CN110497394B - Colliery is auxiliary robot in pit - Google Patents
Colliery is auxiliary robot in pit Download PDFInfo
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- CN110497394B CN110497394B CN201910601808.8A CN201910601808A CN110497394B CN 110497394 B CN110497394 B CN 110497394B CN 201910601808 A CN201910601808 A CN 201910601808A CN 110497394 B CN110497394 B CN 110497394B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
The invention discloses an underground coal mine auxiliary robot which comprises a base, a rotating platform, a transmission shaft, a main driving mechanism, a winding mechanism, a large arm, a small arm and a clamping mechanism, wherein the main driving mechanism is arranged in the base; the middle part of the rotating platform is provided with a through hole I, the lower end of the transmission shaft is connected with the main driving mechanism, and the upper end of the transmission shaft penetrates through the through hole I; an arc-shaped clamping groove I is formed in the through hole I, a convex key is arranged on the transmission shaft, and the convex key is assembled in the arc-shaped clamping groove I; the large arm is arranged on the rotating table, the small arm is connected with the upper end of the large arm, and the clamping mechanism is arranged at the upper end of the small arm; the winding mechanism comprises a large gear, a small gear, a winder and a steel wire rope, wherein the large gear is arranged at the upper end of the transmission shaft, and the small gear is arranged on two sides of the large gear; a winder is arranged on the pinion; and a steel wire rope is wound on the winder, and the upper end of the steel wire rope is connected with the clamping mechanism. The invention can undertake the dismantling work of the underground shed legs of the coal mine, solves the problems of time consumption, labor consumption and danger of manually dismantling the shed legs, can place the shed legs at fixed points and is convenient to transport.
Description
Technical Field
The invention belongs to the technical field of robot machinery, and particularly relates to an underground coal mine auxiliary robot.
Background
As an efficient and stable supporting mode, the shed type support has a very obvious effect on strengthening the roadway. On permanent supports, shed supports are more often selected, but temporary supports are removed before the permanent supports are established, wherein the removal of shed legs is the most time-consuming and laborious, and is accompanied by the risk of landslide. The method has the advantages of reducing the participation of workers in shed leg dismantling work, improving the working environment of the workers, improving the shed leg dismantling speed, and laying a good foundation for the quick propulsion of supporting work and the great improvement of supporting erection.
The most adopted dismantling mode in the current stage of China is manual dismantling, and several workers use ropes to tie the shed legs together and manually drag the shed legs; or the pulling is carried out by using a hydraulic cylinder and a jack, and the pulling is carried out by a user and then the user installs the pulling on the transport vehicle.
Disclosure of Invention
The invention provides an underground coal mine auxiliary robot which can bear the main work of dismantling a shed leg under a coal mine, solves the problems of time waste, labor waste and danger of manual shed leg dismantling, is used in cooperation with a camera, can realize the shed leg dismantling work of a remote control robot, can place the shed leg at a fixed point, is convenient to transport, and effectively combines the dismantling work and the placing work together.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the underground coal mine auxiliary robot comprises a base, a rotating table, a transmission shaft, a main driving mechanism, a winding mechanism, a large arm seat, a large arm, a small arm and a clamping mechanism, wherein the main driving mechanism is arranged in the base;
the middle parts of the rotating table and the shaft sleeve are provided with a through hole I with a vertical axial direction, the transmission shaft is vertically arranged, the outer diameter of the transmission shaft is consistent with the inner diameter of the through hole I, the lower end of the transmission shaft is connected with the main driving mechanism, and the upper end of the transmission shaft penetrates through the through hole I; an arc-shaped clamping groove I is formed in the inner side wall of the through hole I in the circumferential direction, a convex key is arranged on the outer wall of the transmission shaft, the convex key is correspondingly assembled in the arc-shaped clamping groove I and can rotate within the range of the arc-shaped clamping groove I, and the transmission shaft is limited based on the convex key and can rotate within the range of the radian of the arc-shaped clamping groove I;
the upper surface of the rotating platform is provided with a large arm seat, the lower end of the large arm is arranged on the large arm seat, and the large arm can swing relative to the large arm seat; the lower end of the small arm is connected with the upper end of the large arm, and the small arm can swing relative to the connection part of the small arm and the large arm; the clamping mechanism is arranged at the upper end of the small arm and can swing relative to the joint of the small arm and the clamping mechanism;
the winding mechanism comprises a large gear, small gears, a winder and a steel wire rope, wherein the large gear is fixedly arranged at the upper end of the transmission shaft, the small gears are provided with two groups and are respectively arranged on the rotating platform through rotating shafts and can rotate based on the rotating shafts, and the two groups of small gears are positioned on two sides of the large gear and are respectively meshed with the large gear; each group of small gears is provided with a group of winders; and a group of steel wire ropes is wound on each group of the wire winders respectively, the lower ends of the steel wire ropes are fixedly connected with the wire winders, and the upper ends of the two groups of the steel wire ropes extend along the trend of the large arm and the trend of the small arm respectively to be connected with the clamping mechanism so as to drive the clamping mechanism to swing.
The main driving mechanism drives the transmission shaft to rotate, the transmission shaft firstly rotates within the range of the arc-shaped clamping groove I to drive the large gear, the small gear and the winder to rotate, and the rotating table is not moved at the moment, so that the clamping mechanism is driven to move through the steel wire rope; when the transmission shaft rotates to the limit point of the limit mechanism I, the transmission shaft drives the rotating platform to rotate, and the large gear and the small gear are relatively static.
Furthermore, the clamping mechanism comprises a wrist part, a mounting plate, a clamping jaw, a transmission part, a connecting shaft, a rotating part and a limiting mechanism II, wherein the rear end of the wrist part is connected with the upper end of the small arm through a rotating shaft I, and the upper side wall and the lower side wall of the rear end of the wrist part are respectively fixedly connected with the front ends of the two groups of steel wire ropes and can rotate relative to the rotating shaft I under the driving of the steel wire ropes; the front end of the wrist part is provided with a driving mechanism I, an output shaft of the driving mechanism I extends forwards, and a rotating part is fixedly arranged at the front end of the output shaft of the driving mechanism I;
the middle part of the mounting plate is provided with a through hole II, the outer diameter of the rotary member is consistent with the inner diameter of the through hole II, and the mounting plate is sleeved on the rotary member based on the through hole II; an arc-shaped clamping groove II is formed in the inner side wall of the through hole II along the circumferential direction of the through hole II, a convex plate is arranged on the outer wall of the rotating piece, the convex plate is correspondingly assembled in the arc-shaped clamping groove II and can rotate within the range of the arc-shaped clamping groove II, and the rotating piece is limited based on the convex plate and can rotate within the range of the radian of the arc-shaped clamping groove II;
the upper side and the lower side of the front end surface of the mounting plate are respectively provided with a transverse sliding rail, and the clamping jaws are provided with two groups which are oppositely arranged and respectively mounted on the sliding rails; the two groups of clamping jaws can make feeding motions in opposite directions along the sliding rail;
the clamping jaw clamping mechanism is characterized in that a group of connecting shafts are respectively arranged on two sides of the front end face of the rotating member, the transmission member is of an arc-shaped structure and is provided with two groups corresponding to the clamping jaws, one end of the transmission member is connected with the clamping jaws, the other end of the transmission member is sleeved on the connecting shafts, and the transmission member can rotate based on the connecting shafts.
The driving mechanism I drives the rotating member to rotate, the rotating member rotates within the range of the arc-shaped clamping groove II to drive the two groups of transmission members to rotate, the mounting plate is fixed at the moment, and the two groups of clamping jaws are close to each other; when the rotating member rotates to the limiting point of the limiting mechanism II, the rotating member drives the mounting plate to rotate, and the two groups of transmission members are relatively static.
Further, the wrist part is provided with a driving mechanism I through a U-shaped part, the U-shaped part comprises a front vertical plate, a transverse plate and a rear vertical plate, the lower ends of the front vertical plate and the rear vertical plate are fixedly connected through the transverse plate, the rear vertical plate is fixedly connected with the front end of the wrist part, the driving mechanism I is fixedly arranged on the rear wall of the front vertical plate, and an output shaft of the driving mechanism I penetrates through the front vertical plate; and the rotating member is arranged on an output shaft of the driving mechanism I through a coupler.
Further, still include the camera, the camera locate the upper end of preceding riser.
Furthermore, the outer side of the large arm seat is provided with a driving mechanism II, an output shaft of the driving mechanism II is connected with the lower end of the large arm, and the driving mechanism II drives the large arm to swing relative to the large arm seat.
Furthermore, a driving mechanism III is arranged on the outer side of the joint of the small arm and the large arm, an output shaft of the driving mechanism III is connected with the lower end of the small arm, and the driving mechanism III drives the small arm to swing relative to the joint of the large arm.
Furthermore, the upper end and the lower end of the upper side wall of the small arm and the lower end of the rear side wall of the large arm are respectively provided with a fixing buckle I, and a hose I is arranged between each fixing buckle I; the upper end and the lower end of the lower side wall of the small arm and the lower end of the front side wall of the large arm are respectively provided with a fixing buckle II, and a hose II is arranged between the fixing buckles II;
and the two groups of steel wire ropes respectively penetrate through the hose I and the hose II and then are connected with the clamping mechanism.
Further, the main driving mechanism is a steel ball motor; and the driving mechanism I, the driving mechanism II and the driving mechanism III are all motors.
The invention has the beneficial effects that:
according to the invention, the winding mechanism with a unique structure is designed, the winding mechanism is tightly matched with the rotary table, power is provided by the main driving mechanism, the limiting point is formed by arranging the limiting mechanism I, the main driving mechanism drives the winding mechanism to operate before the limiting point, the rotation of the wrist part of the clamping mechanism is controlled by the steel wire rope, and as the steel wire rope is connected with the wrist part one above the other, the angle of the wrist part can be adjusted at will as long as the winding direction of the winder is set to be opposite, so that the position of the clamping mechanism can be accurately adjusted; after the limiting point, the main driving mechanism drives the rotating platform to rotate, and the angle of the whole device can be adjusted;
the invention also designs a unique clamping mechanism, the clamping mechanism comprises a rotating part and a limiting mechanism II, power is provided by a driving mechanism III, a limiting point is also formed by the limiting mechanism I, the driving mechanism III drives the rotating part to rotate before the limiting point, and the feeding of a clamping jaw is controlled by a transmission part, so that the clamping mechanism can clamp a target object; after the limiting point, the driving mechanism III drives the rotating part to drive the mounting plate to rotate, and the angle of the whole clamping mechanism can be adjusted.
The invention has scientific and reasonable structure, economy and durability, simple maintenance and operation, high running speed and high efficiency; can undertake the main work of demolising of colliery in pit shed leg, solve the manual work and demolish that the shed leg is wasted time, hard, dangerous problem, the camera use in coordination can realize that long-range remote-controlled robot carries out the work of demolising of shed leg, and can place the shed leg at the fixed point, conveniently transports, will demolish work and settle the effectual combination of work and be in the same place, greatly reduced staff's intensity of labour.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a schematic view of the base of the present invention;
FIG. 5 is a schematic view of a turntable according to the present invention;
FIG. 6 is a schematic structural view of a propeller shaft of the present invention;
FIG. 7 is a schematic structural view of the clamping mechanism of the present invention;
the numbers and names in the figure are as follows:
1-a base; 2-rotating table; 3, driving a shaft; 4-a main drive mechanism; 5-big arm; 6-forearm; 7-a through hole I; 8-a driving mechanism II; 9-driving mechanism III; 10-a bull gear; 11-pinion gear; 12-a winder; 13-a steel wire rope; 14-a key; 15-card slot I; 16-wrist part; 17-mounting a plate; 18-a jaw; 19-a transmission member; 20-a connecting shaft; 21-a rotating member; 22-a drive mechanism I; 23-via II; 24-a slide rail; 25-a convex plate; 26-clamp groove II; 27-U-shaped piece; 28-a coupling; 29-a camera; 30-big arm seat; 31-a circular sliding sleeve; 32-shaft sleeve; 33-rotating shaft I; 34-a rotating shaft II; 35-shaft III; 36-front riser; 37-a transverse plate; 38-rear riser; 39-fixing fastener I; 40-hose I; 41-fixing fastener II; 42-hose II.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments in conjunction with the accompanying drawings.
Example 1
As shown in fig. 1-7, the coal mine underground auxiliary robot of the invention comprises a base 1, a rotary table 2, a transmission shaft 3, a main driving mechanism 4, a winding mechanism, a large arm seat 30, a large arm 5, a small arm 6 and a clamping mechanism, wherein the main driving mechanism 4 is arranged in the base 1, a circular sliding sleeve 31 is arranged on the upper surface of the base 1, a vertical shaft sleeve 32 is arranged on the lower end surface of the rotary table 2, and the shaft sleeve 32 is arranged on the circular sliding sleeve 31 and can rotate based on the circular sliding sleeve 31;
a through hole I7 with a vertical axial direction is formed in the middle of the rotating platform 2 and the shaft sleeve 32, the transmission shaft 3 is vertically arranged, the outer diameter of the transmission shaft 3 is consistent with the inner diameter of the through hole I6, the lower end of the transmission shaft 3 is connected with the main driving mechanism 4, and the upper end of the transmission shaft penetrates through the through hole I7; an arc-shaped clamping groove I15 is formed in the inner side wall of the through hole I7 in the circumferential direction, a convex key 14 is arranged on the outer wall of the transmission shaft 3, the convex key 14 is correspondingly assembled in the arc-shaped clamping groove I15 and can rotate within the range of the arc-shaped clamping groove I15, and the transmission shaft 3 is limited based on the convex key 14 and can rotate within the range of the arc-shaped clamping groove I15;
the upper surface of the rotating platform 2 is provided with a big arm seat 30, the lower end of the big arm 5 is arranged on the big arm seat 30 through a rotating shaft I33, and the big arm 5 can swing relative to the big arm seat 30; the lower end of the small arm 6 is connected with the upper end of the large arm 5 through a rotating shaft II 34, and the small arm 6 can swing relative to the connecting part of the small arm and the large arm 5; the clamping mechanism is arranged at the upper end of the small arm 6 and can swing relative to the joint of the small arm 6 and the clamping mechanism;
the winding mechanism comprises a large gear 10, small gears 11, a winder 12 and a steel wire rope 13, wherein the large gear 10 is fixedly arranged at the upper end of the transmission shaft 3, two groups of small gears 11 are arranged on the rotating platform 2 through rotating shafts respectively and can rotate based on the rotating shafts, and the two groups of small gears 11 are positioned at two sides of the large gear 10 and are respectively meshed with the large gear 10; each group of small gears 11 is respectively provided with a group of winders 12; and a group of steel wire ropes 13 are respectively wound on each group of the wire winders 12, the lower ends of the steel wire ropes 13 are fixedly connected with the wire winders 12, and the upper ends of the two groups of the steel wire ropes 13 extend along the trend of the large arm 5 and the small arm 6 respectively to be connected with the clamping mechanism to drive the clamping mechanism to swing.
The main driving mechanism 4 drives the transmission shaft 3 to rotate, the transmission shaft 3 firstly rotates within the range of the arc-shaped clamping groove I15 to drive the large gear 10, the small gear 11 and the winder 12 to rotate, and at the moment, the rotating table 2 does not move, so that the clamping mechanism is driven to move through the steel wire rope 13; when the transmission shaft 3 rotates to the limit point of the limit mechanism I, the transmission shaft 3 drives the rotating platform 2 to rotate, and the large gear 10 and the small gear 11 are relatively static.
The clamping mechanism comprises a wrist part 16, a mounting plate 17, a clamping jaw 18, a transmission part 19, a connecting shaft 20, a rotary part 21 and a limiting mechanism II, wherein the rear end of the wrist part 16 is connected with the upper end of the small arm 6 through a rotating shaft III 35, and the upper side wall and the lower side wall of the rear end of the wrist part 16 are respectively fixedly connected with the front ends of the two groups of steel wire ropes 13 and can rotate relative to the rotating shaft III 35 under the driving of the steel wire ropes 13; the front end of the wrist part 16 is provided with a driving mechanism I22, an output shaft of the driving mechanism I22 extends forwards, and the front end of the output shaft of the driving mechanism I22 is fixedly provided with a rotating part 21;
a through hole II 23 is formed in the middle of the mounting plate 17, the outer diameter of the rotary member 21 is consistent with the inner diameter of the through hole II 23, and the mounting plate 17 is sleeved on the rotary member 21 based on the through hole II 23; an arc-shaped clamping groove II 26 arranged along the circumferential direction is formed in the inner side wall of the through hole II 23, a convex plate 25 is arranged on the outer wall of the rotating part 21, the convex plate 25 is correspondingly assembled in the arc-shaped clamping groove II 26 and can rotate within the range of the arc-shaped clamping groove II 26, and the rotating part 21 is limited based on the convex plate 25 and can rotate within the radian range of the arc-shaped clamping groove II 26;
the upper side and the lower side of the front end surface of the mounting plate 17 are respectively provided with a transverse sliding rail 24, and the clamping jaws 18 are provided with two groups which are oppositely arranged and respectively mounted on the sliding rails 24; the two groups of clamping jaws 18 can perform feeding motions in opposite directions along the slide rails 24;
two sides of the front end face of the rotating member 21 are respectively provided with a group of connecting shafts 20, the transmission member 19 is of an arc-shaped structure, two groups of transmission members are arranged corresponding to the clamping jaws 18, one end of each transmission member 19 is connected with the corresponding clamping jaw 18, the other end of each transmission member 19 is sleeved on the corresponding connecting shaft 20, and the transmission members 19 can rotate based on the corresponding connecting shafts 20.
The driving mechanism I22 drives the rotating member 21 to rotate, the rotating member 21 rotates within the range of the arc-shaped clamping groove II 26 to drive the two groups of transmission members 19 to rotate, the mounting plate 17 is fixed at the moment, and the two groups of clamping jaws 18 are close to each other; when the rotating member 21 rotates to the limit point of the limiting mechanism II, the rotating member 21 drives the mounting plate 17 to rotate, and the two groups of transmission members 19 are relatively static.
The wrist portion 16 is provided with a driving mechanism I22 through a U-shaped member 27, the U-shaped member 27 comprises a front vertical plate 36, a transverse plate 37 and a rear vertical plate 38, the lower ends of the front vertical plate 36 and the rear vertical plate 38 are fixedly connected through the transverse plate 37, the rear vertical plate 38 is fixedly connected with the front end of the wrist portion 16, the driving mechanism I22 is fixedly arranged on the rear wall of the front vertical plate 36, and an output shaft of the driving mechanism I22 penetrates through the front vertical plate 36; the rotating member 21 is mounted on an output shaft of the driving mechanism I22 through a coupling 28.
The device also comprises a camera 29, and the camera 29 is arranged at the upper end of the front vertical plate 36.
The outer side of the big arm seat 30 is provided with a driving mechanism II 8, an output shaft of the driving mechanism II 8 is connected with the lower end of the big arm 5, and the driving mechanism II 8 drives the big arm 5 to swing relative to the big arm seat 30.
And a driving mechanism III 9 is arranged on the outer side of the joint of the small arm 6 and the large arm 5, an output shaft of the driving mechanism III 9 is connected with the lower end of the small arm 6, and the driving mechanism III 9 drives the small arm 6 to swing relative to the joint of the large arm 5.
The upper end and the lower end of the upper side wall of the small arm 6 and the lower end of the rear side wall of the large arm 5 are respectively provided with a fixing buckle I39, and a hose I40 is arranged between the fixing buckles I39; the upper end and the lower end of the lower side wall of the small arm 6 and the lower end of the front side wall of the large arm 5 are respectively provided with a fixing buckle II 41, and a hose II 42 is arranged between the fixing buckles II 41;
and the two groups of steel wire ropes 13 are respectively connected with the clamping mechanism after penetrating through the hose I39 and the hose II 40.
The main driving mechanism is a steel ball motor; and the driving mechanism I22, the driving mechanism II 8 and the driving mechanism III 9 are all motors.
The working process of the invention is as follows:
and (3) dismantling action: the main driving mechanism 4 is started, the steel ball motor drives the transmission shaft 3 to rotate, the convex keys 14 rotate within the limit points at two ends of the clamping groove I15, the transmission shaft 3 rotates within the range of the arc-shaped clamping groove I15 firstly, the large gear 10, the small gear 11 and the winder 12 are driven to rotate, the rotating table 2 is fixed at the moment, the steel wire rope 13 is wound, and the wrist 16 is driven to rotate so as to adjust the height of the clamping mechanism; when the transmission shaft 3 rotates to a limit point of the limit mechanism I, the convex key 14 props against the edge of the clamping groove I15, the large gear 10 and the small gear 11 are relatively static, and the transmission shaft 3 drives the rotating platform 2 to continuously rotate so that the whole platform of equipment faces the shed legs; under the combined action of the driving mechanism I22 and the driving mechanism II 8, the large arm 5 and the small arm 6 swing to proper positions, and the clamping mechanism is positioned at the height of the middle of the shed leg; rotating the steel ball motor reversely, pulling the steel wire rope 13 again by the winder 12, and adjusting the posture of the wrist 16 to ensure that the whole clamping mechanism is perpendicular to the shed legs; the driving mechanism I22, the driving mechanism II 8 and the main driving mechanism 4 move in a combined manner, so that the working part of the clamping mechanism wraps the shed legs; then the driving mechanism III 9 operates, the convex plate 25 rotates within the limit point range of the two ends of the clamping groove II 26, the rotating piece 21 rotates within the range of the arc-shaped clamping groove II 26 first, the two groups of transmission pieces 19 are driven to rotate, the mounting plate 17 is fixed at the moment, the two groups of clamping jaws 18 are close to each other, and the shed legs are clamped; after clamping, the shed legs are dismantled through the combined motion of the main driving mechanism 4, the driving mechanism I22 and the driving mechanism II 8.
Carrying action: when the rotary member 21 rotates to a limit point, the convex plate 25 abuts against the edge of the clamping groove II 26, the two groups of transmission members 19 are relatively static, and the mounting plate 2 synchronously rotates along with the rotary member 21, so that the whole clamping mechanism rotates and is changed from a vertical state to a horizontal state; at this moment, the main driving mechanism 4 rotates to enable the rotating platform 2 to rotate, the robot faces the transport vehicle, through the combined action of the driving mechanism I22, the driving mechanism II 8 and the driving mechanism III 9, the shed legs are located above the transport vehicle, the driving mechanism III 9 rotates reversely, the rotating part 21 rotates within the range of the arc-shaped clamping groove II 26 to drive the two groups of transmission parts 19 to rotate reversely, the clamping jaws 18 are far away from each other, the shed legs are placed on the transport vehicle, the rotating part 21 rotates to the limiting point of the limiting mechanism II, the rotating part 21 drives the mounting plate 17 to rotate, the two groups of transmission parts 19 are relatively static, and the clamping mechanism returns to the initial position.
Claims (7)
1. The utility model provides a colliery is supplementary robot in pit, includes base (1), revolving stage (2), transmission shaft (3), main drive mechanism (4), winding mechanism, big arm seat (30), big arm (5), forearm (6), fixture, its characterized in that:
the main driving mechanism (4) is arranged in the base (1), a circular sliding sleeve (31) is arranged on the upper surface of the base (1), a vertical shaft sleeve (32) is arranged on the lower end surface of the rotating platform (2), and the shaft sleeve (32) is arranged on the circular sliding sleeve (31) and can rotate based on the circular sliding sleeve (31);
a through hole I (7) which is vertical in the axial direction is formed in the middle of the rotating table (2) and the shaft sleeve (32), the transmission shaft (3) is vertically arranged, the outer diameter of the transmission shaft (3) is consistent with the inner diameter of the through hole I (7), the lower end of the transmission shaft (3) is connected with the main driving mechanism (4), and the upper end of the transmission shaft penetrates through the through hole I (7); an arc-shaped clamping groove I (15) arranged along the circumferential direction is formed in the inner side wall of the through hole I (7), a convex key (14) is arranged on the outer wall of the transmission shaft (3), the convex key (14) is correspondingly assembled in the arc-shaped clamping groove I (15) and can rotate within the range of the arc-shaped clamping groove I (15), and the transmission shaft (3) is limited based on the convex key (14) and can rotate within the range of the radian of the arc-shaped clamping groove I (15);
the upper surface of the rotating platform (2) is provided with a large arm seat (30), the lower end of the large arm (5) is installed on the large arm seat (30) through a rotating shaft I (33), and the large arm (5) can swing relative to the large arm seat (30); the lower end of the small arm (6) is connected with the upper end of the large arm (5) through a rotating shaft II (34), and the small arm (6) can swing relative to the connecting part of the small arm and the large arm (5); the clamping mechanism is arranged at the upper end of the small arm (6) and can swing relative to the joint of the small arm (6) and the clamping mechanism;
the winding mechanism comprises a large gear (10), small gears (11), a winder (12) and a steel wire rope (13), wherein the large gear (10) is fixedly arranged at the upper end of the transmission shaft (3), two groups of small gears (11) are arranged and are respectively arranged on the rotating platform (2) through rotating shafts and can rotate based on the rotating shafts, and the two groups of small gears (11) are positioned on two sides of the large gear (10) and are respectively meshed with the large gear (10); each group of small gears (11) is respectively provided with a group of winders (12); a group of steel wire ropes (13) are respectively wound on each group of the wire winders (12), the lower ends of the steel wire ropes (13) are fixedly connected with the wire winders (12), and the upper ends of the two groups of the steel wire ropes (13) extend along the trend of the large arm (5) and the small arm (6) respectively to be connected with the clamping mechanism to drive the clamping mechanism to swing.
2. The coal mine underground auxiliary robot of claim 1, wherein:
the clamping mechanism comprises a wrist part (16), a mounting plate (17), a clamping jaw (18), a transmission part (19), a connecting shaft (20), a rotary part (21) and a limiting mechanism II, wherein the rear end of the wrist part (16) is connected with the upper end of the small arm (6) through a rotating shaft III (35), and the upper side wall and the lower side wall of the rear end of the wrist part (16) are respectively fixedly connected with the front ends of the two groups of steel wire ropes (13) and can rotate relative to the rotating shaft III (35) under the driving of the steel wire ropes (13); a driving mechanism I (22) is arranged at the front end of the wrist part (16), an output shaft of the driving mechanism I (22) extends forwards, and a rotating part (21) is fixedly arranged at the front end of the output shaft of the driving mechanism I (22);
a through hole II (23) is formed in the middle of the mounting plate (17), the outer diameter of the rotary member (21) is consistent with the inner diameter of the through hole II (23), and the mounting plate (17) is sleeved on the rotary member (21) based on the through hole II (23); an arc-shaped clamping groove II (26) arranged along the circumferential direction is formed in the inner side wall of the through hole II (23), a convex plate (25) is arranged on the outer wall of the rotating part (21), the convex plate (25) is correspondingly assembled in the arc-shaped clamping groove II (26) and can rotate within the arc-shaped clamping groove II (26), and the rotating part (21) is limited based on the convex plate (25) and can rotate within the arc range of the arc-shaped clamping groove II (26);
the upper side and the lower side of the front end face of the mounting plate (17) are respectively provided with a transverse sliding rail (24), and the two groups of clamping jaws (18) are oppositely arranged and are respectively mounted on the sliding rails (24); the two groups of clamping jaws (18) can perform feeding motion in opposite directions along the sliding rail (24);
the clamping jaw type rotary clamping device is characterized in that a group of connecting shafts (20) are respectively arranged on two sides of the front end face of the rotary part (21), the transmission part (19) is of an arc-shaped structure, two groups of transmission parts are arranged corresponding to the clamping jaws (18), one end of the transmission part (19) is connected with the clamping jaws (18), the other end of the transmission part is sleeved on the connecting shafts (20), and the transmission part (19) can rotate based on the connecting shafts (20).
3. The coal mine underground auxiliary robot of claim 2, wherein: the wrist (16) is provided with a driving mechanism I (22) through a U-shaped piece (27), the U-shaped piece (27) comprises a front vertical plate (36), a transverse plate (37) and a rear vertical plate (38), the lower ends of the front vertical plate (36) and the rear vertical plate (38) are fixedly connected through the transverse plate (37), the rear vertical plate (38) is fixedly connected with the front end of the wrist (16), the driving mechanism I (22) is fixedly arranged on the rear wall of the front vertical plate (36), and an output shaft of the driving mechanism I (22) penetrates through the front vertical plate (36); the rotating member (21) is arranged on an output shaft of the driving mechanism I (22) through a coupler (39).
4. The coal mine underground auxiliary robot of claim 3, wherein: the device also comprises a camera (29), wherein the camera (29) is arranged at the upper end of the front vertical plate (36).
5. The coal mine underground auxiliary robot of claim 1, wherein: the outer side of the big arm seat (30) is provided with a driving mechanism II (8), an output shaft of the driving mechanism II (8) is connected with the lower end of the big arm (5), and the driving mechanism II (8) drives the big arm (5) to swing relative to the big arm seat (30).
6. The coal mine underground auxiliary robot of claim 1, wherein: and a driving mechanism III (9) is arranged on the outer side of the joint of the small arm (6) and the large arm (5), an output shaft of the driving mechanism III (9) is connected with the lower end of the small arm (6), and the driving mechanism III (9) drives the small arm (6) to swing relative to the joint of the large arm (5).
7. The coal mine underground auxiliary robot of claim 1, wherein: the upper end and the lower end of the upper side wall of the small arm (6) and the lower end of the rear side wall of the large arm (5) are respectively provided with a fixing buckle I (39), and a hose I (40) is arranged between the fixing buckles I (39); the upper end and the lower end of the lower side wall of the small arm (6) and the lower end of the front side wall of the large arm (5) are respectively provided with a fixing buckle II (41), and a hose II (42) is arranged between the fixing buckles II (41);
and the two groups of steel wire ropes (13) are respectively connected with the clamping mechanism after penetrating through the hose I (40) and the hose II (42).
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| CN201910601808.8A CN110497394B (en) | 2019-07-05 | 2019-07-05 | Colliery is auxiliary robot in pit |
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| CN110497394B true CN110497394B (en) | 2022-09-20 |
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| CN115213673B (en) * | 2022-08-19 | 2023-09-26 | 杭州凯达电力建设有限公司 | Tightening device for live working mechanical arm |
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