CN216566458U

CN216566458U - Wheel type four-shaft transmission mechanical arm for mine

Info

Publication number: CN216566458U
Application number: CN202122901960.3U
Authority: CN
Inventors: 李庆雨; 陈加胜; 熊智睿; 胡陈军
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2021-11-24
Filing date: 2021-11-24
Publication date: 2022-05-20
Anticipated expiration: 2031-11-24

Abstract

The utility model relates to the technical field of manipulators, and particularly discloses a wheel type four-axis transmission manipulator for a mine, which comprises a base body, wherein a rotating seat is fixedly arranged at the top of the base body, a sleeve ring is embedded and installed outside the rotating seat, a ball body is embedded and installed on the inner wall of the sleeve ring, a fixed seat is fixedly installed outside the sleeve ring, a hydraulic push rod is fixedly installed at the top of the fixed seat, a controller is fixedly installed outside the hydraulic push rod, a sliding seat is hinged and installed at the top of the hydraulic push rod, a motor base is fixedly installed at the top of the rotating seat, and an overload protector is electrically installed outside the motor base. According to the utility model, the motor shaft of the motor base drives the mechanical arm to rotate, and when the weight borne by the mechanical arm is overlarge, the overload protector can be triggered, so that the controller is automatically started, the controller can control the hydraulic push rod to push the sliding seat to lift, and the sliding seat is matched with the sliding rail bar, so that the hydraulic push rod can assist the mechanical arm to lift, and the motor base is prevented from being damaged due to overload.

Description

Wheel type four-shaft transmission mechanical arm for mine

Technical Field

The utility model relates to the technical field of manipulators, in particular to a wheel type four-shaft transmission manipulator for a mine.

Background

The mine is a shaft tunnel forming an underground coal mine production system, the underground coal mine can be used as one of main materials for thermal power generation after being mined, the mine can mine coal mines and can also mine rare mineral products, the existing mechanical arm is developed rapidly, some tasks of manual carrying can be completed by the mechanical arm, joint movement of the mechanical arm is generally driven by a motor, and when the weight of a carried object is overlarge, the motor can be overloaded, so that the wheel type four-shaft transmission mechanical arm for the mine is provided.

The existing patent (publication number: CN205438582U), a wheeled four-axis transmission manipulator for mine, include the revolving stage, be equipped with the fuselage in the revolving stage center, the fuselage rotates along with the revolving stage, the revolving stage passes through drive arrangement and is connected with servo motor, the symmetry is provided with four group's location axles around the fuselage, be equipped with the lead screw on the location axle, the rotation angle and the speed of fuselage are adjusted to the location axle, transversely be provided with the drive shaft in the fuselage, the tip and the diversion board of drive shaft are connected, the diversion board is connected with the drive tooth, the fuselage still is equipped with transfer arm and tie-beam, the top of tie-beam is equipped with transverse connection's cross axle.

In the process of implementing the utility model, the inventor finds that at least the following problems in the prior art are not solved; the joint of current manipulator removes and drives through the motor, and when the object of manipulator transport was overweight, the motor shaft of motor can the atress too big, can cause the overload damage of motor, can't be with the heavy object lifting moreover.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a wheel type four-shaft transmission manipulator for a mine, which solves the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a mine is with wheeled four-axis transmission manipulator, including the base body, base body top fixed mounting has the roating seat, the roating seat outside is inlayed and is installed the lantern ring, the lantern ring inner wall is inlayed and is installed the ball body, the outside fixed mounting of lantern ring has the fixing base, fixing base top fixed mounting has hydraulic push rod, the outside fixed mounting of hydraulic push rod has the controller, the articulated slide of installing in hydraulic push rod top, roating seat top fixed mounting has the motor cabinet, the outside electrical mounting of motor cabinet has overload protector, the articulated arm of installing in motor cabinet outside, arm outer wall fixed mounting has the skid rail strip.

In a preferred embodiment of the present invention, the ball body is in contact with an outer wall of the rotary seat.

In a preferred embodiment of the present invention, a wheel frame is fixedly mounted at the bottom of the fixing base, and the wheel frame is in contact with the top surface of the base body.

As a preferred embodiment of the present invention, the overload protector is electrically connected to the controller of the hydraulic push rod.

In a preferred embodiment of the present invention, the sliding base is connected with the sliding rail strip in an embedded manner.

Compared with the prior art, the utility model has the following beneficial effects:

1. according to the utility model, the motor shaft of the motor base drives the mechanical arm to rotate, and when the weight borne by the mechanical arm is overlarge, the overload protector can be triggered, so that the controller is automatically started, the controller can control the hydraulic push rod to push the sliding seat to lift, and the sliding seat is matched with the sliding rail bar, so that the hydraulic push rod can assist the mechanical arm to lift, and the motor base is prevented from being damaged due to overload.

2. The hydraulic push rod can rotate along with the rotation of the fixed seat and the lantern ring when the rotating seat controls the motor seat to rotate, so that the hydraulic push rod is always connected with the mechanical arm, and the bearing capacity of the fixed seat can be improved by the guide wheel frame arranged at the bottom of the fixed seat.

Drawings

Other features, objects and advantages of the utility model will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a front view of a wheel type four-axis transmission manipulator for a mine according to the present invention;

FIG. 2 is a schematic structural diagram of a hydraulic push rod of a wheel type four-axis transmission manipulator for a mine, according to the utility model;

fig. 3 is a schematic structural diagram of a wheel type four-shaft transmission mechanical arm lantern ring for a mine.

In the figure: 1. a slide rail bar; 2. a mechanical arm; 3. a motor base; 4. an overload protector; 5. a collar; 6. a rotating base; 7. a hydraulic push rod; 8. a controller; 9. a fixed seat; 10. a guide wheel frame; 11. a base body; 12. a slide base; 13. a ball body.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the utility model easy to understand, the utility model is further described with the specific embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can, for example, be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1-3, the present invention provides a technical solution: the utility model provides a mine is with wheeled four-axis transmission manipulator, including the

base body

11, 11 top fixed mounting of base body has roating

seat

6, 6 outside inlays of roating seat and installs the

lantern ring

5, 5 inner walls of lantern ring are inlayed and are installed the

ball body

13, 5 cooperation ball bodies 13 of lantern ring can wind 6 outer wall rotations of roating seat, 5 outside fixed mounting of the lantern ring has

fixing base

9, 9 top fixed mounting of fixing base has

hydraulic push rod

7, 7 outside fixed mounting of hydraulic push rod has controller 8, the flexible of 8 steerable hydraulic push rod 7 of controller, 7 articulated slide 12 of installing in top of hydraulic push rod, 6 top fixed mounting of roating seat has

motor cabinet

3, 3 outside electrical installation of motor cabinet has overload protection ware 4, the overload condition of overload protection ware 4 monitorable motor, 3 outside articulated arm 2 of installing of motor cabinet, 2 outer wall fixed mounting of arm has skid rail 1.

In this embodiment, as shown in fig. 1 and fig. 2, the motor base 3 is controlled by the rotating base 6 to rotate, the motor shaft of the motor base 3 can control the mechanical arm 2 to rotate, when the motor base 3 rotates, the hydraulic push rod 7 can be driven to rotate, the sleeve ring 5 is connected with the rotating base 6 in an embedded manner by matching the ball body 13, when the rotating base 6 controls the motor base 3 to rotate, the hydraulic push rod 7 can rotate along with the rotation of the fixing base 9 and the sleeve ring 5, it is ensured that the hydraulic push rod 7 is always connected with the mechanical arm 2, the wheel guide frame 10 arranged at the bottom of the fixing base 9 can improve the bearing capacity of the fixing base 9, when the fixing base 9 rotates, the wheel guide frame 10 is always in contact with the top surface of the base body 11, when the weight borne by the mechanical arm 2 is too large, the overload protector 4 can be triggered, thereby automatically starting the controller 8, the controller 8 can control the hydraulic push rod 7 to push the sliding base 12 to ascend and descend, the sliding base 12 always slides inside the sliding rail 1, thereby supplementary arm 2 carries out the lifting, avoids motor cabinet 3 to transship and takes place to damage.

In this embodiment, the ball 13 contacts with the outer wall of the rotating base 6, so that the ring 5 can rotate around the outer wall of the rotating base 6.

In this embodiment, the bottom of the fixing seat 9 is fixedly installed with a wheel frame 10, the wheel frame 10 contacts with the top surface of the base body 11, and the wheel frame 10 arranged at the bottom of the fixing seat 9 can improve the bearing capacity of the fixing seat 9.

In this embodiment, the overload protector 4 is electrically connected to the controller 8 of the hydraulic push rod 7, and when the weight borne by the robot arm 2 is too large, the overload protector 4 is triggered, so that the controller 8 is automatically started, and the controller 8 can control the hydraulic push rod 7 to push the slide carriage 12 to ascend and descend.

In this embodiment, the slider 12 is connected to the rail bar 1 in an embedded manner, and the slider 12 can slide inside the rail bar 1.

The working principle is as follows: when the rubber barrel gland for the rubber coating machine is used, the motor base 3 is controlled to rotate through the rotary base 6, the motor shaft of the motor base 3 can control the mechanical arm 2 to rotate, when the motor base 3 rotates, will drive the hydraulic push rod 7 to rotate, the lantern ring 5 is connected with the rotating seat 6 in an embedding way by matching with the ball body 13, when the rotating base 6 controls the motor base 3 to rotate, the hydraulic push rod 7 can rotate along with the rotation of the fixed base 9 and the lantern ring 5, the guide wheel frame 10 arranged at the bottom of the fixed base 9 can improve the bearing capacity of the fixed base 9, when the fixed base 9 rotates, the guide wheel frame 10 is always in contact with the top surface of the base body 11, when the weight borne by the mechanical arm 2 is overlarge, the overload protector 4 can be triggered, thereby automatic start controller 8, controller 8 steerable hydraulic push rod 7 promotes slide 12 and goes up and down, and slide 12 slides all the time in slide rail strip 1 to supplementary arm 2 carries out the lifting.

While there have been shown and described what are at present considered the fundamental principles and essential features of the utility model and its advantages, it will be apparent to those skilled in the art that the utility model is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a mine is with wheeled four-axis transmission manipulator, includes the base body (11), its characterized in that: base body (11) top fixed mounting has roating seat (6), roating seat (6) outside is inlayed and is installed the lantern ring (5), the ball body (13) are installed to inlay to lantern ring (5) inner wall, lantern ring (5) outside fixed mounting has fixing base (9), fixing base (9) top fixed mounting has hydraulic push rod (7), hydraulic push rod (7) outside fixed mounting has controller (8), articulated slide (12) of installing in hydraulic push rod (7) top, roating seat (6) top fixed mounting has motor cabinet (3), overload protection ware (4) are installed to motor cabinet (3) outside electrical property, motor cabinet (3) outside articulated arm (2) of installing, arm (2) outer wall fixed mounting has skid rail strip (1).

2. The mine wheel type four-shaft transmission manipulator of claim 1, wherein: the ball bodies (13) are in contact with the outer wall of the rotating seat (6).

3. The mine wheel type four-shaft transmission manipulator of claim 1, wherein: the bottom of the fixed seat (9) is fixedly provided with a guide wheel frame (10), and the guide wheel frame (10) is in contact with the top surface of the base body (11).

4. The mine wheel type four-shaft transmission manipulator of claim 1, wherein: the overload protector (4) is electrically connected with a controller (8) of the hydraulic push rod (7).

5. The mine wheel type four-shaft transmission manipulator of claim 1, wherein: the sliding seat (12) is connected with the sliding rail bar (1) in an embedded mode.