CN117798894A - Balance mechanical arm and multifunctional operation vehicle - Google Patents

Abstract

The invention provides a balance mechanical arm and a multifunctional operation vehicle, wherein the balance mechanical arm comprises: a base rotatably provided on an external device; one end of the mechanical arm structure is arranged on the base; the functional structure is detachably arranged at the other end of the mechanical arm structure through the quick-change structure; the balance structure is adjustably arranged on the base and is used for realizing balance with the mechanical arm structure on the base; the central control unit is respectively and electrically connected with the mechanical arm structure and the balance structure; the central control unit acquires the distance between the other end of the mechanical arm structure and the base and/or the rotation angle of the base and the external equipment, and adjusts the balance structure so that the balance structure and the total center of the mechanical arm structure are located on the external equipment. The invention realizes the rapid switching of different types of functional structures on the mechanical arm structure; through setting up balanced structure and central control unit, improved stability and the security of arm operation.

Description

Balance mechanical arm and multifunctional operation vehicle

Technical Field

The invention relates to the technical field of multifunctional mechanical arms, in particular to a balance mechanical arm and a multifunctional working vehicle.

Background

At present, with the development of mining equipment technology, fully mechanized mining equipment and retraction equipment basically realize automation and gradually develop to intellectualization, but auxiliary production links matched with the fully mechanized mining equipment still need a large amount of personnel to manually carry out auxiliary operations, such as carrying, drilling, excavating, shoveling, crushing and the like, especially in the retraction process of fully mechanized mining face equipment, the auxiliary links of small materials carrying, wire rope traction, roadway local trimming, float coal cleaning and the like are adopted, and the fully mechanized mining equipment is an auxiliary process, but the basic dependence on manual work causes time and labor waste, seriously influences the retraction process and the retraction efficiency of the whole working face, and has no special tools or equipment, so that the labor intensity of the staff is high, and potential safety hazards exist.

In the prior art, in order to complete the auxiliary procedures, one is to adopt a mode of adding a large number of workers to work cooperatively, for example, in order to drag a steel wire rope quickly, the workers at least need to complete team cooperation of 7-8 times in total, which is time-consuming, labor-consuming and low in efficiency; the other is to temporarily apply other large-scale automatic equipment to carry out auxiliary work, but because different auxiliary procedure tasks have different requirements (for example, task links in the retracting process are complex), different types of equipment are needed to cooperate to carry out auxiliary work, so that the field coordination of various equipment is difficult, and the equipment capacity is extremely wasted; the mechanical arm is adopted to replace manual auxiliary operation, and the special purpose of the mechanical arm is realized by installing functional components which realize functions such as digging, crushing and the like on the mechanical arm, but because different auxiliary working procedure tasks have different requirements, the functional components of different types are required to carry out auxiliary operation, and the functional components are inconvenient to disassemble and switch on the mechanical arm, so that the working efficiency is lower, and the overall production efficiency is seriously influenced; in addition, because the weight of the functional components of different types is different and the weight is usually larger, if the mechanical arm is longer in extension, the problem of balance unbalance can also occur, so that the whole device carrying the mechanical arm is toppled over, and serious safety accidents are caused.

Disclosure of Invention

The invention provides a balance mechanical arm and a multifunctional operation vehicle, which are used for solving the problems that functional components in the prior art are inconvenient to assemble and disassemble on the mechanical arm and the working balance of a device carrying the mechanical arm is poor.

In order to solve the above-described problems, according to an aspect of the present invention, there is provided a balance arm including: a base rotatably provided on an external device; one end of the mechanical arm structure is arranged on the base; the mechanical arm comprises a quick-change structure and a functional structure, wherein the functional structure is detachably arranged at the other end of the mechanical arm structure through the quick-change structure and is used for realizing production functions; the balance structure is adjustably arranged on the base and is used for realizing balance with the mechanical arm structure on the base; the central control unit is respectively and electrically connected with the mechanical arm structure and the balance structure; the central control unit acquires the distance between the other end of the mechanical arm structure and the base and/or the rotation angle of the base and the external equipment, and adjusts the balance structure so that the balance structure and the total center of the mechanical arm structure are located on the external equipment.

Further, the balance mechanical arm further comprises a turntable structure, the turntable structure is rotatably arranged on the external equipment, and the base is arranged on the turntable structure so as to be rotatable relative to the external equipment; the balance structure and the mechanical arm structure synchronously rotate; the turntable structure is electrically connected with the central control unit, and the central control unit acquires the rotation angle of the base and the mechanical arm structure relative to external equipment by detecting the turntable structure.

Further, the balancing structure comprises a balancing weight and a telescopic assembly, wherein the balancing weight is slidably arranged on the base, the telescopic assembly is arranged on the base, and two ends of the telescopic assembly are respectively connected with the base and the balancing weight so as to drive the balancing weight to move along the axial direction of the telescopic assembly; the axial direction of the telescopic component is parallel to the extending direction of the mechanical arm structure.

Further, the telescopic component comprises a displacement sensor and a telescopic oil cylinder, and two ends of the telescopic oil cylinder are respectively connected with the base and the balancing weight so as to drive the balancing weight to move; the displacement sensor is electrically connected with the central control unit and is used for detecting the telescopic length of the telescopic oil cylinder; and the central control unit obtains the position of the balancing weight on the base according to the monitoring data of the displacement sensor.

Further, the projections of the central axis of the balancing weight, the central axis of the telescopic cylinder and the central axis of the mechanical arm structure on the horizontal plane are overlapped; when the central control unit obtains that the absolute value of the rotation angle alpha of the other end of the mechanical arm structure relative to external equipment is not more than 45 degrees, controlling the extension stroke L of the telescopic oil cylinder to be 0; when the central control unit obtains that the absolute value of the rotation angle alpha of the other end of the mechanical arm structure relative to the external equipment is 90 degrees, the extension stroke L of the telescopic oil cylinder is controlled to be the maximum value S _max The method comprises the steps of carrying out a first treatment on the surface of the When the central control unit obtains that the absolute value of the rotation angle alpha of the other end of the mechanical arm structure relative to the external equipment is more than 45 degrees and less than 90 degrees, the extension stroke of the telescopic oil cylinder

Further, the turntable structure includes: the rotating disc is rotatably arranged on the external equipment, and the base is connected with the rotating disc; the rotary speed reducer is arranged on external equipment and connected with the rotating disc so as to drive the rotating disc to rotate; the encoder is respectively and electrically connected with the rotary speed reducer and the central control unit and is used for detecting the rotation data of the rotary speed reducer; and the central control unit obtains the rotation angle of the mechanical arm structure relative to external equipment according to the rotation data.

Further, the quick-change structure comprises a switching part and a first connecting frame, and the switching part is electrically connected with the central control unit; the functional structure is arranged on the first connecting frame; the switching part is provided with a separation state and a fixed state, and in the fixed state, the switching part is connected with the other end of the mechanical arm structure so as to fix the first connecting frame on the mechanical arm structure; in the disengaged state, the switching part is disconnected from the other end of the mechanical arm structure, so that the first connecting frame is detachable from the other end of the mechanical arm structure.

Further, the other end of the mechanical arm structure comprises a second frame body, two clamping hooks and a first lap joint piece, wherein the two clamping hooks and the first lap joint piece are respectively arranged on one side of the second frame body, and the first lap joint piece is provided with a first through hole; the two clamping hooks and the first lap joint piece are distributed at intervals in a triangular mode; the switching part is arranged on the second frame body or the first connecting frame; the first connecting frame comprises a first frame body, a second lap joint part and two clamping parts, wherein the second lap joint part and the two clamping parts are respectively arranged at one side of the first frame body, the second lap joint part is provided with a second through hole, and the two clamping parts and the second lap joint part are distributed at intervals in a triangular form; the functional structure is arranged on the other side of the first frame body; the switching part is a hydraulic cylinder; under a fixed state, the two clamping hooks are in one-to-one corresponding clamping fit with the two clamping pieces, the first lap joint piece is matched with the second lap joint piece, and the telescopic rod of the hydraulic oil cylinder sequentially stretches into the first through hole and the second through hole and is in limit fit with the first through hole and the second through hole so as to fix the first connecting frame at the other end of the mechanical arm structure; under the state of disengagement, the telescopic rod of the hydraulic oil cylinder is disengaged from the second through hole, so that the first connecting frame is detachable from the other end of the mechanical arm structure.

Further, the functional structure comprises at least one of a fork structure, a bucket structure, a breaking hammer structure, a grabbing structure, a drilling structure and a cutting structure; and/or the mechanical arm structure comprises a pitching adjusting part, a telescopic part, a first rotating part, a self-rotating part and a second rotating part; the functional structure is detachably arranged on the second rotating part through the quick-change structure; the pitching adjusting part is rotatably arranged on the base and is used for driving the mechanical arm structure to perform pitching adjustment; the telescopic part is arranged on the pitching adjusting part, and the length of the mechanical arm structure in the extending direction is changed through telescopic operation; the first rotating part is arranged on the telescopic part and used for driving the autorotation part, the second rotating part, the quick-change structure and the functional structure to rotate; the self-rotation part is arranged on the first rotation part and drives the second rotation part, the quick-change structure and the functional structure to rotate along the central axis of the functional structure through rotation; the second rotating part is arranged on the autorotation part and is used for driving the quick-change structure and the functional structure to rotate; the rotation direction of the first rotation part and the rotation direction of the second rotation part are different from the rotation direction of the autorotation part.

According to another aspect of the present invention, there is provided a multifunctional working vehicle including the above-mentioned balance arm, the multifunctional working vehicle further including a crawler-type moving platform, the crawler-type moving platform realizing overall movement and steering by crawler movement, a base of the balance arm being rotatably provided on the crawler-type moving platform and moving following the crawler-type moving platform; or, the multifunctional working vehicle further comprises a wheel type moving platform, the wheel type moving platform realizes integral movement and steering through wheel rotation, and the base of the balance mechanical arm is rotatably arranged on the wheel type moving platform and moves along with the wheel type moving platform.

By applying the technical scheme of the invention, the invention provides a balance mechanical arm, which comprises the following components: a base rotatably provided on an external device; one end of the mechanical arm structure is arranged on the base; the mechanical arm comprises a quick-change structure and a functional structure, wherein the functional structure is detachably arranged at the other end of the mechanical arm structure through the quick-change structure and is used for realizing production functions; the balance structure is adjustably arranged on the base and is used for realizing balance with the mechanical arm structure on the base; the central control unit is respectively and electrically connected with the mechanical arm structure and the balance structure; the central control unit acquires the distance between the other end of the mechanical arm structure and the base and/or the rotation angle of the base and the external equipment, and adjusts the balance structure so that the balance structure and the total center of the mechanical arm structure are located on the external equipment.

According to the invention, by arranging the quick-change structure and the functional structure, the quick-change of different types of functional structures on the mechanical arm structure is realized, the multi-functional switch on the mechanical arm structure is realized, the task requirements of different auxiliary procedures are further met, and the overall working efficiency is improved; through the arrangement of the balance structure and the central control unit, when the mechanical arm structure and the base rotate to work, the balance structure can be dynamically adjusted in real time by measuring the distance between the mechanical arm structure and the base and/or the rotation angle between the base and external equipment in real time, so that the total centers of the balance structure, the mechanical arm structure and the base are positioned on the external equipment, the stability and the safety of the mechanical arm operation are improved, and the integral dumping of the external equipment carrying the mechanical arm and other safety accidents are avoided; the invention can effectively replace manual work to perform multifunctional operation, is particularly suitable for auxiliary operation under coal mines, and has high working efficiency and reliable work; the mechanical arm structure can select the existing mechanical arm with multiple degrees of freedom to realize the functions of rotation, pitching, telescoping, swinging, autorotation and the like, so that the application range and the working flexibility of the balance mechanical arm are improved; the invention has simple structure and low cost, and is suitable for large-scale popularization and use.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

fig. 1 shows an external structural schematic diagram of a balance mechanical arm provided by an embodiment of the present invention;

FIG. 2 is a schematic view of the external structure of a balance arm according to an embodiment of the present invention at another angle;

FIG. 3 is a schematic view showing an external structure of a multifunctional work vehicle according to an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating the relative rotation of a robotic arm structure on a tracked motion platform according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram illustrating the cooperation between the quick-change structure and the second frame according to the embodiment of the present invention;

fig. 6 is a schematic diagram showing a specific structure of a second frame position on a second rotating portion according to an embodiment of the present invention;

FIG. 7 is a schematic diagram showing a specific structure of a first connecting frame according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a functional structure according to an embodiment of the present invention when the functional structure is a breaking hammer structure;

fig. 9 shows a schematic structural view of the functional structure provided by the embodiment of the present invention in the form of a bucket structure.

Wherein the above figures include the following reference numerals:

10. a base;

20. a mechanical arm structure; 23. a pitch adjustment unit; 24. a telescopic part; 25. a first rotating part; 26. a rotation unit; 27. a second rotating part; 271. a second frame body; 272. a hook; 273. a first strap;

30. a quick-change structure; 31. a switching section; 32. a first connection frame; 321. a second strap; 322. a clamping piece; 323. a first frame body;

40. a functional structure;

50. a balance structure; 51. balancing weight; 52. a telescoping assembly;

60. a turntable structure; 61. a rotating disc; 62. a swing decelerator; 63. an encoder;

70. a crawler-type motion platform.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

As shown in fig. 1 to 9, an embodiment of the present invention provides a balance arm including: a base 10 rotatably provided on an external device; the mechanical arm structure 20, one end of which is arranged on the base 10; the quick-change structure 30 and the functional structure 40, the functional structure 40 is detachably arranged at the other end of the mechanical arm structure 20 through the quick-change structure 30, and the functional structure 40 is used for realizing the production function; a balancing structure 50 adjustably provided on the base 10 for balancing with the robot arm structure 20 on the base 10; the central control unit is electrically connected with the mechanical arm structure 20 and the balance structure 50 respectively; wherein the central control unit obtains the distance between the other end of the mechanical arm structure 20 and the base 10 and/or the rotation angle of the base 10 and the external device, and adjusts the balance structure 50 so that the balance structure 50 and the total center of the mechanical arm structure 20 are located on the external device.

According to the invention, by arranging the quick-change structure 30 and the functional structure 40, the quick-change of the functional structures 40 of different types on the mechanical arm structure 20 is realized, the multi-functional switch on the mechanical arm structure 20 is realized, the task requirements of different auxiliary procedures are further met, and the overall working efficiency is improved; by arranging the balance structure 50 and the central control unit, when the mechanical arm structure 20 and the base 10 rotate to work, the balance structure 50 can be dynamically adjusted in real time by measuring the distance between the mechanical arm structure 20 and the base 10 and/or the rotation angle between the base 10 and external equipment in real time, so that the total weight centers of the balance structure 50, the mechanical arm structure 20 and the base 10 are ensured to be positioned on the external equipment, the stability and the safety of the mechanical arm operation are further improved, and the integral dumping of the external equipment carrying the mechanical arm and other safety accidents are avoided; the invention can effectively replace manual work to perform multifunctional operation, is particularly suitable for auxiliary operation under coal mines, and has high working efficiency and reliable work; the mechanical arm structure 20 in the invention can select the existing mechanical arm with multiple degrees of freedom to realize the functions of rotation, pitching, telescoping, swinging, autorotation and the like, thereby improving the application range and the working flexibility of the balance mechanical arm; the invention has simple structure and low cost, and is suitable for large-scale popularization and use.

As shown in fig. 1, 2, 3 and 4, the balance arm further includes a turntable structure 60, the turntable structure 60 is rotatably disposed on the external device, and the base 10 is disposed on the turntable structure 60 to be rotatable with respect to the external device; the balance structure 50 rotates in synchronization with the mechanical arm structure 20; the turntable structure 60 is electrically connected with a central control unit, and the central control unit acquires the rotation angles of the base 10 and the mechanical arm structure 20 relative to external equipment by detecting the turntable structure 60. By providing the turntable structure 60, the bearing capacity of the robot arm structure 20 and the base 10 is improved by taking advantage of the high bearing of the rotating disc 61 while ensuring the degree of freedom of rotation of the robot arm structure 20 and the base 10 on external devices (e.g., a load-bearing vehicle).

As shown in fig. 1, 2, 3 and 4, the balancing structure 50 includes a balancing weight 51 and a telescopic assembly 52, the balancing weight 51 is slidably disposed on the base 10, the telescopic assembly 52 is disposed on the base 10, and two ends of the telescopic assembly 52 are respectively connected with the base 10 and the balancing weight 51 so as to drive the balancing weight 51 to move along the axial direction of the telescopic assembly 52; wherein the axial direction of the telescopic assembly 52 is parallel to the extending direction of the mechanical arm structure 20. By the arrangement, the balance structure 50 is ensured to reliably balance the mechanical arm structure 20, the structure of the balance structure 50 is simplified, and purchasing and assembly are facilitated.

Specifically, the telescopic assembly 52 comprises a displacement sensor and a telescopic oil cylinder, and two ends of the telescopic oil cylinder are respectively connected with the base 10 and the balancing weight 51 so as to drive the balancing weight 51 to move; the displacement sensor is electrically connected with the central control unit and is used for detecting the telescopic length of the telescopic oil cylinder; the central control unit derives the position of the counterweight 51 on the base 10 based on the monitoring data of the displacement sensor. By arranging the displacement sensor, the real-time monitoring of the telescopic length of the telescopic oil cylinder is realized, and then the central control unit can obtain the position of the balancing weight 51 on the base 10 according to the monitoring data of the displacement sensor.

As shown in fig. 4, the projection of the central axis of the balancing weight 51, the central axis of the telescopic cylinder and the central axis of the mechanical arm structure 20 on the horizontal plane are overlapped; when the central control unit obtains that the absolute value of the rotation angle alpha of the other end of the mechanical arm structure 20 relative to external equipment is not more than 45 degrees, controlling the extension stroke L of the telescopic oil cylinder to be 0; when the central control unit obtains that the absolute value of the rotation angle alpha of the other end of the mechanical arm structure 20 relative to the external equipment is 90 degrees, the extension stroke L of the telescopic oil cylinder is controlled to be the maximum value S _max The method comprises the steps of carrying out a first treatment on the surface of the When the central control unit obtains that the absolute value of the rotation angle alpha of the other end of the mechanical arm structure 20 relative to the external equipment is more than 45 degrees and less than 90 degrees, the extension stroke of the telescopic cylinder

By arranging the projection coincidence of the central axis of the balancing weight 51, the central axis of the telescopic cylinder and the central axis of the mechanical arm structure 20 on the horizontal plane, when the turntable structure 60 rotates, the centrifugal forces on the balancing weight 51, the telescopic cylinder and the mechanical arm structure 20 can be balanced efficiently, and the dynamic balance effect is further improved; by setting the relation between the rotation angle alpha of the base 10 and the extension stroke L of the telescopic cylinder, the balance control meeting the actual balance requirement is realized by a simple method and principle.

As shown in fig. 1, 2 and 3, the turntable structure 60 includes: a rotating disk 61 rotatably provided on an external device, the base 10 being connected to the rotating disk 61; a swing decelerator 62 provided on an external device and connected to the rotating disc 61 to drive the rotating disc 61 to rotate; an encoder 63 electrically connected to the rotation speed reducer 62 and the central control unit, respectively, for detecting rotation data of the rotation speed reducer 62; the central control unit derives the rotation angle of the robot arm structure 20 with respect to the external device based on the rotation data. By the arrangement, the working reliability of the turntable structure 60 is guaranteed, the structure of the turntable structure 60 tends to be simplified, the cost is effectively reduced, and subsequent purchasing and assembly are facilitated.

It should be noted that: in one embodiment of the present invention, encoder 63 is a device for measuring and tracking rotational or linear motion position; on the slew reducer 62, the encoder 63 may optionally perform the following functions: 1. the encoder 63 can accurately measure the position of the rotor of the rotary speed reducer 62, thereby realizing accurate positioning and control; 2. the encoder 63 can provide real-time working information of the rotary speed reducer 62 by feedback control, so that the central control unit can adjust the rotating speed of the rotary speed reducer 62 in real time, thereby realizing accurate control of the rotating angle.

As shown in fig. 1, 5, 6 and 7, the quick-change structure 30 includes a switching portion 31 and a first connection frame 32, and the switching portion 31 is electrically connected to the central control unit; the functional structure 40 is disposed on the first connection frame 32; wherein the switching part 31 has a disengaged state and a fixed state, and in the fixed state, the switching part 31 is connected with the other end of the mechanical arm structure 20 to fix the first connecting frame 32 on the mechanical arm structure 20; in the disengaged state, the switching portion 31 is disconnected from the other end of the robot arm structure 20 so that the first connection frame 32 is detachable from the other end of the robot arm structure 20. The arrangement is such that the quick-change structure 30 is simple in structure and reliable in operation; by providing the switching section 31, automatic switching of the state of the quick change structure 30 is achieved.

In a specific embodiment of the present invention, the first connecting frame 32 may be provided in a plurality of types, which are respectively corresponding to the types of the functional structures 40, and each functional structure 40 is detachably fixed on one first connecting frame 32 through bolts to form a quick-change operation module, so that the quick-change operation module can be quickly replaced when any function is required, and quick-change of different functions is realized.

As shown in fig. 6 and 7, the other end of the mechanical arm structure 20 includes a second frame 271, two hooks 272 and a first lap joint member 273 respectively disposed on one side of the second frame 271, where the first lap joint member 273 has a first through hole; the two hooks 272 and the first lap 273 are distributed at intervals in a triangular form; the switching part 31 is provided on the second frame 271 or the first connection frame 32; the first connecting frame 32 comprises a first frame body 323, a second lap joint member 321 and two clamping members 322, wherein the second lap joint member 321 and the two clamping members 322 are respectively arranged at one side of the first frame body 323, the second lap joint member 321 is provided with a second through hole, and the two clamping members 322 and the second lap joint member 321 are distributed at intervals in a triangular form; the functional structure 40 is disposed at the other side of the first frame 323; the switching part 31 is a hydraulic cylinder; in the fixed state, the two hooks 272 are engaged with the two engaging members 322 in a one-to-one correspondence manner, the first lap joint member 273 is engaged with the second lap joint member 321, and the telescopic rod of the hydraulic cylinder sequentially extends into the first through hole and the second through hole and is in limit engagement with the first through hole and the second through hole, so as to fix the first connecting frame 32 at the other end of the mechanical arm structure 20; in the disengaged state, the telescopic rod of the hydraulic cylinder is disconnected from the second through hole, so that the first connection frame 32 is detachable from the other end of the mechanical arm structure 20.

By setting the switching part 31 as a hydraulic cylinder, the switching part 31 can be ensured to work reliably, and meanwhile, the switching part 31 can be adjusted flexibly by workers; by arranging the two hooks 272 and the first lap joint part 273 to be distributed at intervals in a triangular form, the stable connection and reliable matching of the mechanical arm structure 20 and the first connecting frame 32 are structurally ensured; by arranging the clamping hooks 272 to be matched with the clamping pieces 322 in a clamping way, the mechanical arm structure 20 and the first connecting frame 32 can be conveniently detached and installed.

As shown in fig. 8 and 9, the functional structure 40 includes at least one of a fork structure, a bucket structure, a breaking hammer structure, a grasping structure, a drilling structure, and a cutting structure; and/or, as shown in fig. 1, 2 and 3, the mechanical arm structure 20 includes a pitch adjustment portion 23, a telescopic portion 24, a first rotation portion 25, a rotation portion 26 and a second rotation portion 27; the functional structure 40 is detachably provided on the second rotating portion 27 through the quick-change structure 30; the pitching adjusting part 23 is rotatably arranged on the base 10 and is used for driving the mechanical arm structure 20 to perform pitching adjustment; the telescopic part 24 is provided on the pitch adjusting part 23, and changes the length of the mechanical arm structure 20 in the extending direction by telescoping; the first rotating part 25 is arranged on the telescopic part 24 and is used for driving the autorotation part 26, the second rotating part 27, the quick-change structure 30 and the functional structure 40 to rotate; the rotation part 26 is arranged on the first rotation part 25, and drives the second rotation part 27, the quick-change structure 30 and the functional structure 40 to rotate along the central axis of the functional structure 40 through rotation; the second rotating part 27 is arranged on the autorotation part 26 and is used for driving the quick-change structure 30 and the functional structure 40 to rotate; the rotation direction of the first rotation portion 25 and the rotation direction of the second rotation portion 27 are different from the rotation direction of the rotation portion 26.

By the arrangement, the functional structure 40 has at least one of the functions of dumping, digging, crushing, grabbing, drilling and cutting, so that the multiple functions on the mechanical arm structure 20 are switched, the task requirements of different auxiliary procedures are met, and the overall working efficiency is improved; through setting up the concrete constitution of arm structure 20 for arm structure 20 has functions such as rotation, every single move, flexible, swing and rotation, and then improves balanced arm's application scope and work flexibility.

It should be noted that: in one embodiment of the present invention, the functional structure 40 can perform the functions of forking, shoveling, digging, crushing, hoisting, float coal cleaning, etc. of materials in the coal mine; the functional structures 40 of different functions need to be purchased or redesigned respectively, so the more functions are, the higher the cost is, and in actual use, the more functions are adapted according to the actual use requirement, so as to save the cost.

As shown in fig. 3 and 4, the present invention further provides a multifunctional working vehicle, including the above-mentioned balance arm, the multifunctional working vehicle further includes a crawler-type moving platform 70, the crawler-type moving platform 70 implements overall movement and steering through crawler motion, and the base 10 of the balance arm is rotatably disposed on the crawler-type moving platform 70 and moves following the crawler-type moving platform 70; or, the multifunctional working vehicle further comprises a wheel type moving platform, the wheel type moving platform realizes integral movement and steering through wheel rotation, and the base 10 of the balance mechanical arm is rotatably arranged on the wheel type moving platform and moves along with the wheel type moving platform. The multifunctional working vehicle provided by the invention can efficiently meet various requirements of underground production of coal mines, and is reliable in work and convenient to operate.

In one embodiment of the present invention, the robotic arm structure 20 on the multi-function work vehicle may achieve a 360 ° turn through the turntable structure 60; the pitch adjusting part 23 can realize up-down pitch adjustment of-15 degrees to 38 degrees (after a reference of 0 degrees is set, the positive and negative numbers only represent the pitch angle direction), and the telescopic part 24 can realize the telescopic of the length range of 0mm to 500 mm; the first rotating part 25 can swing by 0 to 90 degrees, the rotating part 26 can swing by +/-180 degrees, the second rotating part 27 can swing by +/-90 degrees, and the swinging direction is parallel to the first rotating part 25.

In summary, the invention provides a balanced mechanical arm and a multifunctional working vehicle, and by arranging the quick-change structure 30 and the functional structure 40, the invention realizes the quick-change of different types of functional structures 40 on the mechanical arm structure 20, realizes the multi-functional switch on the mechanical arm structure 20, further meets the task requirements of different auxiliary procedures, and improves the overall working efficiency; by arranging the balance structure 50 and the central control unit, when the mechanical arm structure 20 and the base 10 rotate to work, the balance structure 50 can be dynamically adjusted in real time by measuring the distance between the mechanical arm structure 20 and the base 10 and/or the rotation angle between the base 10 and external equipment in real time, so that the total weight centers of the balance structure 50, the mechanical arm structure 20 and the base 10 are ensured to be positioned on the external equipment, the stability and the safety of the mechanical arm operation are further improved, and the integral dumping of the external equipment carrying the mechanical arm and other safety accidents are avoided; the invention can effectively replace manual work to perform multifunctional operation, is particularly suitable for auxiliary operation under coal mines, and has high working efficiency and reliable work; the mechanical arm structure 20 in the invention can select the existing mechanical arm with multiple degrees of freedom to realize the functions of rotation, pitching, telescoping, swinging, autorotation and the like, thereby improving the application range and the working flexibility of the balance mechanical arm; the invention has simple structure and low cost, and is suitable for large-scale popularization and use.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A balanced robotic arm, comprising:

a base (10) rotatably provided on an external device;

one end of the mechanical arm structure (20) is arranged on the base (10);

the mechanical arm comprises a quick-change structure (30) and a functional structure (40), wherein the functional structure (40) is detachably arranged at the other end of the mechanical arm structure (20) through the quick-change structure (30), and the functional structure (40) is used for realizing a production function;

a balancing structure (50) adjustably arranged on the base (10) for balancing with the mechanical arm structure (20) on the base (10);

the central control unit is electrically connected with the mechanical arm structure (20) and the balance structure (50) respectively;

the central control unit acquires the distance between the other end of the mechanical arm structure (20) and the base (10) and/or the rotation angle of the base (10) and the external equipment, and adjusts the balance structure (50) so that the total weight center of the balance structure (50) and the mechanical arm structure (20) is located on the external equipment.

2. The balancing manipulator according to claim 1, further comprising a turntable structure (60), the turntable structure (60) being rotatably arranged at the external device, the base (10) being arranged on the turntable structure (60) so as to be rotatable with respect to the external device; the balance structure (50) rotates synchronously with the mechanical arm structure (20); the turntable structure (60) is electrically connected with the central control unit, and the central control unit obtains the rotation angle of the base (10) and the mechanical arm structure (20) relative to the external equipment by detecting the turntable structure (60).

3. The balancing mechanical arm according to claim 2, wherein the balancing structure (50) comprises a balancing weight (51) and a telescopic assembly (52), the balancing weight (51) is slidably arranged on the base (10), the telescopic assembly (52) is arranged on the base (10), and two ends of the telescopic assembly are respectively connected with the base (10) and the balancing weight (51) so as to drive the balancing weight (51) to move along the axial direction of the telescopic assembly (52); the axial direction of the telescopic component (52) is parallel to the extending direction of the mechanical arm structure (20).

4. A balancing mechanical arm according to claim 3, wherein the telescopic assembly (52) comprises a displacement sensor and a telescopic oil cylinder, and two ends of the telescopic oil cylinder are respectively connected with the base (10) and the balancing weight (51) so as to drive the balancing weight (51) to move; the displacement sensor is electrically connected with the central control unit and is used for detecting the telescopic length of the telescopic oil cylinder; the central control unit derives the position of the balancing weight (51) on the base (10) according to the monitoring data of the displacement sensor.

5. The balance mechanical arm according to claim 4, characterized in that the projections of the central axis of the balancing weight (51), the central axis of the telescopic cylinder and the central axis of the mechanical arm structure (20) on a horizontal plane coincide; when the central control unit obtains that the absolute value of the rotation angle alpha of the other end of the mechanical arm structure (20) relative to the external equipment is not more than 45 degrees, controlling the extension stroke L of the telescopic oil cylinder to be 0; when the central control unit obtains that the absolute value of the rotation angle alpha of the other end of the mechanical arm structure (20) relative to the external equipment is 90 degrees, the extension stroke L of the telescopic oil cylinder is controlled to be the maximum value S _max The method comprises the steps of carrying out a first treatment on the surface of the When the central control unit obtains that the absolute value of the rotation angle alpha of the other end of the mechanical arm structure (20) relative to the external equipment is more than 45 degrees and less than 90 degrees, the extension stroke of the telescopic oil cylinder

6. The balancing manipulator according to claim 2, wherein the turntable structure (60) comprises:

a rotating disk (61) rotatably provided on the external device, the base (10) being connected to the rotating disk (61);

a swing speed reducer (62) provided on the external device and connected to the rotating disk (61) to drive the rotating disk (61) to rotate;

an encoder (63) electrically connected to the rotation speed reducer (62) and the central control unit, respectively, for detecting rotation data of the rotation speed reducer (62); and the central control unit obtains the rotation angle of the mechanical arm structure (20) relative to the external equipment according to the rotation data.

7. The balancing manipulator according to claim 1, characterized in that the quick-change structure (30) comprises a switching part (31) and a first connection frame (32), the switching part (31) being electrically connected with the central control unit; the functional structure (40) is arranged on the first connecting frame (32); wherein the switching part (31) has a disengaged state and a fixed state, and in the fixed state, the switching part (31) is connected with the other end of the mechanical arm structure (20) so as to fix the first connecting frame (32) on the mechanical arm structure (20); in the disengaged state, the switching part (31) is disconnected from the other end of the mechanical arm structure (20) so that the first connecting frame (32) is detachable from the other end of the mechanical arm structure (20).

8. The balance mechanical arm according to claim 7, wherein the other end of the mechanical arm structure (20) comprises a second frame body (271), two hooks (272) and a first lap joint part (273) respectively arranged at one side of the second frame body (271), and the first lap joint part (273) is provided with a first through hole; the two hooks (272) and the first lap joint part (273) are distributed at intervals in a triangular form; the switching part (31) is arranged on the second frame body (271) or the first connecting frame (32); the first connecting frame (32) comprises a first frame body (323), a second lap joint part (321) and two clamping pieces (322), wherein the second lap joint part (321) and the two clamping pieces (322) are respectively arranged on one side of the first frame body (323), the second lap joint part (321) is provided with a second through hole, and the two clamping pieces (322) and the second lap joint part (321) are distributed at intervals in a triangular mode; the functional structure (40) is arranged on the other side of the first frame body (323); the switching part (31) is a hydraulic cylinder; in the fixed state, the two clamping hooks (272) are in one-to-one corresponding clamping fit with the two clamping pieces (322), the first lap joint piece (273) is matched with the second lap joint piece (321), and the telescopic rod of the hydraulic cylinder sequentially stretches into the first through hole and the second through hole and is in limit fit with the first through hole and the second through hole so as to fix the first connecting frame (32) at the other end of the mechanical arm structure (20); in the disengaged state, the telescopic rod of the hydraulic cylinder is disconnected from the second through hole, so that the first connecting frame (32) is detachable from the other end of the mechanical arm structure (20).

9. The balancing mechanical arm according to claim 1, wherein the functional structure (40) comprises at least one of a fork structure, a bucket structure, a breaking hammer structure, a grabbing structure, a drilling structure and a cutting structure; and/or the mechanical arm structure (20) comprises a pitching adjusting part (23), a telescopic part (24), a first rotating part (25), a self-rotating part (26) and a second rotating part (27); the functional structure (40) is detachably arranged on the second rotating part (27) through the quick-change structure (30); the pitching adjusting part (23) is rotatably arranged on the base (10) and is used for driving the mechanical arm structure (20) to pitch and adjust; the telescopic part (24) is arranged on the pitching adjusting part (23) and is used for changing the length of the mechanical arm structure (20) in the extending direction through telescopic action; the first rotating part (25) is arranged on the telescopic part (24) and is used for driving the autorotation part (26), the second rotating part (27), the quick-change structure (30) and the functional structure (40) to rotate; the self-rotation part (26) is arranged on the first rotation part (25), and drives the second rotation part (27), the quick-change structure (30) and the functional structure (40) to rotate along the central axis of the functional structure (40) through rotation; the second rotating part (27) is arranged on the autorotation part (26) and is used for driving the quick-change structure (30) and the functional structure (40) to rotate; wherein the rotation direction of the first rotation part (25) and the rotation direction of the second rotation part (27) are different from the rotation direction of the rotation part (26).

10. A multi-function work vehicle, characterized by comprising a balancing mechanical arm according to any one of claims 1 to 9, the multi-function work vehicle further comprising a crawler-type motion platform (70), the crawler-type motion platform (70) achieving an overall movement and steering by crawler motion, the base (10) of the balancing mechanical arm being rotatably arranged on the crawler-type motion platform (70) and moving following the crawler-type motion platform (70); or, the multifunctional working vehicle further comprises a wheel type moving platform, the wheel type moving platform realizes integral movement and steering through wheel rotation, and the base (10) of the balance mechanical arm is rotatably arranged on the wheel type moving platform and moves along with the wheel type moving platform.