CN114687681A - Rotary positioning structure and method for manipulator - Google Patents
Rotary positioning structure and method for manipulator Download PDFInfo
- Publication number
- CN114687681A CN114687681A CN202210334167.6A CN202210334167A CN114687681A CN 114687681 A CN114687681 A CN 114687681A CN 202210334167 A CN202210334167 A CN 202210334167A CN 114687681 A CN114687681 A CN 114687681A
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- CN
- China
- Prior art keywords
- manipulator
- proximity switch
- switch assembly
- positioning structure
- induction block
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Links
- 238000000034 method Methods 0.000 title claims abstract description 7
- 230000006698 induction Effects 0.000 claims abstract description 20
- 230000004044 response Effects 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 238000005553 drilling Methods 0.000 abstract description 11
- 239000003245 coal Substances 0.000 description 6
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000007115 recruitment Effects 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
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/146—Carousel systems, i.e. rotating rack systems
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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
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of mechanical design, and discloses a rotary positioning structure of a manipulator, which comprises a manipulator turntable, a first proximity switch assembly and a second proximity switch assembly, wherein an outer induction block is arranged on the outer contour of the manipulator turntable, an inner induction block is arranged on the inner contour of the manipulator turntable, the first proximity switch assembly corresponds to the outer induction block, and the second proximity switch assembly corresponds to the inner induction block. The mechanical arm rotary positioning structure is matched with the outer induction block and the inner induction block through the first proximity switch assembly and the second proximity switch assembly respectively, so that the mechanical arm of the automatic drilling machine is accurately controlled to rotate and position clockwise or anticlockwise. The invention further provides a manipulator rotation positioning method.
Description
Technical Field
The invention belongs to the field of mechanical design, and particularly relates to a rotary positioning structure and a rotary positioning method for a manipulator.
Background
Automation and intellectualization are the main development directions of the coal industry in recent years. The equipment with automatic and intelligent functions is used for replacing manpower, so that the problems of high labor intensity of workers and safety caused by the high labor intensity of the workers can be solved, and the problem of difficulty in recruitment, which is prominent day by day in the coal industry, can be effectively solved. The automatic and intelligent equipment leads the coal industry to realize high-quality development and represents a new direction for equipment development in the coal industry.
With the development of coal mine drilling technology and the improvement of safety awareness of workers, more and more automatic drilling equipment is applied to underground coal mines for automatic drilling operation. The automatic drilling machine has the advantages of high drilling speed, high working stability and the like as geological exploration equipment with higher automation degree. However, after the existing automatic drilling machine grabs the drill rod, the manipulator of the automatic drilling machine needs to rotate by a certain angle to complete the drill rod conveying, but because certain parts are worn in a mechanical limiting mode, the positioning is inaccurate after a long time.
Disclosure of Invention
In view of the above, the present invention provides a robot rotation positioning structure and method with reasonable structure design and strong practicability, so as to solve the problem of inaccurate robot rotation positioning of an automatic drilling machine.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a rotary positioning structure of a manipulator, which comprises a manipulator turntable, wherein an outer induction block is arranged on the outer contour of the manipulator turntable, an inner induction block is arranged on the inner contour of the manipulator turntable, and the rotary positioning structure further comprises a first proximity switch assembly corresponding to the outer induction block and a second proximity switch assembly corresponding to the inner induction block.
Further, each of the first proximity switch assembly and the second proximity switch assembly includes a mounting bracket and a photoelectric switch disposed on the mounting bracket.
The invention is also based on the positioning method of the manipulator rotation positioning structure, which comprises the following steps: the manipulator turntable rotates clockwise, when the outer induction block rotates to the first proximity switch assembly, the first proximity switch assembly outputs a signal and controls the manipulator turntable to stop rotating; the manipulator carousel anticlockwise rotation, when interior response piece rotated to the second proximity switch subassembly, by second proximity switch subassembly output signal to control manipulator carousel stall.
The invention has the beneficial effects that: the mechanical arm rotary positioning structure is matched with the outer induction block and the inner induction block through the first proximity switch assembly and the second proximity switch assembly respectively, so that the mechanical arm of the automatic drilling machine is accurately controlled to rotate and position clockwise or anticlockwise.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a perspective view of a robot rotational positioning structure of the present invention in one direction;
FIG. 2 is an enlarged view of portion B of FIG. 1;
FIG. 3 is a perspective view of the rotational positioning structure of the robot of the present invention in another orientation;
FIG. 4 is an enlarged view of portion A of FIG. 3;
description of the reference numerals: the device comprises a first proximity switch assembly 1, a second proximity switch assembly 2, a manipulator turntable 3, an inner induction block 4 and an outer induction block 5.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
As shown in fig. 1 to 4, the manipulator rotation positioning structure in this embodiment includes a manipulator turntable 3, an outer sensing block 5 disposed on an outer contour of the manipulator turntable 3, an inner sensing block 4 disposed on an inner contour of the manipulator turntable 3, a first proximity switch assembly 1 corresponding to the outer sensing block 5, and a second proximity switch assembly 2 corresponding to the inner sensing block 4.
The first and second proximity switch assemblies 1, 2 in this embodiment each comprise a mounting bracket and a photoelectric switch disposed on the mounting bracket. The photoelectric switch can be installed and fixed through the installation support, and the photoelectric switch has the advantages of fast induction and high accuracy.
The working principle of the mechanical arm rotary positioning structure is as follows: the manipulator turntable rotates clockwise, when the outer induction block 5 rotates to the first proximity switch assembly 1, the first proximity switch assembly 1 outputs a signal, and the manipulator turntable 3 is controlled to stop rotating through a PLC (programmable logic controller) or a program controller; and the manipulator carousel anticlockwise rotation, when interior response piece 4 rotated to second proximity switch subassembly 2, then by second proximity switch subassembly 2 output signal to control manipulator carousel 3 stall through PLC or program controller. Therefore, the rotary positioning structure of the manipulator is matched with the outer induction block and the inner induction block through the first proximity switch assembly and the second proximity switch assembly respectively, so that the manipulator of the automatic drilling machine is accurately controlled to rotate and position clockwise or anticlockwise.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (3)
1. The utility model provides a manipulator rotational positioning structure, includes manipulator carousel (3), its characterized in that, set up outer response piece (5) on the outline of manipulator carousel, set up interior response piece (4) on the interior outline of manipulator carousel, still include with outer response piece corresponding first proximity switch subassembly (1), with interior response piece corresponding second proximity switch subassembly (2).
2. The robot rotational positioning structure of claim 1, wherein the first and second proximity switch assemblies each include a mounting bracket and a photoelectric switch disposed on the mounting bracket.
3. The positioning method of the robot rotational positioning structure according to claim 1 or 2, comprising:
the manipulator turntable rotates clockwise, when the outer induction block rotates to the first proximity switch assembly, the first proximity switch assembly outputs a signal and controls the manipulator turntable to stop rotating;
the manipulator carousel anticlockwise rotation, when interior response piece rotated to the second proximity switch subassembly, by second proximity switch subassembly output signal to control manipulator carousel stall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210334167.6A CN114687681A (en) | 2022-03-30 | 2022-03-30 | Rotary positioning structure and method for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210334167.6A CN114687681A (en) | 2022-03-30 | 2022-03-30 | Rotary positioning structure and method for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114687681A true CN114687681A (en) | 2022-07-01 |
Family
ID=82140483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210334167.6A Pending CN114687681A (en) | 2022-03-30 | 2022-03-30 | Rotary positioning structure and method for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114687681A (en) |
-
2022
- 2022-03-30 CN CN202210334167.6A patent/CN114687681A/en active Pending
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