of mine drilling machine. Including rotary joint, telescopic joint and clamping jaw subassembly, the rotary joint includes rotary seat and rotary driver, rotary driver sets up in one end of rotary seat, and drives rotary axle rotation, rotary axle passes through rotary seat and is connected with telescopic joint, clamping jaw subassembly connects in the bottom of telescopic joint, and drives clamping jaw subassembly telescopic in vertical direction through telescopic joint, clamping jaw subassembly is used for grabbing. The utility model integrates the mechanical hand with the rack, keeps the dip angle of both always consistent, simplifies the mechanical hand action, reduces the possibility of interference with other components.

Description

Technical Field

[0001] This utility model belongs to the field of mining drilling rigs and relates to a frame-fixed robotic arm. Background Technology

[0002] With the trend towards intelligent coal mining, drilling automation has become a key approach to achieving less-manned and unmanned underground operations. Traditional manual operation methods are limited by the complex underground environment and personnel fatigue, making it difficult to meet the dual demands of efficient mining and inherent safety in modern coal mines. Automation technology, on the other hand, can automate the drilling process and auxiliary procedures, significantly reducing labor intensity, improving safety, and breaking through the efficiency bottleneck of manual operation, thus becoming an inevitable choice for technological upgrading in the coal industry.

[0003] The drill pipe delivery system is one of the core systems of an automatic drilling rig, and the robotic arm is a key actuator in this system, responsible for feeding drill pipes from the drill pipe box or transfer device into the main drilling rig for drilling operations. Existing automatic drilling rigs typically have a tilting joint in their robotic arms, which is used to tilt the robotic arm to feed drill pipes or other components into the rig frame. In current technology, the robotic arm is separated from the rig frame. However, during drilling, the rig frame is at a certain angle, while the drill pipe is generally initially horizontal. The robotic arm needs to frequently switch between horizontal and tilted states, and the tilting joint is prone to interference from other components, resulting in a complex structure and sensor positioning system. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a frame-fixed robot arm that integrates the robot arm with the frame, keeps the tilt angle of the two consistent, simplifies the robot arm's movements, and reduces the possibility of interference with other components.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A frame-mounted robotic arm, comprising rotary joints, telescopic joints, and gripper assemblies; The rotating joint includes a rotating seat and a rotating driver. The rotating driver is disposed at one end of the rotating seat and drives the rotating shaft to rotate. The rotating shaft passes through the rotating seat and is connected to the telescopic joint. The gripper assembly is connected to the bottom of the telescopic joint and is driven by the telescopic joint to extend and retract in the vertical direction. The gripper assembly is used for grasping.

[0006] Optionally, in the frame-fixed manipulator according to the present invention, the telescopic assembly includes a vertically arranged outer cylinder and an inner cylinder, the outer cylinder is connected to the rotating shaft, the inner cylinder is slidably connected inside the outer cylinder, and the gripper assembly is connected to the bottom of the inner cylinder.

[0007] Optionally, in the frame-fixed manipulator according to the present invention, the outer cylinder and the rotating shaft are detachably connected via a flange.

[0008] Optionally, according to the frame-fixed manipulator of the present invention, the telescopic joint further includes a telescopic cylinder, the telescopic cylinder is fixed to the top of the outer cylinder, and the inner cylinder is connected to the output end of the telescopic cylinder.

[0009] Optionally, in the frame-fixed manipulator according to the present invention, the gripper assembly includes a gripper and a clamping cylinder. The clamping cylinder is fixed to the lower part of the inner cylinder, and the gripper is fixed on the clamping cylinder and clamps or releases under the drive of the clamping cylinder.

[0010] Optionally, the frame-fixed manipulator according to the present invention further includes a sliding joint, wherein the rotating seat is fixed on the sliding joint to drive the overall horizontal displacement of the manipulator.

[0011] Optionally, according to the frame-fixed manipulator of the present invention, the sliding joint includes a fixed seat and a connecting arm. The fixed seat is connected to the frame and is provided with a horizontally arranged slide rail. The bottom of the connecting arm is provided with a sliding groove, and the sliding groove cooperates with the slide rail. The rotating seat in the rotating joint is fixedly connected to the connecting arm.

[0012] Optionally, according to the frame-fixed manipulator of the present invention, the sliding joint further includes a sliding cylinder, one end of which is fixed on the fixed base and the other end is connected to the connecting arm so that the connecting arm slides along the track.

[0013] The beneficial effects of this utility model are as follows: Compared to existing technologies where robotic arms have limited functionality and cannot meet most needs, this invention integrates most of the robotic arm's functions and integrates them with the frame, maintaining a consistent tilt angle between the two. This simplifies the robotic arm's movements and reduces the possibility of interference with other components. The rotary joint allows the robotic arm to rotate within a certain angle, meaning that any material within that angle range can be grasped by the robotic arm. Furthermore, combined with the telescopic joint's extension and retraction effect—it should be noted that at least one component of the telescopic joint's extension and retraction direction is perpendicular to the axial direction of the rotary joint—the grasping range of the robotic arm is further expanded beyond the original rotation angle range, thus achieving wider applicability.

[0014] Furthermore, the robotic arm of this invention is fixedly connected to the frame, eliminating the need for tilt joints and simplifying the overall structure. During the drilling process, it maintains the same tilt angle as the frame and is less prone to interference with other components.

[0015] Other advantages, objectives, and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination and study, or may be learned from practice of this invention. The objectives and other advantages of this invention can be realized and obtained through the following description. Attached Figure Description

[0016] To make the objectives, technical solutions, and advantages of this utility model clearer, the preferred embodiments of this utility model will be described in detail below with reference to the accompanying drawings, wherein: Figure 1 This is a front view of the frame-fixed robotic arm provided by this utility model; Figure 2 This is a side view of the frame-fixed robotic arm provided by this utility model; Figure 3 This is an assembly diagram of the frame-fixed robotic arm provided by this utility model.

[0017] Figure label: 9-Robot arm; 11-Frame; 901-Fixed base; 902-Rotary actuator; 903-Rotary base; 904-Rotary sensor; 905-Rotary shaft; 906-Telescopic cylinder; 907-Outer cylinder; 908-Inner cylinder; 909-Clamping cylinder; 910-Gripper; 911-Connecting arm; 912-Sliding cylinder; 90401 - Sensor mount; 90402 - Sensor body; 90403 - Trigger ring. Detailed Implementation

[0018] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this utility model. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0019] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the present invention. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0020] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they 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. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this utility model. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0021] Example 1: according to Figures 1 to 3 As shown, the frame-fixed robotic arm 9 provided by this utility model includes a rotary joint, a telescopic joint, and a gripper assembly.

[0022] The rotating joint includes a rotating seat 903 and a rotating driver 902. The rotating driver 902 is located at one end of the rotating seat 903 and drives the rotating shaft 905 to rotate. The rotating shaft 905 passes through the rotating seat 903 and is connected to the telescopic joint.

[0023] The gripper assembly is connected to the bottom of the telescopic joint, and the telescopic joint drives the gripper assembly to extend and retract in the vertical direction. The gripper assembly is used for grasping.

[0024] This invention connects a rotary joint and a telescopic joint, enabling the robotic arm 9 to perform both rotation and telescopic functions, thus fulfilling more functional requirements. The rotary joint allows the robotic arm 9 to rotate within a certain angle, meaning that any material within that angle range can be grasped by the robotic arm 9. Furthermore, combined with the telescopic effect of the telescopic joint, it should be noted that at least one component of the telescopic force has a telescopic direction perpendicular to the axial direction of the rotary joint, thereby further expanding the grasping range of the robotic arm 9 beyond the original rotation angle range, resulting in wider applicability.

[0025] In addition, in this utility model, the robotic arm 9 is fixedly connected to the frame 11, eliminating the tilt joint and simplifying the overall structure. During the drilling process, it always maintains the same tilt angle with the frame 11, making it less likely to interfere with other components. Furthermore, the telescopic assembly includes a vertically arranged outer cylinder 907 and an inner cylinder 908. The outer cylinder 907 is connected to the rotating shaft 905, and the inner cylinder 908 is slidably connected inside the outer cylinder 907. The gripper assembly is connected to the bottom of the inner cylinder 908. In implementation, the inner cylinder 908 and the outer cylinder 907 in this invention maintain relative sliding in the axial direction, and the sliding direction is perpendicular to the axis of the rotating shaft 905 in the rotating joint, which extends the radius of the original manipulator 9 and expands the grasping range of the manipulator 9. In addition, when setting it up, the inner cylinder 908 and the outer cylinder 907 should be provided with limiting rings or retaining rings to ensure that the inner cylinder 908 does not slip outside the outer cylinder 907.

[0026] Furthermore, the outer cylinder 907 and the rotating shaft 905 are detachably connected via a flange. In implementation, the telescopic joint in this invention is suspended from one end of the rotating shaft 905. Combined with the weight of the gripper assembly, sufficient connection strength is required between the rotating shaft 905 and the outer cylinder 907. A flange connection involves fixing two pipes, fittings, or equipment to separate flanges, placing a gasket between the two flanges, and then tightening them together with bolts. Flange connections are an important connection method in pipeline construction; they are convenient to use and can withstand greater pressure. Therefore, this invention uses a flange connection to meet the connection strength requirements between the rotating shaft 905 and the outer cylinder 907. The flange connection, secured with multiple bolts, allows for disassembly of the rotating shaft 905 and the outer cylinder 907, facilitating later maintenance or replacement of various components.

[0027] In addition, both the outer cylinder 907 and the inner cylinder 908 in this utility model are hollow cylindrical structures, which reduces the weight of the telescopic joint to a certain extent and further ensures the connection strength between the outer cylinder 907 and the rotating shaft 905.

[0028] Furthermore, the telescopic joint also includes a telescopic cylinder 906, which is fixed to the top of the outer cylinder 907, and the inner cylinder 908 is connected to the output end of the telescopic cylinder 906. This invention intelligently controls the relative movement between the outer cylinder 907 and the inner cylinder 908 through the telescopic cylinder 906, allowing the gripper assembly located at the bottom of the inner cylinder 908 to stop at a set position and perform a gripping action. The extension and retraction of the telescopic cylinder 906 represents the distance that the outer cylinder 907 and the inner cylinder 908 can move relative to each other, and this distance should be less than the limit displacement between the outer cylinder 907 and the inner cylinder 908 to prevent collisions between them.

[0029] Furthermore, the gripper assembly includes a gripper 910 and a clamping cylinder 909. The clamping cylinder 909 is fixed to the lower part of the inner cylinder 908, and the gripper 910 is fixed to the clamping cylinder 909, clamping or releasing under the drive of the clamping cylinder 909. In implementation, after the rotary joint drives the gripper 910 to rotate to a set angle, the telescopic joint extends the gripper 910 to a designated position. Finally, the clamping cylinder 909 executes the gripping command to complete the gripping process. Then, the telescopic joint controls the gripper 910 to retract. After the rotary joint drives the telescopic joint and the gripper 910 as a whole to rotate to a designated position, the clamping cylinder 909 executes the releasing command to release the gripped material to a designated position.

[0030] Example 2: Then according to Figure 1 As shown, the frame-fixed manipulator 9 provided by this utility model also includes a sliding joint, and a rotating seat 903 is fixed on the sliding joint to drive the overall horizontal displacement of the manipulator 9. The difference from Embodiment 1 is that this embodiment adds a sliding joint, while the remaining rotational and telescopic joints remain the same as in Embodiment 1.

[0031] As mentioned above, the combination of rotary joints and telescopic joints allows the robotic arm 9 to expand its grasping range. In this embodiment, the sliding joint applies a horizontal displacement function to the robotic arm 9, further expanding its grasping range.

[0032] Furthermore, the sliding joint includes a fixed base 901 and a connecting arm 911. The fixed base 901 is connected to the frame 11 and has a horizontally arranged slide rail. The bottom of the connecting arm 911 has a sliding groove that cooperates with the slide rail. The rotating base 903 in the rotating joint is fixedly connected to the connecting arm 911. In implementation, the horizontal displacement between the connecting arm 911 and the fixed base 901 is limited by the cooperation between the track and the sliding groove, that is, the horizontal displacement direction and horizontal displacement amount of the connecting arm 911 are determined. In this utility model, both the rotating joint and the telescopic joint are fixed on the connecting arm 911. Therefore, any displacement of the connecting arm 911 will drive the overall displacement of the robot 9. The specific horizontal displacement direction needs to be determined according to the initial position of the material, the position to be transported, and the initial position of the robot 9 under actual conditions. That is to say, the track in the sliding joint of this utility model can be set in any direction to ensure that the robot 9 can effectively complete the grasping process.

[0033] Furthermore, as mentioned in Embodiment 1, the telescopic joint is suspended at one end of the rotating shaft 905, meaning the connecting arm 911 also needs to support the robotic arm 9. Therefore, according to the lever principle, without interfering with the normal extension and retraction of the telescopic joint, the connecting arm 911 and the rotating seat 903 should have sufficient connection area, and the distance between the connecting arm 911 and the telescopic joint should be minimized as much as possible to ensure sufficient connection strength between the two, avoiding damage to the rotating shaft 905 due to excessive suspension weight from the telescopic joint. Similarly, the rotating seat 903 should also have sufficient coverage area for the rotating shaft 905, distributing the weight of the telescopic joint and gripper assembly to every part of the rotating seat 903 via the transmission shaft, and then transmitting it as a whole to the fixed seat 901 via the connecting arm 911.

[0034] Furthermore, the sliding joint also includes a sliding cylinder 912. One end of the sliding cylinder 912 is fixed to the fixed base 901, and the other end is connected to the connecting arm 911, so that the connecting arm 911 slides along the track. This utility model uses the sliding cylinder 912 to intelligently control the relative displacement between the connecting arm 911 and the fixed base 901, so that the robot arm 9 can stop at a set position and perform a grasping action. The displacement process of the sliding cylinder 912 is the distance that the connecting arm 911 and the fixed base 901 can move relative to each other, and this distance should be less than the limit displacement between the connecting arm 911 and the fixed base 901 to prevent collisions between the connecting arm 911 and the fixed base 901.

[0035] Then according to Figure 1 As shown, a rotation sensor 904 is provided at the connection between the rotary joint and the telescopic joint. The rotation sensor 904 consists of a sensor base 90401, a sensor body 90402, and a trigger ring 90403.

[0036] The sensor base 90401 is fixedly installed on the top or side of the rotating base 903, and the sensor body 90402 is fixedly installed therein; the trigger ring 90403 is opposite to the sensing surface of the sensor body 90402 and is fixedly installed on the rotating shaft 905 or the outer cylinder 907. The sliding joint and telescopic joint operations do not cause the rotation sensor 904 to start; only the rotation joint operation causes the rotation sensor 904 to start working and transmit sensor signals. Based on the sensor signals transmitted by the rotation sensor 904, the rotation direction and angle of the robot arm 9 can be determined in real time.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of this technical solution, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A frame-fixed robotic arm, characterized in that: Includes rotary joints, telescopic joints, and gripper assemblies; The rotating joint includes a rotating seat and a rotating driver. The rotating driver is disposed at one end of the rotating seat and drives the rotating shaft to rotate. The rotating shaft passes through the rotating seat and is connected to the telescopic joint. The gripper assembly is connected to the bottom of the telescopic joint and is driven by the telescopic joint to extend and retract in the vertical direction. The gripper assembly is used for grasping.

2. The frame-fixed robotic arm according to claim 1, characterized in that: The telescopic joint includes a vertically arranged outer cylinder and an inner cylinder. The outer cylinder is connected to the rotating shaft, the inner cylinder is slidably connected inside the outer cylinder, and the gripper assembly is connected to the bottom of the inner cylinder.

3. The frame-fixed robotic arm according to claim 2, characterized in that: The outer cylinder is detachably connected to the rotating shaft via a flange.

4. The frame-fixed robotic arm according to claim 2, characterized in that: The telescopic joint also includes a telescopic cylinder, which is fixed to the top of the outer cylinder, and the inner cylinder is connected to the output end of the telescopic cylinder.

5. The frame-fixed robotic arm according to claim 2, characterized in that: The gripper assembly includes grippers and a clamping cylinder. The clamping cylinder is fixed to the lower part of the inner cylinder, and the grippers are fixed to the clamping cylinder and clamp or release under the drive of the clamping cylinder.

6. The frame-fixed robotic arm according to claim 1, characterized in that: It also includes a sliding joint, on which the rotating seat is fixed to drive the overall horizontal displacement of the robot arm.

7. The frame-fixed robotic arm according to claim 6, characterized in that: The sliding joint includes a fixed base and a connecting arm. The fixed base is connected to the frame and has a horizontally arranged slide rail. The bottom of the connecting arm has a sliding groove that cooperates with the slide rail. The rotating seat in the rotating joint is fixedly connected to the connecting arm.

8. The frame-fixed robotic arm according to claim 7, characterized in that: The sliding joint also includes a sliding cylinder, one end of which is fixed to the fixed base and the other end is connected to the connecting arm so that the connecting arm slides along the track.

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