CN113700440A - High-precision anchor drilling mechanical arm swinging mechanism and drill frame mechanical arm - Google Patents
High-precision anchor drilling mechanical arm swinging mechanism and drill frame mechanical arm Download PDFInfo
- Publication number
- CN113700440A CN113700440A CN202110998355.4A CN202110998355A CN113700440A CN 113700440 A CN113700440 A CN 113700440A CN 202110998355 A CN202110998355 A CN 202110998355A CN 113700440 A CN113700440 A CN 113700440A
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- China
- Prior art keywords
- bending
- plate
- flat plate
- resistant shaft
- mechanical arm
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP 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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
Abstract
The invention discloses a high-precision anchor drilling mechanical arm swinging mechanism and a drill stand mechanical arm, belonging to the technical field of anchor rod drill rigs and comprising a leveling seat assembly, wherein the leveling seat assembly comprises a first flat plate and a bending-resistant shaft, and the first flat plate is fixedly connected with the bending-resistant shaft; the swing seat assembly comprises a second flat plate, the second flat plate is provided with a first through hole penetrating through the wall thickness, and the bending-resistant shaft sleeve is arranged in the first through hole; the rotary encoder component comprises a rotary encoder, an inner cover shell and an outer cover shell, the bottom of the rotary encoder is fixedly connected with the end face of the bending-resistant shaft, the inner cover shell is arranged in the cavity of the outer cover shell, the rotary encoder is fixedly connected in the cavity of the inner cover shell, and a rotating shaft of the rotary encoder is fixedly connected with the outer cover shell; and the inner ring of the rotary drive is sleeved and fixed on the anti-bending shaft, and the outer ring of the rotary drive is fixedly connected with the second flat plate. The drilling stand mechanical arm can rotate accurately, and the aim of accurate positioning can be fulfilled by applying the drilling stand mechanical arm.
Description
Technical Field
The invention relates to the technical field of anchor rod drill rigs, in particular to a high-precision anchor rod drill rig mechanical arm swinging mechanism and a drill stand mechanical arm.
Background
Traditional automatic stock drill carriage's arm positioning accuracy is relatively poor when carrying out the location and punching, needs artifical supplementary regulation, and the anchor bores the environment of operation abominable, the space is narrow, and the workman assists the regulation location to the arm and punches, and not only intensity of labour is big, work efficiency is low still has certain safe risk, consequently, the field just produces following demand: whether a high-precision anchor drilling mechanical arm swinging mechanism can be designed, the swinging mechanism can enable the mechanical arm of the anchor drilling rig to swing with high precision so as to achieve the purpose of accurate positioning, and therefore the problem that manual auxiliary adjustment is needed during positioning and drilling is solved.
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 embodiment of the invention provides a high-precision anchor drilling mechanical arm swinging mechanism, the swinging mechanism can control rotary driving in a feedback manner through a rotary encoder, so that the precise rotation of the swinging mechanism is realized, and the aim of precise positioning can be realized by applying a drill stand mechanical arm of the swinging mechanism 0.
The invention also provides a mechanical arm with the swing mechanism.
According to the embodiment of the invention, the high-precision anchor drilling mechanical arm swinging mechanism comprises: the leveling seat assembly comprises a first flat plate and a bending-resistant shaft, the bending-resistant shaft is fixedly connected to the first flat plate, and the axial direction of the bending-resistant shaft extends along the thickness direction of the first flat plate; the swing seat assembly comprises a second flat plate, the second flat plate is provided with a first through hole penetrating through the wall thickness, one end, far away from the first flat plate, of the bending resistant shaft is sleeved in the first through hole, and the bending resistant shaft is rotatably connected with the second flat plate; the rotary encoder component comprises a rotary encoder, an inner casing and an outer casing, the bottom of the rotary encoder is fixedly connected with the end face, far away from the first flat plate, of the bending resistant shaft, the inner casing is arranged in the cavity of the outer casing, the rotary encoder is fixedly connected in the cavity of the inner casing, and the rotating shaft of the rotary encoder is fixedly connected with the outer casing; and the rotary drive is arranged between the first flat plate and the second flat plate, the inner ring of the rotary drive is sleeved and fixed on the bending-resistant shaft, and the outer ring of the rotary drive is fixedly connected with the second flat plate.
According to the high-precision anchor drilling mechanical arm swinging mechanism provided by the embodiment of the invention, the swinging mechanism can control the rotary drive in a feedback manner through the rotary encoder, so that the precise rotation of the swinging mechanism is realized, and the aim of precise positioning can be realized when the drill stand mechanical arm applying the swinging mechanism 0 is used for drilling.
In some embodiments, the bending-resistant shaft is provided with an axial hole extending along the axial direction of the bending-resistant shaft at one end far away from the rotary encoder, the bending-resistant shaft is provided with a radial hole extending from the outer diameter of the bending-resistant shaft to be communicated with the axial hole, and the radial hole is communicated with the first through hole.
In some embodiments, the swing seat assembly further includes a ring for reducing friction, the ring being disposed between the anti-buckling shaft and the first through hole, the ring being rotatably connected to the anti-buckling shaft.
In some embodiments, the ring body is provided with a flange on the outer peripheral surface of one end close to the rotary encoder, the second flat plate is provided with a flange groove matched with the flange, and the thickness of the flange is equal to the depth of the flange groove.
In some embodiments, the outer casing is provided with an annular plate on the outer peripheral surface near one end of the second flat plate, the flange is provided with an annular groove matched with the annular plate near one end of the inner casing, and the annular plate connects the outer casing and the flange through screws.
In some embodiments, the swing seat assembly further includes a second vertical plate, the second flat plate and the second vertical plate form a second L-shaped structure, a second rib is disposed between the second flat plate and the second vertical plate, the second rib is symmetrically disposed on two sides of the bending axis, the second L-shaped structure and the second rib form a second groove, the bending axis is located in the second groove, the leveling seat assembly further includes a first vertical plate, the first flat plate and the first vertical plate form a first L-shaped structure, at least a portion of the first flat plate and at least a portion of the first vertical plate are disposed in the second groove, a bump block is disposed on the first L-shaped structure, and the bump block is configured to perform a buffering and limiting function when colliding with the second rib.
In some embodiments, the first L-shaped structure is provided with a first rib plate, the circumferential surface of the first rib plate is connected with the first flat plate and the first vertical plate, the first rib plate is symmetrically arranged at two sides of the bending-resistant shaft, and the rib plate is provided with the bump block at the surface far away from the bending-resistant shaft.
In some embodiments, the first flat plate is provided with a second through hole penetrating through the wall thickness, the bending-resistant shaft penetrates through the second through hole of the first flat plate by the groove of the first L-shaped structure and extends towards the direction far away from the first vertical plate, and a connecting plate is arranged on the end face of the bending-resistant shaft far away from the rotary encoder and fixedly connects the bending-resistant shaft with the inner ring of the rotary drive through a screw/bolt.
In some embodiments, the outer periphery of the connecting plate is provided with a plurality of circumferentially spaced teeth, each tooth being provided with a third through hole extending through the wall thickness of the connecting plate, said through holes being adapted to pass a screw/bolt through the connecting plate to secure the anti-bow shaft to the inner race of the slew drive.
In some embodiments, the swing drive is a worm and gear swing drive.
The drill boom mechanical arm comprises a first section arm, a second section arm, a mechanical arm swinging mechanism and a drill boom, wherein the first end of the first section arm is hinged with the second end of the second section arm through the mechanical arm swinging mechanism, the first end of the second section arm is provided with the drill boom, and the mechanical arm swinging mechanism is the high-precision anchor drilling mechanical arm swinging mechanism in any one embodiment.
Drawings
FIG. 1 is a cross-sectional view of a high-precision anchor robotic arm swing mechanism according to an embodiment of the present invention;
FIG. 2 is a perspective view of the swing base assembly, rotary encoder assembly, anti-buckling shaft and swing drive of FIG. 1 shown assembled;
FIG. 3 is a schematic perspective view of a high precision anchor robotic arm swing mechanism according to an embodiment of the present invention;
FIG. 4 is a perspective view of the swing seat assembly of FIG. 1;
FIG. 5 is a perspective view of the bending shaft of FIG. 1;
FIG. 6 is a schematic perspective view of the swing drive of FIG. 1;
FIG. 7 is a perspective view of the rotary encoder assembly assembled with the ring body.
Reference numerals:
a high-precision anchor drilling mechanical arm swinging mechanism 0;
a leveling seat assembly 1;
a first plate 11; an anti-bending shaft 12; an axial bore 121; a radial hole 122; a connecting plate 123; a first riser 13; a bump block 14; a first rib plate 15;
a swing seat assembly 2;
a second flat plate 21; a ring body 22; a second riser 23; a second rib plate 24;
a rotary encoder assembly 3;
a rotary encoder 31; an inner cover 32; an outer casing 33;
a swing drive 4;
an outer ring 41; the inner race 42; a motor 43.
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 7, a high-precision anchor drilling mechanical arm swing mechanism (hereinafter referred to as a swing mechanism 0) according to an embodiment of the present invention includes a leveling seat assembly 1, where the leveling seat assembly 1 includes a first flat plate 11 and a bending-resistant shaft 12, the first flat plate 11 is fixedly connected with the bending-resistant shaft 12, and an axial direction of the bending-resistant shaft 12 extends along a thickness direction of the first flat plate 11; the swing seat component 2, the swing seat component 2 includes the second flat plate 21, the second flat plate 21 has the first through hole which runs through the wall thickness, the bending-resistant shaft 12 is set in the first through hole at the end far away from the first flat plate 11, the bending-resistant shaft 12 is connected with the second flat plate 21; the rotary encoder component 3, the rotary encoder component 3 includes the rotary encoder 31, inner cover 32, outer cover 33, the bottom of the rotary encoder 31 is fixedly connected with the end face of the bending-resistant shaft 12 far away from the first flat plate 11, the inner cover 32 is arranged in the cavity of the outer cover 33, the rotary encoder 31 is fixedly connected in the cavity of the inner cover 32, the rotating shaft of the rotary encoder 31 is fixedly connected with the outer cover 33; the rotary driving mechanism 4 is arranged between the first flat plate 11 and the second flat plate 21, an inner ring 42 of the rotary driving mechanism 4 is sleeved and fixed on the anti-bending shaft 12, an outer ring 41 of the rotary driving mechanism 4 is fixedly connected with the second flat plate 21, so that the rotary driving mechanism 4 can be controlled by the swing mechanism 0 through the rotary encoder 31 in a feedback mode, the accurate rotation of the swing mechanism 0 is further realized, and the purpose of accurate positioning can be realized by using the drill stand mechanical arm of the swing mechanism 0.
In some embodiments, the bending-resistant shaft 12 is provided with an axial hole 121 extending along the axial direction of the bending-resistant shaft 12 at the end away from the rotary encoder 31, the bending-resistant shaft 12 is provided with a radial hole 122 extending from the outer diameter of the bending-resistant shaft 12 to communicate with the axial hole 121, and the radial hole 122 communicates with the first through hole, so that when the bending-resistant shaft 12 rotates relative to the second plate 21, lubricating oil can be injected into the axial hole 121 and the radial hole 122, and since the radial hole 122 communicates with the first through hole, the lubricating oil can play a role in lubricating the bending-resistant shaft 12 and the first through hole of the second plate 21.
In some embodiments, the swing seat assembly 2 further comprises a ring 22 for reducing friction, the ring 22 being disposed between the anti-buckling shaft 12 and the first through hole, the ring 22 being rotatably connected to the anti-buckling shaft 12.
It should be noted that the type of the ring body 22 is not limited in the present invention, for example, the ring body 22 may be a paired angular contact bearing, or may be a friction ring made of copper or copper-tin alloy or other materials capable of reducing friction, and preferably, a friction ring is used, compared with a support form using a rolling bearing, the bending-resistant shaft 12 is engaged with the first through hole in the second plate 21 through the friction ring and rotates relatively, so that the bending-resistant shaft 12 and the second plate 21 have higher rigidity, namely, under the condition that the bending-resistant shaft bears the same bending moment, the deviation angle of the axis of the bending-resistant shaft relative to the axis of the first through hole is smaller, this can improve the fitting accuracy of the swing mechanism 0, and at the same time, to prevent the bending resistance shaft 12 and the friction ring from being largely worn, lubricating oil is introduced into the radial hole 122 and the axial hole 121, so that the bending-resistant shaft 12 and the friction ring are relatively lubricated and friction is reduced, this can ensure the fitting accuracy of the bending resistance shaft 12 with the first through hole in the second plate 21 over a long period of time.
In some embodiments, the ring body 22 is provided with a flange on the outer circumference of the end near the rotary encoder 31, and the second plate 21 is provided with a flange groove matching the flange, and the thickness of the flange is equal to the depth of the flange groove.
In some embodiments, the outer casing 33 is provided with an annular plate on its outer periphery near one end of the second plate 21, and the flange is provided with a ring groove matching with the annular plate near one end of the inner casing 32, and the annular plate connects the outer casing 33 and the flange by screws.
In order to prevent the leveling seat assembly 1 and the swinging seat assembly 2 from rotating by too large an angle, which causes the joint of the rotary encoder 31 to collide with the outer housing 33, in some embodiments, the swing seat assembly 2 further includes a second vertical plate 23, the second plate 21 and the second vertical plate 23 form a second L-shaped structure, a second rib 24 is disposed between the second plate 21 and the second vertical plate 23, the second rib 24 is symmetrically disposed on two sides of the bending-resistant shaft 12, the second L-shaped structure and the second rib 24 form a second groove, the bending-resistant shaft 12 is located in the second groove, the leveling seat assembly 1 further includes a first vertical plate 13, the first plate 11 and the first vertical plate 13 form a first L-shaped structure, at least a portion of the first plate 11 and at least a portion of the first vertical plate 13 are disposed in the second groove, a bump 14 is disposed on the first L-shaped structure, and the bump 14 is configured to play a role of buffering and limiting when colliding with the second rib 24.
In some embodiments, the first L-shaped structure is provided with a first rib plate 15, the circumferential surface of the first rib plate 15 is connected with the first flat plate 11 and the first vertical plate 13, the first rib plate 15 is symmetrically arranged at both sides of the bending axis 12, and the first rib plate is provided with a collision block 14 at one side far away from the bending axis, so that when the collision block 14 is impacted by the second rib plate 24, the impact force of the second rib plate 24 to the collision block 14 can be transmitted to the first rib plate 15, and at this time, the joint of the collision block 14 and the first rib plate 15 is mainly subjected to the action of compressive stress, so that the collision block 14 is not easy to fall off from the first rib plate 15.
In order to facilitate the installation and fixation of the bending-resistant shaft 12 and the first plate 11, in some embodiments, the first plate 11 is provided with a second through hole penetrating through the wall thickness, the bending-resistant shaft 12 passes through the second through hole of the first plate 11 by a groove of a first L-shaped structure and extends in a direction away from the first vertical plate 13, the bending-resistant shaft 12 is provided with a connecting plate 123 on an end surface away from the rotary encoder 31, and the connecting plate 123 fixedly connects the bending-resistant shaft 12 and the inner ring 42 of the rotary drive 4 through screws/bolts.
In some embodiments, the outer periphery of the connecting plate 123 is provided with a plurality of circumferentially spaced teeth, each of which is provided with a third through hole extending through the wall thickness of the connecting plate 123, said through holes being adapted to pass a screw/bolt through the connecting plate 123 to secure the anti-bow shaft 12 to the inner race 42 of the slew drive 4.
In some embodiments, the swing drive 4 is a worm-and-gear type swing drive, and the worm-and-gear type swing drive has high precision, large bearing capacity and self-locking performance, so that the boom mechanical arm using the swing mechanism 0 has high stability after posture adjustment, and the boom mechanical arm is safer and more stable in the anchoring process.
According to a specific embodiment of the boom mechanical arm, the boom mechanical arm comprises a first section arm, a second section arm, a boom swinging mechanism and a boom, a first end of the first section arm is hinged to a second end of the second section arm through the boom swinging mechanism, the boom is arranged at a first end of the second section arm, and the boom swinging mechanism is the same in structure and function as the swinging mechanism 0 described in the specific embodiment of the high-precision anchor boom mechanical arm swinging mechanism, and is not described herein again.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the 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 present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
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. A high accuracy anchor drilling arm slewing mechanism, its characterized in that includes:
the leveling seat assembly comprises a first flat plate and a bending-resistant shaft, the bending-resistant shaft is fixedly connected to the first flat plate, and the axial direction of the bending-resistant shaft extends along the thickness direction of the first flat plate;
the swing seat assembly comprises a second flat plate, the second flat plate is provided with a first through hole penetrating through the wall thickness, one end, far away from the first flat plate, of the bending resistant shaft is sleeved in the first through hole, and the bending resistant shaft is rotatably connected with the second flat plate;
the rotary encoder component comprises a rotary encoder, an inner casing and an outer casing, the bottom of the rotary encoder is fixedly connected with the end face, far away from the first flat plate, of the bending resistant shaft, the inner casing is arranged in the cavity of the outer casing, the rotary encoder is fixedly connected in the cavity of the inner casing, and the rotating shaft of the rotary encoder is fixedly connected with the outer casing;
and the rotary drive is arranged between the first flat plate and the second flat plate, the inner ring of the rotary drive is sleeved and fixed on the bending-resistant shaft, and the outer ring of the rotary drive is fixedly connected with the second flat plate.
2. The high-precision anchor drilling mechanical arm swinging mechanism according to claim 1, wherein the bending-resistant shaft is provided with an axial hole extending along the axial direction of the bending-resistant shaft at one end away from the rotary encoder, the bending-resistant shaft is provided with a radial hole extending along the outer diameter of the bending-resistant shaft to be communicated with the axial hole, and the radial hole is communicated with the first through hole.
3. The high-precision anchor-drilling manipulator swinging mechanism according to claim 2, wherein the swinging seat assembly further comprises a ring body for reducing friction, the ring body is arranged between the bending-resistant shaft and the first through hole, and the ring body is rotatably connected with the bending-resistant shaft.
4. The high-precision anchor mechanical arm swinging mechanism according to claim 3, wherein the ring body is provided with a flange on the outer peripheral surface of one end close to the rotary encoder, the second plate is provided with a flange groove matched with the flange, and the thickness of the flange is equal to the depth of the flange groove.
5. The high-precision anchor mechanical arm swinging mechanism according to claim 4, wherein the outer casing is provided with an annular plate on the outer peripheral surface near one end of the second flat plate, the flange is provided with an annular groove matched with the annular plate near one end of the inner casing, and the annular plate connects the outer casing and the flange through screws.
6. The high-precision anchor robotic arm swing mechanism of claim 5, the swing seat assembly further comprises a second vertical plate, the second flat plate and the second vertical plate form a second L-shaped structure, a second rib plate is arranged between the second flat plate and the second vertical plate, the second rib plates are symmetrically arranged at two sides of the bending-resistant shaft, the second L-shaped structure and the second rib plate form a second groove, the bending-resistant shaft is positioned in the second groove, the leveling seat assembly further comprises a first vertical plate, the first flat plate and the first vertical plate form a first L-shaped structure, at least part of the first flat plate and at least part of the first vertical plate are arranged in the second groove, and the first L-shaped structure is provided with a collision block which is used for buffering and limiting when colliding with the second rib plate.
7. The high-precision anchor drilling mechanical arm swinging mechanism according to claim 6, wherein the first L-shaped structure is provided with a first rib plate, the circumferential surface of the first rib plate is connected with the first flat plate and the first vertical plate, the first rib plate is symmetrically arranged at two sides of the bending-resistant shaft, and the collision block is arranged on one surface of the rib plate, which is far away from the bending-resistant shaft.
8. The high-precision anchor drilling mechanical arm swinging mechanism according to claim 7, wherein the first plate is provided with a second through hole penetrating through the wall thickness, the bending-resistant shaft penetrates through the second through hole through the groove of the first L-shaped structure and extends towards the direction far away from the first vertical plate, and a connecting plate is arranged on the end face of the bending-resistant shaft far away from the rotary encoder and fixedly connects the bending-resistant shaft with the inner ring of the rotary drive through a screw/bolt.
9. The high precision anchor robotic arm swing mechanism of any one of claims 1-8, wherein the swing drive is a worm gear swing drive.
10. A mechanical arm is characterized by comprising a first section arm, a second section arm, a mechanical arm swinging mechanism and a drill rig, wherein the first end of the first section arm is hinged with the second end of the second section arm through the mechanical arm swinging mechanism, the drill rig is arranged at the first end of the second section arm, and the mechanical arm swinging mechanism is the high-precision anchor mechanical arm swinging mechanism as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110998355.4A CN113700440B (en) | 2021-08-27 | 2021-08-27 | High-precision anchor drilling mechanical arm swing mechanism and drilling frame mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110998355.4A CN113700440B (en) | 2021-08-27 | 2021-08-27 | High-precision anchor drilling mechanical arm swing mechanism and drilling frame mechanical arm |
Publications (2)
| Publication Number | Publication Date |
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| CN113700440A true CN113700440A (en) | 2021-11-26 |
| CN113700440B CN113700440B (en) | 2023-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110998355.4A Active CN113700440B (en) | 2021-08-27 | 2021-08-27 | High-precision anchor drilling mechanical arm swing mechanism and drilling frame mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115308428A (en) * | 2022-08-08 | 2022-11-08 | 钢研纳克江苏检测技术研究院有限公司 | Automatic sample feeding device for vertical tube furnace |
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| WO2021103768A1 (en) * | 2020-06-28 | 2021-06-03 | 中铁九局集团电务工程有限公司 | Hole-drilling mechanical arm |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH085363A (en) * | 1994-06-23 | 1996-01-12 | Furukawa Co Ltd | Angle detection mechanism of working apparatus |
| JPH11117656A (en) * | 1997-10-08 | 1999-04-27 | Daiho Constr Co Ltd | Drilling device mounted on excavator |
| WO2001092825A1 (en) * | 2000-05-31 | 2001-12-06 | Unova Ip Corp. | Method and device for calibrating rotary axis |
| US20040112160A1 (en) * | 2002-12-11 | 2004-06-17 | Tonic Fitness Technology, Inc. | Directly-driven power swing rod device without dead points |
| CN110815282A (en) * | 2019-10-21 | 2020-02-21 | 南京理工大学 | Six-degree-of-freedom hydraulic mechanical arm |
| WO2021103768A1 (en) * | 2020-06-28 | 2021-06-03 | 中铁九局集团电务工程有限公司 | Hole-drilling mechanical arm |
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| CN115308428A (en) * | 2022-08-08 | 2022-11-08 | 钢研纳克江苏检测技术研究院有限公司 | Automatic sample feeding device for vertical tube furnace |
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| CN113700440B (en) | 2023-08-25 |
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