CN113790071A - High-precision positioning system for heavy-load working arm of drilling and anchoring robot - Google Patents
High-precision positioning system for heavy-load working arm of drilling and anchoring robot Download PDFInfo
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- CN113790071A CN113790071A CN202110997049.9A CN202110997049A CN113790071A CN 113790071 A CN113790071 A CN 113790071A CN 202110997049 A CN202110997049 A CN 202110997049A CN 113790071 A CN113790071 A CN 113790071A
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- 238000004873 anchoring Methods 0.000 title abstract description 15
- 238000005553 drilling Methods 0.000 title abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 8
- 239000000463 material Substances 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000010687 lubricating oil Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- KUNSUQLRTQLHQQ-UHFFFAOYSA-N copper tin Chemical class [Cu].[Sn] KUNSUQLRTQLHQQ-UHFFFAOYSA-N 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
- E21B15/045—Hydraulic, pneumatic or electric circuits for their positioning
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention discloses a high-precision positioning system for a heavy-load working arm of a drilling and anchoring robot, which comprises a first mechanical arm, wherein the first mechanical arm comprises a telescopic arm, the telescopic arm comprises an inner sleeve and an outer sleeve, the periphery of the inner sleeve and the inner wall of the outer sleeve are both cylindrical, a groove extending along the length direction of the outer sleeve is formed in the periphery of the inner sleeve, and a protrusion matched with the groove is formed in the inner wall of the outer sleeve; the second arm, the second arm includes the swing subassembly, control the fine tuning seat, around fine tuning seat, servo drive, the swing subassembly is including leveling the seat, swing seat, first drive, the leveling seat sets up the free end at flexible arm, leveling seat is articulated through first articulated pair with swing seat, swing seat with control the fine tuning seat through second articulated pair articulated, control the fine tuning seat and pass through third articulated pair with around fine tuning seat, the second is articulated vice to rotate through servo drive with the third articulated pair. The invention has high positioning precision and can align the anchor rod on the drilling frame with the anchor rod hole.
Description
The invention relates to the technical field of anchor rod supporting equipment, in particular to a high-precision positioning system for a heavy-load working arm of an anchor drilling robot.
Background
The roadway environment is severe, the space is narrow, when the anchoring and protecting operation is carried out, the labor intensity is high, so that the anchoring and protecting equipment is required to replace manual work to finish the anchoring and protecting operation, Chinese patent invention with the publication number of CN107165663A and publication number of 2017.09.15 is granted aiming at the problems, and an intelligent anchor rod drill carriage is disclosed, and comprises a chassis, a lapping mechanical arm and a drill frame mechanical arm; the lapping mechanical arm comprises a lapping rotary seat, a lapping mechanical arm and an electromagnet, the lapping rotary seat is hinged on the chassis, the lapping mechanical arm comprises a lapping first section arm and a lapping second section arm, the first end of the lapping first section arm is hinged with the rotary seat, the second end of the lapping first section arm is hinged with the first end of the lapping second section arm, the second end of the lapping second section arm is connected with the electromagnet for absorbing a metal protective net, the length of the second section arm is adjusted by the second section arm in a telescopic mode, and an oil cylinder for adjusting the posture of the lapping mechanical arm is arranged at the hinged position of the lapping mechanical arm; the drill stand mechanical arm comprises a drill stand rotating seat, a drill stand mechanical arm and a drill stand, the drill stand rotating seat is hinged to the chassis, the drill stand mechanical arm comprises a large drill stand arm, a cross block and a rotary oil cylinder seat, the first end of the large drill stand arm is hinged to the drill stand rotating seat, the second end of the large drill stand arm is hinged to the cross block, the cross block is hinged to the rotary oil cylinder seat, the rotary oil cylinder seat is rotatably connected with the drill stand through a rotary oil cylinder, the large drill stand arm can telescopically adjust the length of the large drill stand arm, and an oil cylinder for adjusting the posture of the drill stand mechanical arm is arranged at the hinged position of the drill stand mechanical arm. The roof anchoring and protecting method of the drill carriage comprises the following steps: s1, adjusting the posture of the drill stand manipulator to make the drill stand on the drill stand manipulator drill anchor rod holes on the wall needing anchoring; s2, removing the drill stand manipulator; s3, the lapping mechanical arm grabs the metal protective net and places the metal protective net at the anchor rod hole; s4, adjusting the posture of the manipulator of the drill frame to return the drill frame to the position for drilling the anchor hole; s5, the drill frame sprays the anchoring agent into the anchor hole; and S6, the drill frame is used for installing the anchor rod into the anchor protection hole and fastening.
When the drilling rig mechanical arm of this rig anchors and protects the fixing to metal protection net at present, because drilling rig mechanical arm positioning accuracy is low, so there is stock and stock pore pair condition when the rig operation, needs the manual work to assist at this moment and accomplishes the alignment of stock and stock pore, and the manual work is supplementary not only can influence the operating efficiency to the hole, can increase operating personnel's safety risk when being under construction moreover.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention provides a high-precision positioning system for a heavy-load working arm of an anchor drilling robot, which has higher positioning precision, can align an anchor rod on a drill frame with an anchor rod hole without manual assistance, and further can improve the anchoring operation efficiency and reduce the safety risk of operators.
The heavy-load working arm high-precision positioning system of the drilling and anchoring robot comprises a first mechanical arm, wherein the first mechanical arm comprises a telescopic arm, the telescopic arm comprises an inner sleeve and an outer sleeve sleeved on the periphery of the inner sleeve, a first telescopic rod is arranged in the inner sleeve, one end, far away from the extension direction of the inner sleeve, of the outer sleeve is hinged with the bottom of the first telescopic rod, one end, close to the extension direction of the inner sleeve, of the inner sleeve is hinged with a piston end of the first telescopic rod, the first telescopic rod can drive the outer sleeve and the inner sleeve to synchronously extend and retract when extending and retracting, the periphery of the inner sleeve and the inner wall of the outer sleeve are both cylindrical, a groove extending along the length direction of the outer sleeve is arranged on the periphery of the inner wall of the outer sleeve/the periphery of the inner sleeve, and a protrusion matched with the groove is arranged on the periphery of the inner sleeve/the inner wall of the outer sleeve, the telescopic arm further comprises a displacement sensor for detecting the extension length of the telescopic arm; a second mechanical arm, which comprises a swinging component, a left and right fine adjustment seat, a front and back fine adjustment seat and a servo drive, the swing component comprises a leveling seat, a swing seat and a first drive, the leveling seat is arranged at the free end of the telescopic arm, the leveling seat is hinged with the swinging seat through a first hinge pair, the swinging seat is hinged with the left and right fine adjustment seats through a second hinge pair, the left and right fine adjustment seats are hinged with the front and rear fine adjustment seats through a third hinge pair, the axes of the first hinge pair, the second hinge pair and the third hinge pair are mutually perpendicular in pairs, the first hinge pair is provided with a first drive and an angle sensor, the first drive is suitable for controlling the rotation of the first hinge pair, the angle sensor is suitable for detecting the rotation angle of the first hinge pair, and the second hinge pair and the third hinge pair rotate through the servo drive.
According to the high-precision positioning system for the heavy-load working arm of the drilling and anchoring robot, the high-precision telescopic arm with the circular cross section and the high-precision servo drive are applied, so that the positioning precision of the positioning system is effectively improved, an anchor rod on a drill frame can be aligned with an anchor rod hole without manual assistance, the anchoring operation efficiency can be improved, and the safety risk of operators can be reduced.
In some embodiments, the first robot arm further includes a rotary seat and a second drive, the rotary seat is used for being hinged to the robot base, the rotary seat is hinged to the fixed end of the telescopic arm through a fourth hinge pair, the second drive is arranged at the hinged position of the first robot arm, and the second drive is suitable for adjusting the posture of the first robot arm.
In some embodiments, the second drive is a second telescopic rod, one end of the second telescopic rod is hinged with the rotary seat through a fifth hinge pair, and the other end of the second telescopic rod is hinged with the outer wall of the outer sleeve through a sixth hinge pair.
In some embodiments, the first to sixth hinge pairs may include an expansion pin, the expansion pin includes an expansion sleeve, a pin, a fastener, and an elastic member, both ends of the pin are tapered, a cross section of the pin is gradually reduced toward the ends of the pin, the expansion sleeve is in a dome-shaped structure, an inner circumference of the expansion sleeve is tapered to match the ends of the pin, both ends of the pin are disposed in a groove of the expansion sleeve, at least one end of the pin and the expansion sleeve are fixed and pre-tightened by the fastener and the elastic member, and a gap is accommodated between the ends of the pin and a bottom surface of the groove of the expansion sleeve.
In some embodiments, a blind hole extending along the axis of the pin is formed at one end of the pin, a radial hole extending from the outer radial center is formed on the peripheral surface of the pin, the blind hole is communicated with the radial hole, and a check valve communicated with the blind hole is formed at one end of the blind hole of the pin.
In some embodiments, the first to sixth hinge pairs further include a friction sleeve fitted to an outer circumferential surface of the pin shaft, and an inner circumferential surface of the friction sleeve communicates with the radial hole.
In some embodiments, the cylinder barrel is provided with a T-shaped key penetrating the wall thickness of the outer sleeve on the outer periphery, and the small end of the T-shaped key is protruded on the inner peripheral wall of the outer sleeve to form the protrusion.
In some embodiments, there are two of the T-shaped keys, and the symmetry planes of the two T-shaped keys form an included angle of 120 °.
In some embodiments, the servo drive comprises a servo cylinder, an electro-hydraulic servo valve, an electronic amplifier, a command potentiometer and a feedback potentiometer, wherein the command potentiometer is in control connection with the electronic amplifier, the feedback potentiometer is in sensing connection with the electronic amplifier, the feedback potentiometer is suitable for feeding back a position signal of a free end of the servo cylinder, the electronic amplifier is in control connection with the electro-hydraulic servo valve, and the electro-hydraulic servo valve is in hydraulic connection with the servo cylinder.
In some embodiments, the first drive is a worm and gear swing drive.
Drawings
FIG. 1 is a schematic perspective view of a heavy-duty working arm high-precision positioning system of a drilling and anchoring robot according to an embodiment of the invention;
FIG. 2 is a front view of a heavy duty working arm high precision positioning system of a drill anchor robot according to an embodiment of the present invention;
FIG. 3 is a top view of a heavy duty working arm high precision positioning system of a drill-anchor robot according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of FIG. 1;
FIG. 5 is a cross-sectional view of the piston rod of the telescoping arm of FIG. 1;
FIG. 6 is a schematic structural view of one embodiment of an expansion pin according to the present invention;
FIG. 7 is a schematic structural view of another embodiment of an expansion pin according to the present invention;
fig. 8 is a perspective view of the telescopic arm of fig. 1.
Reference numerals:
a high-precision positioning system 0 of a heavy-load working arm of the drilling and anchoring robot;
a first robot arm 1;
a telescopic arm 11; a rotary base 12; a second telescopic rod 13;
an outer sleeve 111; an inner sleeve 112; a T-shaped key 113; a first telescoping rod 114;
a second robot arm 2;
a swing member 21; a left and right fine adjustment seat 22; a front and rear fine adjustment seat 23; a servo drive 24;
a leveling seat 211; a swing base 212;
a drill frame 3; a pin 410; a blind hole 411; a radial bore 412; an expansion sleeve 420; an elastic member 430; a fastener 440; a friction sleeve 450; a one-way valve 460.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1 to 8, a heavy-duty working arm high-precision positioning system 0 (hereinafter referred to as positioning system 0) of a drill-anchor robot according to an embodiment of the present invention includes a first robot arm 1, the first robot arm 1 includes a telescopic arm 11, the telescopic arm 11 includes an inner sleeve 112 and an outer sleeve 111 sleeved on the outer periphery of the inner sleeve 112, a first telescopic rod 114 is disposed in the inner sleeve 112, one end of the outer sleeve 111 away from the extending direction of the inner sleeve 112 is hinged to the bottom of the first telescopic rod 114, one end of the inner sleeve 112 close to the extending direction of the inner sleeve 112 is hinged to the piston end of the first telescopic rod 114, the first telescopic rod 114 can drive the outer sleeve 111 and the outer sleeve 112 to synchronously extend and retract when extending, the outer periphery of the inner sleeve 112 and the inner wall of the outer sleeve 111 are both cylindrical, the outer wall of the outer sleeve 111/the outer periphery of the outer sleeve 111 is provided with a groove extending along the length direction of the outer sleeve 111, the outer periphery of the inner sleeve 112/the inner wall of the outer sleeve 111 is provided with a protrusion matching with the groove, the telescopic arm 11 is provided with a displacement sensor for detecting the extension length of the telescopic arm 11;
in the prior art, from the viewpoint of stress distribution of the retractable robot arm and the viewpoint of preventing the robot arm from rotating, technicians generally consider that the moving pair matching surface of the robot arm should have a non-circular shape such as a rectangle, when precision matching requirements are required for the mechanical arm, technicians generally consider improving the machining precision grade of the mechanical arm with the non-circular moving pair matching surface, however, under the condition of the same matching precision grade, the mechanical arm with the non-circular moving pair matching surface has higher manufacturing difficulty than the mechanical arm with the circular moving pair matching surface, in other words, under the condition of the same manufacturing difficulty, the mechanical arm matching precision of the circular sliding pair matching surface is higher and more precise, and the sliding pair clearance of the telescopic arm 11 can be obviously reduced by applying the high-precision telescopic arm 11 with the circular sliding pair matching surface, so that the matching precision is effectively improved.
It should be noted that, in the present invention, the type of the first telescopic rod 114 is not limited, for example, the first telescopic rod 114 may be an oil cylinder or an electric cylinder.
It should be noted that the bending resistance of the oil cylinder and the electric cylinder is poor, which cannot bear radial load during the telescoping process, and the free end of the telescopic boom 11 needs to be installed with the second mechanical arm 2, and the second mechanical arm 2 has a heavier load, meanwhile, as can be seen from material mechanics, under the condition of the same weight, the rod with a hollow section has stronger bending resistance than a solid rod, so the telescopic boom 11 combines the inner sleeve 112 and the outer sleeve 111 with good bending resistance with the first telescopic boom 114, so that the telescopic boom 11 has the telescoping capability and also has better bending resistance.
The second mechanical arm 2, the second mechanical arm 2 includes a swing assembly 21, a left fine adjustment seat 22, a right fine adjustment seat 22, a front fine adjustment seat 23, a rear fine adjustment seat 23 and a servo drive 24, the swing assembly 21 includes a leveling seat 211, a swing seat 212 and a first drive, the leveling seat 211 is arranged at the free end of the telescopic arm 11, the leveling seat 211 is hinged to the swing seat 212 through a first hinge pair, the swing seat 212 is hinged to the left fine adjustment seat 22 and the right fine adjustment seat 22 through a second hinge pair, the left fine adjustment seat 22 is hinged to the front fine adjustment seat 23 and the rear fine adjustment seat 23 through a third hinge pair, the axes of the first hinge pair, the axes of the second hinge pair and the axes of the third hinge pair are mutually perpendicular in pairs, the first hinge pair is provided with a first drive and an angle sensor, the first drive is suitable for controlling the rotation of the first hinge pair, the angle sensor is suitable for detecting the rotation angle of the first hinge pair, and the second hinge pair and the third hinge pair rotate through the servo drive 24. Therefore, when the anchor rod on the drill frame 3 is adjusted to be used for hole alignment, the angle and the position of the anchor rod can be adjusted through the swing assembly 21 and the servo drive 24 arranged on the left and right fine adjustment seats 22 and the front and back fine adjustment seats 23, and when the anchor rod on the drill frame 3 is adjusted to swing left and right and back and front and back angles, the servo drive 24 is adopted, so that the dead zone problem of the existing electro-hydraulic proportional control valve is solved, and the anchor rod on the drill frame 3 is higher in accuracy and higher in response speed in hole alignment.
In some embodiments, the first robot arm 1 further includes a rotary base 12, and a second drive, the rotary base 12 is configured to be hinged to the robot base, the rotary base 12 is hinged to the fixed end of the telescopic arm 11 through a fourth hinge pair, and the second drive is provided at the hinge of the first robot arm 1, and is adapted to adjust the posture of the first robot arm.
In some embodiments, the second drive is a second telescopic rod 13, one end of the second telescopic rod 13 is hinged to the revolving base 12 through a fifth pair of hinges, and the other end is hinged to the outer wall of the outer sleeve 111 through a sixth pair of hinges.
It will be appreciated that in other embodiments the secondary drive may also be a rotary drive, in particular a worm gear rotary drive, or a toothed rotary drive.
In some embodiments, the first to sixth hinge pairs may include an expansion pin, the expansion pin includes an expansion sleeve 420, a pin 410, a fastening member 440, and an elastic member 430, both ends of the pin 410 are tapered, the cross-section of the pin 410 is gradually reduced toward the ends of the pin 410, the expansion sleeve 420 is in a dome-shaped structure, the inner circumference of the expansion sleeve 420 is tapered to match the ends of the pin 410, both ends of the pin 410 are disposed in a groove of the expansion sleeve 420, at least one end of the pin 410 and the expansion sleeve 420 are fixed and pre-tightened by the fastening member 440 and the elastic member 430, a gap is accommodated between the ends of the pin 410 and the bottom surface of the groove of the expansion sleeve 420, thus, when the hinge joint of the first mechanical arm 1 and the second mechanical arm 2 is worn, the expansion sleeve 420 fills the worn gap at the hinge joint of the first mechanical arm 1 and the second mechanical arm 2 under the action of the elastic member 430 and the fastening member 440, therefore, the precision of the rotary connection of the hinged part of the first mechanical arm 1 and the second mechanical arm 2 is guaranteed.
It should be noted that, in the present invention, the types of the fastening member 440 and the elastic member 430 are not limited, for example, the fastening member 440 may be a screw or a rivet; the elastic member 430 may be an elastic washer or a rubber pad.
In some embodiments, a blind hole 411 extending along the axis of the pin 410 is formed at one end of the pin 410, a radial hole 412 extending from the outer radial center is formed on the peripheral surface of the pin 410, the blind hole 411 is communicated with the radial hole 412, and a one-way valve 460 communicated with the blind hole 411 is formed at one end of the blind hole 411 of the pin 410, so that when the pin 410 is used at the hinge joint of the first mechanical arm 1 and the second mechanical arm 2, lubricating oil can be injected into the blind hole 411 and the radial hole 412 through the one-way valve 460, friction can be reduced at the hinge joint of the first mechanical arm 1 and the second mechanical arm 2 under the action of the lubricating oil, and therefore the precision of the rotating connection of the hinge joint of the first mechanical arm 1 and the second mechanical arm 2 can be improved.
In some embodiments, the first to sixth hinge pairs further include a friction sleeve 450 fitted to the outer circumferential surface of the pin 410, and the inner circumferential surface of the friction sleeve 450 is communicated with the radial hole 412, so that when the friction sleeve 450 is worn, the precision of the rotational connection between the first mechanical arm 1 and the second mechanical arm 2 can be maintained only by replacing the friction sleeve 450, and the maintenance cost of the equipment can be reduced.
It should be noted that the specific material of the friction sleeve 450 is not limited in the present invention, for example, the material of the friction sleeve 450 may be copper or copper-tin alloy.
In some embodiments, the outer sleeve 111 is provided with a T-shaped key 113 extending through the wall thickness of the outer sleeve 111 at the outer circumference, and the small end of the T-shaped key 113 protrudes from the inner circumferential wall of the outer sleeve 111 to form a protrusion.
In some embodiments, there are two T-shaped keys 113, and the planes of symmetry of the two T-shaped keys 113 form a 120 ° angle.
In some embodiments, the servo drive 24 includes a servo cylinder, an electro-hydraulic servo valve, an electronic amplifier, a command potentiometer, and a feedback potentiometer, the command potentiometer is connected to the electronic amplifier, the feedback potentiometer is adapted to feedback a position signal of a free end of the servo cylinder, the electronic amplifier is connected to the electro-hydraulic servo valve, and the electro-hydraulic servo valve is hydraulically connected to the servo cylinder, such that after the feedback potentiometer and the command potentiometer receive the feedback position signal and the control command of the free end of the servo cylinder, the electronic amplifier can compare the feedback position signal with the control command, and adjust the servo cylinder to achieve the purpose of closed-loop control, thereby performing fine tuning on a drilling rig disposed on the second robotic arm, and the drilling rig can perform more accurate operation.
It can be understood that the servo drive may also include a servo cylinder, an electro-hydraulic servo valve, an electronic amplifier, and an instruction potentiometer, the instruction potentiometer is connected to the electronic amplifier, the electronic amplifier is connected to the electro-hydraulic servo valve, the electro-hydraulic servo valve is connected to the servo cylinder, when the instruction is controlled to control the servo cylinder, the control instruction is converted and amplified by the instruction potentiometer and the electronic amplifier to make the electro-hydraulic servo valve operate, the electro-hydraulic servo valve can further drive the servo cylinder, and the servo cylinder connected to the left and right fine adjustment seats and the front and rear fine adjustment seats can further adjust the rotation of the left and right fine adjustment seats and the front and rear fine adjustment seats, so as to achieve the purpose of fine adjustment of the second mechanical arm.
In some embodiments, the first drive is a worm-gear type rotation drive, and the first manipulator has high stability after the posture is adjusted due to the self-locking characteristic of the worm-gear type rotation drive.
It will be appreciated that the first drive may also be a toothed rotary drive.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically defined otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. The utility model provides a bore heavy load work arm high accuracy positioning system of anchor robot which characterized in that includes:
the first mechanical arm comprises a telescopic arm, the telescopic arm comprises an inner sleeve and an outer sleeve, the outer sleeve is sleeved on the periphery of the inner sleeve, the periphery of the inner sleeve and the inner wall of the outer sleeve are both cylindrical, a groove extending along the length direction of the outer sleeve is formed in the periphery of the inner wall/inner sleeve of the outer sleeve, a protrusion matched with the groove is formed in the periphery of the inner sleeve/inner wall of the outer sleeve, and the telescopic arm further comprises a displacement sensor used for detecting the extension length of the telescopic arm;
a second mechanical arm, which comprises a swinging component, a left and right fine adjustment seat, a front and back fine adjustment seat and a servo drive, the swing component comprises a leveling seat, a swing seat and a first drive, the leveling seat is arranged at the free end of the telescopic arm, the leveling seat is hinged with the swinging seat through a first hinge pair, the swinging seat is hinged with the left and right fine adjustment seats through a second hinge pair, the left and right fine adjustment seats are hinged with the front and rear fine adjustment seats through a third hinge pair, the axes of the first hinge pair, the second hinge pair and the third hinge pair are mutually perpendicular in pairs, the first drive is suitable for controlling the rotation of the first hinge pair, an angle sensor is arranged on the first drive, the angle sensor is suitable for detecting the rotation angle of the first hinge pair, and the second hinge pair and the third hinge pair rotate through the servo drive.
2. The high-precision positioning system for the heavy-duty working arm of the drill-anchor robot as claimed in claim 1, wherein the first mechanical arm further comprises a rotary seat and a second drive, the rotary seat is used for being hinged with the robot base, the rotary seat is hinged with the fixed end of the telescopic arm through a fourth hinge pair, the second drive is arranged at the hinged position of the first mechanical arm, and the second drive is suitable for adjusting the posture of the first mechanical arm.
3. The system for high-precision positioning of the heavy-duty working arm of the drill-anchor robot as claimed in claim 2, wherein the second drive is a second telescopic rod, one end of the second telescopic rod is hinged to the rotary seat through a fifth hinge pair, and the other end of the second telescopic rod is hinged to the outer wall of the outer sleeve through a sixth hinge pair.
4. The high-precision positioning system for the heavy-load working arm of the drill-anchor robot as claimed in claim 3, wherein the first hinge pair to the sixth hinge pair comprise an expansion pin, the expansion pin comprises an expansion sleeve, a pin, a fastener and an elastic member, the two ends of the pin are tapered, the cross section of the pin is gradually reduced towards the end of the pin, the expansion sleeve is in a circular cap shape, the inner periphery of the expansion sleeve is tapered to match with the end of the pin, the two ends of the pin are arranged in a groove of the expansion sleeve, at least one end of the pin and the expansion sleeve are fixed and pre-tightened through the fastener and the elastic member, and a gap is reserved between the end of the pin and the bottom surface of the groove of the expansion sleeve.
5. The high-precision positioning system for the heavy-load working arm of the drill-anchor robot as claimed in claim 4, wherein one end of the pin is provided with a blind hole extending along the axis of the pin, the periphery of the pin is provided with a radial hole extending from an outer diameter to a center, the blind hole is communicated with the radial hole, and the pin is provided with a one-way valve communicated with the blind hole at one end of the blind hole.
6. The high-precision positioning system for the heavy-load working arm of the drill-anchor robot as claimed in claim 5, wherein the first to sixth hinge pairs further comprise a friction sleeve fitted on the outer circumferential surface of the pin shaft, and the inner circumferential surface of the friction sleeve is communicated with the radial hole.
7. The heavy-duty working arm high-precision positioning system of the drill-anchor robot as claimed in claim 6, wherein a T-shaped key penetrating through the wall thickness of the outer sleeve is arranged on the outer circumference of the outer sleeve, and the small end of the T-shaped key is protruded on the inner circumferential wall of the outer sleeve to form the protrusion.
8. The system of claim 7, wherein the number of the T-shaped keys is two, and the symmetric planes of the two T-shaped keys form an included angle of 120 degrees.
9. The high-precision positioning system for the heavy-load working arm of the drill-anchor robot as claimed in any one of claims 1 to 8, wherein the servo drive comprises a servo cylinder, an electro-hydraulic servo valve, an electronic amplifier, a command potentiometer and a feedback potentiometer, the command potentiometer is in control connection with the electronic amplifier, the feedback potentiometer is in sensing connection with the electronic amplifier, the feedback potentiometer is suitable for feeding back a position signal of a free end of the servo cylinder, the electronic amplifier is in control connection with the electro-hydraulic servo valve, and the electro-hydraulic servo valve is in hydraulic connection with the servo cylinder.
10. The system of claim 9, wherein the first drive is a worm and gear swing drive.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110997049.9A CN113790071A (en) | 2021-08-27 | 2021-08-27 | High-precision positioning system for heavy-load working arm of drilling and anchoring robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110997049.9A CN113790071A (en) | 2021-08-27 | 2021-08-27 | High-precision positioning system for heavy-load working arm of drilling and anchoring robot |
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| CN202110997049.9A Pending CN113790071A (en) | 2021-08-27 | 2021-08-27 | High-precision positioning system for heavy-load working arm of drilling and anchoring robot |
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Citations (5)
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| WO2009155776A1 (en) * | 2008-06-25 | 2009-12-30 | Yan Zhendong | A dilling, loading, transporting and anchoring integration machine for laneway in coal mine |
| CN202597373U (en) * | 2012-05-31 | 2012-12-12 | 无锡市蓝力机床有限公司 | Hinge pin for working device of hydraulic excavator |
| CN105202012A (en) * | 2015-09-25 | 2015-12-30 | 中国铁建重工集团有限公司 | Pin shaft |
| CN105298387A (en) * | 2015-11-03 | 2016-02-03 | 中国铁建重工集团有限公司 | Drill jumbo |
| CN212919458U (en) * | 2020-08-31 | 2021-04-09 | 北京理工大学 | Telescopic arm and mechanical arm thereof |
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2021
- 2021-08-27 CN CN202110997049.9A patent/CN113790071A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009155776A1 (en) * | 2008-06-25 | 2009-12-30 | Yan Zhendong | A dilling, loading, transporting and anchoring integration machine for laneway in coal mine |
| CN202597373U (en) * | 2012-05-31 | 2012-12-12 | 无锡市蓝力机床有限公司 | Hinge pin for working device of hydraulic excavator |
| CN105202012A (en) * | 2015-09-25 | 2015-12-30 | 中国铁建重工集团有限公司 | Pin shaft |
| CN105298387A (en) * | 2015-11-03 | 2016-02-03 | 中国铁建重工集团有限公司 | Drill jumbo |
| CN212919458U (en) * | 2020-08-31 | 2021-04-09 | 北京理工大学 | Telescopic arm and mechanical arm thereof |
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