Automated drill-anchor robotic arm

Abstract

The utility model discloses an automatic drilling and anchoring mechanical arm, including base slewing mechanism, set up on the base, provide the first rotation degree of freedom of mechanical arm whole, pitch mechanism is connected with base slewing mechanism to provide the second rotation degree of freedom of mechanical arm, main telescopic mechanism is connected with pitch mechanism to provide the first linear degree of freedom of mechanical arm, transverse displacement mechanism is connected with main telescopic mechanism to provide the second linear degree of freedom of mechanical arm end, end orientation mechanism is connected with transverse displacement mechanism to provide at least two rotation degrees of freedom, end execution mechanism is connected with end orientation mechanism to provide at least two linear degrees of freedom and a rotation degree of freedom of driving drill rod, wherein, each mechanism is by servo motor drive to be connected with controller through communication bus, and main telescopic mechanism includes parallelogram linkage mechanism. Adopt the utility model can realize accurate drilling and anchoring of more degrees of freedom, and servo motor and bus control can improve operation accuracy.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, specifically to an automated drilling and anchoring robotic arm. Background Technology

[0002] Existing drilling and anchoring equipment mostly employs hydraulic control, which suffers from insufficient control precision and poor operational stability, making it difficult to adapt to the automated operation requirements under complex working conditions. Furthermore, traditional equipment lacks in status perception, human-machine interaction, and precise control of the end effector's posture, thus limiting operational efficiency and reliability. Therefore, this field requires an optimized, multi-dimensional automated robotic arm to meet the needs of automated, multi-degree-of-freedom operation and precise control in related tasks. Utility Model Content

[0003] The problem to be solved by this utility model is to provide an automated drilling and anchoring robotic arm.

[0004] To solve the above problems, this utility model provides an automated drilling and anchoring robotic arm. The technical solution adopted by this utility model to solve its technical problems and achieve the above objectives is as follows: An automated drilling and anchoring robotic arm includes: a base rotation mechanism mounted on a base, providing a first rotational degree of freedom for the entire robotic arm; a pitch mechanism connected to the base rotation mechanism, providing a second rotational degree of freedom for the robotic arm; a main telescopic mechanism connected to the pitch mechanism, providing a first linear degree of freedom for the robotic arm; a traverse mechanism connected to the main telescopic mechanism, providing a second linear degree of freedom for the end effector of the robotic arm; an end effector orientation mechanism connected to the traverse mechanism, providing at least two rotational degrees of freedom; and an end effector actuator connected to the end effector orientation mechanism, providing at least two linear degrees of freedom and one rotational degree of freedom for driving the drill pipe. Each mechanism is driven by a servo motor and connected to a controller via a communication bus. The main telescopic mechanism includes a parallelogram linkage mechanism, and the pitch mechanism is arranged on one side of the parallelogram linkage mechanism.

[0005] As a further improvement of this utility model, the base rotation mechanism includes an outwardly deployable linear actuator, which is mounted on the base via a first support. The first support is provided with a first rotational joint to realize the first rotational degree of freedom. The pitch mechanism includes a pitch linear actuator, which is connected to the first support via a second support. The second support is provided with a second rotational joint to realize the second rotational degree of freedom.

[0006] As a further improvement of this utility model, the main telescopic mechanism includes a first linear actuator and a second linear actuator of the main arm arranged in parallel with each other. The main telescopic mechanism is connected to the second support through a third support. The third support is provided with a third rotary joint and a fourth rotary joint. A fifth rotary joint and a sixth rotary joint are provided on the same side of the third support.

[0007] As a further improvement of this utility model, the transverse movement mechanism includes a transverse linear actuator, and the transverse movement mechanism is connected to the main telescopic mechanism through a fourth support. The fourth support is provided with a seventh rotary joint and an eighth rotary joint.

[0008] As a further improvement of this utility model, the end-point orientation mechanism includes a first rotary actuator and a second rotary actuator, wherein the rotation axes of the first rotary actuator and the second rotary actuator are perpendicular to each other.

[0009] As a further improvement of this utility model, the end effector includes a first translational actuator and a second translational actuator arranged parallel to each other at the end, wherein the first translational actuator is connected to the second rotary actuator.

[0010] As a further improvement of this utility model, the end effector also includes a drill rod motor, which is arranged in parallel with the second end translational actuator.

[0011] As a further improvement of this utility model, a ninth rotary joint is provided on one side of the second linear actuator of the main arm, and the two ends of the pitch linear actuator are respectively assembled with the ninth rotary joint and the fifth rotary joint; one end of the outward extension linear actuator is assembled with the sixth rotary joint.

[0012] As a further improvement of this utility model, the distance between the third and fourth rotary joints is equal to the distance between the seventh and eighth rotary joints; the axes of the third, fourth, fifth, seventh, and eighth rotary joints are parallel to each other; the axes of the second and sixth rotary joints are parallel to each other; and the axes of the second and third rotary joints are perpendicular to each other.

[0013] As a further improvement of this utility model, a drive wheel is provided at the bottom of the base, and an interactive screen is provided on the base.

[0014] The beneficial technical effects of using the automated drilling and anchoring robotic arm of this application are: Through multi-dimensional degrees of freedom collaborative design, an automated robotic arm combining rotation and linear motion is constructed. Its principle involves base rotation to adjust the working direction, a pitch mechanism to adjust the vertical angle, and a main telescopic mechanism to expand the working radius. Combined with the degrees of freedom of lateral movement, end-effector orientation, and the actuator, precise adjustment of the end-effector's posture is achieved. This breaks through the limitations of traditional single-motion equipment, enabling the end-effector to be precisely positioned in three-dimensional space, adapting to complex drilling and anchoring conditions.

[0015] It adopts an architecture that integrates servo motor drive and communication bus controller. The principle is that the servo motor responds precisely to commands through high-precision closed-loop control, while the bus enables real-time synchronization of multiple mechanisms. This can replace traditional hydraulic control, avoiding its low precision and lag issues, and ensuring drilling and anchoring accuracy and operational stability.

[0016] The main telescopic mechanism uses parallelogram linkages, and the pitch mechanism is arranged on the same side. The principle is that the linkages maintain parallel end-effector attitudes during extension and retraction, and the same-side arrangement simplifies force transmission and avoids interference. This solves the end-effector offset problem of traditional telescopic mechanisms, while optimizing the structure and improving the smoothness and rationality of the robotic arm's operation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a perspective view of one embodiment of the present utility model; Figure 2 This is a perspective view of one embodiment of the present utility model; Figure 3 This is a perspective view of one embodiment of the present utility model; Figure 4 This is an assembly drawing of the end-effector first translation actuator, the end-effector second translation actuator, and the drill rod motor according to one embodiment of this utility model; Figure 5 This is an assembly drawing of the first support, second support, third support, and fourth support according to one embodiment of the present utility model. Figure 6 This is a flowchart of the robotic arm task according to one embodiment of this utility model.

[0019] 1-Outward extension linear actuator; 2-Pitch linear actuator; 3-First linear actuator of main boom; 4-Second linear actuator of main boom; 41-Ninth rotary joint; 5-Transverse linear actuator; 6-First rotary actuator; 7-Second rotary actuator; 8-First end effector translation actuator; 9-Second end effector translation actuator; 10-Drill rod motor; 11-Base; 111-Drive wheel; 112-Interactive screen; 21-First support; 211-First rotary joint; 22-Second support; 221-Second rotary joint; 23-Third support; 231-Third rotary joint; 232-Fourth rotary joint; 233-Fifth rotary joint; 234-Sixth rotary joint; 24-Fourth support; 241-Seventh rotary joint; 242-Eighth rotary joint. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to specific embodiments: To achieve the purpose of this utility model, please refer to Figures 1 to 6 An automated drilling and anchoring robotic arm includes: a base rotation mechanism mounted on a base 11, providing a first rotational degree of freedom for the entire robotic arm; a pitch mechanism connected to the base rotation mechanism, providing a second rotational degree of freedom for the robotic arm; a main telescopic mechanism connected to the pitch mechanism, providing a first linear degree of freedom for the robotic arm; a traverse mechanism connected to the main telescopic mechanism, providing a second linear degree of freedom for the end effector of the robotic arm; an end effector orientation mechanism connected to the traverse mechanism, providing at least two rotational degrees of freedom; and an end effector actuator connected to the end effector orientation mechanism, providing at least two linear degrees of freedom and one rotational degree of freedom for driving the drill pipe. Each mechanism is driven by a servo motor and connected to a controller via a communication bus. The main telescopic mechanism includes a parallelogram linkage mechanism, with the pitch mechanism arranged on one side of the parallelogram linkage mechanism.

[0021] To highlight key structures, compared to Figure 1 , Figure 2 and Figure 3 This hides the base 11.

[0022] The beneficial effects of adopting the above technical solution are as follows: Through the coordinated design of the base rotation mechanism, pitch mechanism, main telescopic mechanism, lateral movement mechanism, end-effector orientation mechanism, and end-effector, multi-degree-of-freedom movement of the robotic arm in three-dimensional space is realized, enabling precise adjustment of the end-effector's posture to adapt to complex drilling and anchoring operations. The use of servo motor drive and communication bus control improves control accuracy and operational stability, overcoming the shortcomings of traditional hydraulic control modes.

[0023] like Figure 2 , Figure 3 , Figure 5As shown, in some other embodiments of this utility model, the base rotation mechanism includes an outwardly deployable linear actuator 1, which is mounted on the base 11 via a first support 21. The first support 21 is provided with a first rotational joint 211 to realize a first rotational degree of freedom. The pitch mechanism includes a pitch linear actuator 2, which is connected to the first support 21 via a second support 22. The second support 22 is provided with a second rotational joint 221 to realize a second rotational degree of freedom.

[0024] The beneficial effects of adopting the above technical solution are: by connecting the outward-spreading linear actuator 1 and the pitch linear actuator 2 to the first support 21 and the second support 22 respectively, and by utilizing the first rotary joint 211 and the second rotary joint 221, the overall rotation and pitch motion of the robotic arm is realized. The structure is compact, the movement is flexible, and it is easy to quickly adjust the working direction and angle.

[0025] In some other embodiments of this utility model, the main telescopic mechanism includes a first linear actuator 3 and a second linear actuator 4 of the main arm arranged in parallel with each other. The main telescopic mechanism is connected to the second support 22 through a third support 23. The third support 23 is provided with a third rotating joint 231 and a fourth rotating joint 232. A fifth rotating joint 233 and a sixth rotating joint 234 are provided on the same side of the third support 23.

[0026] The beneficial effects of adopting the above technical solution are: the main telescopic mechanism adopts the first linear actuator 3 and the second linear actuator 4 of the main arm arranged in parallel with each other, and is connected by multiple rotating joints on the third support 23 to form a parallelogram linkage mechanism, which ensures that the end posture remains parallel during the telescopic process, avoids the offset problem, and improves the rationality of the structure.

[0027] In some other embodiments of this utility model, the transverse mechanism includes a transverse linear actuator 5. The transverse mechanism is connected to the main telescopic mechanism through a fourth support 24. The fourth support 24 is provided with a seventh rotary joint 241 and an eighth rotary joint 242.

[0028] Furthermore, the lateral linear actuator 5 and the pitch linear actuator 2 are arranged on the same side of the parallelogram linkage mechanism. The length direction of the lateral linear actuator 5 is parallel to the length direction of the first linear actuator 3 of the main arm.

[0029] The beneficial effects of adopting the above technical solution are: it provides a second linear degree of freedom at the end of the robotic arm, expands the end-effector's working range, and at the same time, it ensures smooth lateral movement and enhances the flexibility of the robotic arm.

[0030] In some other embodiments of this utility model, the end-point orientation mechanism includes a first rotary actuator 6 and a second rotary actuator 7, the rotation axes of the first rotary actuator 6 and the second rotary actuator 7 being perpendicular to each other.

[0031] The beneficial effects of adopting the above technical solution are: the rotation axes of the two are perpendicular to each other, realizing multi-directional rotation adjustment of the end effector, which can accurately control the drilling rod operating angle and adapt to different drilling and anchoring orientation requirements.

[0032] In some other embodiments of this utility model, the end effector includes a first translational actuator 8 and a second translational actuator 9 arranged parallel to each other at the end, and the first translational actuator 8 is connected to the second rotary actuator 7.

[0033] The beneficial effects of adopting the above technical solution are: it provides multiple linear degrees of freedom at the end, realizes precise positioning and feed control of the drill pipe, and ensures the consistency of drill anchor depth and position.

[0034] In some other embodiments of this utility model, the end effector further includes a drill rod motor 10, which is arranged in parallel with the end second translational actuator 9.

[0035] The beneficial effects of adopting the above technical solution are: the addition of a drill rod motor 10, which is arranged in parallel with the second translation actuator 9 at the end, directly drives the drill rod to rotate, completing the core action of drilling and anchoring operation. At the same time, the structure is compact and motion interference is reduced.

[0036] In some other embodiments of this utility model, a ninth rotary joint 41 is provided on one side of the second linear actuator 4 of the main arm, and the two ends of the pitch linear actuator 2 are respectively assembled with the ninth rotary joint 41 and the fifth rotary joint 233. One end of the outward extension linear actuator 1 is assembled with the sixth rotary joint 234.

[0037] In addition, the length direction of the outwardly extending linear actuator 1 forms an angle with the plane containing the parallelogram linkage mechanism.

[0038] In addition, the length direction of the pitch linear actuator 2 forms an acute angle with the length direction of the first linear actuator 3 of the main arm or the length direction of the second linear actuator 4 of the main arm.

[0039] The beneficial effects of adopting the above technical solution are as follows: a ninth rotary joint 41 is set on one side of the second linear actuator 4 of the main arm, and the two ends of the pitch linear actuator 2 are respectively assembled with the ninth rotary joint 41 and the fifth rotary joint 233, and the outward extension linear actuator 1 is assembled with the sixth rotary joint 234, which optimizes the force transmission path, reduces interference between mechanisms, and improves the overall rigidity.

[0040] In some other embodiments of this invention, the distance between the third rotary joint 231 and the fourth rotary joint 232 is equal to the distance between the seventh rotary joint 241 and the eighth rotary joint 242. The axes of the third rotary joint 231, the fourth rotary joint 232, the fifth rotary joint 233, the seventh rotary joint 241, and the eighth rotary joint 242 are parallel to each other. The axes of the second rotary joint 221 and the sixth rotary joint 234 are parallel to each other. The axes of the second rotary joint 221 and the third rotary joint 231 are perpendicular to each other.

[0041] The third support 23, the fourth support 24, the first linear actuator 3 of the main arm, and the second linear actuator 4 of the main arm together constitute a parallelogram linkage mechanism.

[0042] The beneficial effects of adopting the above technical solution are: it ensures the geometric stability of the parallelogram linkage mechanism, keeps the end posture constant during the motion, simplifies the control algorithm, and improves the motion accuracy.

[0043] like Figure 1 As shown, in some other embodiments of this utility model, a drive wheel 111 is provided at the bottom of the base 11, and an interactive screen 112 is provided on the base 11.

[0044] The beneficial effects of adopting the above technical solution are: it enables the machinery to move, making it easy to move between different working positions; the interactive screen 112 set on the base 11 provides an intuitive human-machine interface, which facilitates real-time monitoring and operation, and enhances the automation level of the equipment.

[0045] The following is a preferred motor model configuration scheme. The outward-deploying linear actuator 1 uses a 400W servo motor, which is responsible for the rotation of the robotic arm base to achieve the adjustment of the overall working direction.

[0046] The pitch linear actuator 2 uses a 400W servo motor, which is responsible for controlling the up and down pitch movement of the robotic arm, thus expanding the working range of the equipment.

[0047] The first linear actuator 3 of the main boom uses a 400W servo motor, which works in conjunction with 4 to achieve telescopic movement, increase the stroke of the boom, and further expand the operating coverage.

[0048] The second linear actuator 4 of the main arm uses a 400W servo motor, which works in conjunction with 3 to complete the main motion control of the robotic arm.

[0049] The lateral linear actuator 5 uses a 100W servo motor to control the forward and backward lateral movement of the robotic arm end effector, expanding the spatial range of the end effector operation.

[0050] The first rotary actuator 6 uses a 600W servo motor, which drives the end effector of the robotic arm to rotate, thereby adjusting the end effector's working direction.

[0051] The second rotary actuator 7 uses a 1000W servo motor to control the rotation of the end effector of the robotic arm, which is used to precisely adjust the working angle of the drill rod.

[0052] The first translation actuator 8 at the end uses a 100W servo motor to control the positioning of the end drill rod.

[0053] The second translation actuator 9 at the end position uses a 100W servo motor as the end tool to control the feed of the drill pipe.

[0054] The drill pipe motor 10 uses a 100W servo motor as an end effector to control the rotation of the drill pipe.

[0055] The automated drilling and anchoring robotic arm of this application can be paired with a high-precision vision servo unit for mining to build an intelligent control system that integrates state perception, human-machine interaction, visual monitoring and precision control, so as to meet the dual needs of automated operation and manual intervention of equipment under complex working conditions.

[0056] This equipment also has experimental capabilities, meaning it can be deployed in laboratories to simulate the construction of drilling and anchoring machines in underground coal mine tunnels. It upgrades the traditional hydraulic control system of drilling and anchoring machines to fully automated electrified control, significantly improving control accuracy and operational stability.

[0057] The motion mechanism of the equipment is driven and controlled by servo motors, and the data is uploaded to the controller in real time via an industrial-grade EtherCAT bus to ensure that the data refresh rate does not exceed 10ms, thus guaranteeing the real-time performance and accuracy of control commands.

[0058] Each joint of the device supports independent manual control, with specific control modes including inching control, speed control, and position control. Simultaneously, the joints can operate in tandem, possessing forward and inverse kinematics calculation capabilities, enabling precise end-effector posture control.

[0059] The UI interface can collect key operating data such as the position, posture, load torque, motor current, and voltage of each joint of the robotic arm in real time, providing data support for equipment operation status monitoring and fault diagnosis.

[0060] like Figure 6As shown, the automated drilling and anchoring robotic arm of this application operates according to the following logical flow: First, the vision mechanism scans the work environment and constructs a 3D environment model. Next, the hole position parameters to be drilled and anchored are determined based on the actual work plan. Then, the hole position coordinate information is sent to the robotic arm controller. Next, the robotic arm moves to the designated position according to the received coordinate instructions, starts and executes the drilling and anchoring operation. Afterwards, the above drilling and anchoring operation is repeated cyclically according to the preset hole position information. Finally, after completing all tasks, the robotic arm automatically returns to the initial position, waiting to receive new tasks.

[0061] In one embodiment, the controller is configured to support independent jogging control, speed control, and position control of the servo motors of each mechanism.

[0062] In one embodiment, the robotic arm operation process includes: scanning the environment and constructing a three-dimensional model through a vision mechanism, planning the drilling and anchoring hole positions, sending the coordinate information to the controller, driving the robotic arm to move to the designated position to perform drilling and anchoring operations, and returning to the initial position after completion.

[0063] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They should not be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. An automated drilling and anchoring robotic arm, characterized in that, include: The base rotation mechanism, mounted on the base, provides the first degree of rotational freedom for the entire robotic arm; The pitch mechanism is connected to the base rotation mechanism and provides the second rotational degree of freedom for the robotic arm. The main telescopic mechanism is connected to the pitch mechanism and provides the first linear degree of freedom for the robotic arm. The lateral movement mechanism is connected to the main telescopic mechanism and provides a second linear degree of freedom at the end of the robotic arm. An end-point orientation mechanism is connected to a lateral movement mechanism and provides at least two rotational degrees of freedom; The end effector is connected to the end orientation mechanism and provides at least two linear degrees of freedom and one rotational degree of freedom to drive the drill pipe; Each mechanism is driven by a servo motor and connected to the controller via a communication bus; The main telescopic mechanism includes a parallelogram linkage mechanism, and the pitch mechanism is arranged on one side of the parallelogram linkage mechanism.

2. The automated drilling and anchoring robotic arm according to claim 1, characterized in that: The base rotation mechanism includes an outwardly deployable linear actuator, which is mounted on the base via a first support. The first support is provided with a first rotational joint to realize the first rotational degree of freedom. The pitch mechanism includes a pitch linear actuator, which is connected to the first support via a second support. The second support is provided with a second rotational joint to realize a second rotational degree of freedom.

3. The automated drilling and anchoring robotic arm according to claim 2, characterized in that: The main telescopic mechanism includes a first linear actuator and a second linear actuator of the main arm arranged in parallel with each other. The main telescopic mechanism is connected to the second support through a third support. The third support is provided with a third rotary joint and a fourth rotary joint. A fifth rotary joint and a sixth rotary joint are provided on the same side of the third support.

4. The automated drilling and anchoring robotic arm according to claim 3, characterized in that: The lateral movement mechanism includes a lateral linear actuator. The lateral movement mechanism is connected to the main telescopic mechanism via a fourth support. The fourth support is provided with a seventh rotary joint and an eighth rotary joint.

5. The automated drilling and anchoring robotic arm according to claim 4, characterized in that: The end-point orientation mechanism includes a first rotary actuator and a second rotary actuator, with the rotation axes of the first rotary actuator and the second rotary actuator being perpendicular to each other.

6. The automated drilling and anchoring robotic arm according to claim 5, characterized in that: The end effector includes a first translational actuator and a second translational actuator arranged parallel to each other at the end, wherein the first translational actuator is connected to the second rotary actuator.

7. The automated drilling and anchoring robotic arm according to claim 6, characterized in that: The end effector also includes a drill rod motor, which is arranged in parallel with the second end translational actuator.

8. The automated drilling and anchoring robotic arm according to claim 3, characterized in that: A ninth rotary joint is provided on one side of the second linear actuator of the main arm, and the two ends of the pitch linear actuator are respectively assembled with the ninth rotary joint and the fifth rotary joint; One end of the outwardly deployable linear actuator is assembled with the sixth rotary joint.

9. The automated drilling and anchoring robotic arm according to claim 4, characterized in that: The distance between the third and fourth rotary joints is equal to the distance between the seventh and eighth rotary joints; The axes of the third, fourth, fifth, seventh, and eighth rotary joints are all parallel to each other. The axes of the second and sixth rotary joints are parallel to each other; The axes of the second and third rotary joints are perpendicular to each other.

10. The automated drilling and anchoring robotic arm according to claim 1, characterized in that: The base is equipped with drive wheels at its bottom and an interactive screen on its top.

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