CN215718822U

CN215718822U - Tail end carrying device, mechanical arm and guniting robot

Info

Publication number: CN215718822U
Application number: CN202122188478.XU
Authority: CN
Inventors: 马龙; 沈怀强; 张坤; 黄梁松; 冯开林; 秦存海
Original assignee: TAIAN CRESICS MINING EQUIPMENT CO Ltd
Current assignee: Shandong Science And Technology Innovation Equipment Manufacturing Co ltd; Zhang Kun
Priority date: 2021-09-10
Filing date: 2021-09-10
Publication date: 2022-02-01
Anticipated expiration: 2031-09-10

Abstract

The utility model discloses a tail end carrying device, a mechanical arm and a guniting robot, wherein the tail end carrying device is arranged at the tail end of the mechanical arm and is used for carrying a nozzle matched with the guniting robot on a mechanical arm of the guniting robot, and the tail end carrying device comprises: the rack is used for installing the tail end carrying device on the mechanical arm; one end of the swinging part is connected to the rack through a ball hinge, and the side surface of the swinging part is used for carrying the spray head; one end of the crank is hinged with the other end of the swinging part; the other end is hinged with the frame; and the driving device drives the crank to rotate around a hinge point between the crank and the frame. Better guniting quality is easily achieved by means of the end carrier device of the utility model.

Description

Tail end carrying device, mechanical arm and guniting robot

Technical Field

The utility model relates to a tail end carrying device for carrying a spray head on a mechanical arm of a guniting robot, the mechanical arm provided with the tail end carrying device, and the guniting robot provided with the mechanical arm.

Background

Concrete injection work is very commonly used in, for example, mining industry and transportation tunnel construction, such as tunnel neoexcavation construction, and the primary support is usually injection concrete, and the injection concrete is very important for, for example, tunnel construction due to the safety involved in subsequent construction. Concrete spraying construction methods are mainly divided into a dry spraying method and a wet spraying method. The dry spraying method is relatively early, the construction process is simple, but the problems of high rebound rate and low strength of concrete formed by spraying exist, and the problem of very serious dust pollution in the construction process exists, and the dry spraying method is almost completely replaced by a wet spraying method at present.

Because the working air pressure of the guniting is larger, generally about 0.5MPa, the guniting of the nozzle is cylindrical, the nozzle is not suitable for being directly sprayed on a sprayed surface, the condition that the range of the guniting is too small is avoided, and the nozzle always needs to shake to a certain extent, so that the guniting can be attached in a relatively larger range in the movement process of the mechanical arm.

When manual guniting is carried out, workers need to carry the spray heads on shoulders, the direction of the spray heads is adjusted manually, and the workers need to shake the spray heads so as to evenly guniting in a large range. With the development of the technology, the guniting is mainly realized by a guniting robot at present. The slurry spraying mode realized by the slurry spraying robot is a mechanical type, and the slurry spraying mode is difficult to be adjusted in a targeted manner according to the condition of a sprayed surface, so that for the mechanical slurry spraying, for example, a mode of arranging a rotational flow structure on a spray head is generally adopted, so that slurry is diffused to a certain degree after being sprayed out of the spray head, and the sprayed slurry is conical and can cover a large area. It is necessary to control the spray angle during the slurry spraying operation, so that the problem of high rebound resilience due to direct spraying is avoided, and the problem of a small amount of slurry adhering due to an excessively large spray angle is also avoided. The conical spraying enables the spraying angles of all parts of the sprayed surface to be different, and the spraying quality is not easy to control.

In some implementations, the end carrier of the arm of the guniting robot has a pendulum pair, the nozzle is mounted on a driven member, and the superimposed motions of the pendulum pair cause the nozzle to move in a substantially sinusoidal or chordal path during the movement of the arm. Although swinging motion is relatively simple to realize in terms of motion form, guniting is limited by a spraying form, slurry stacking is often needed to realize good guniting quality, and a relatively simple swinging pair is often difficult to realize good guniting quality.

Disclosure of Invention

In an embodiment of the present invention, a tip carrying device that easily achieves better guniting quality is provided, and in an embodiment of the present invention, a robot arm equipped with the tip carrying device, and a guniting robot equipped with the robot arm are also provided.

In an embodiment of the present invention, there is provided a tip placement device for placing a nozzle equipped to a guniting robot on a mechanical arm of the guniting robot, including:

the rack is used for installing the tail end carrying device on the mechanical arm;

one end of the swinging part is connected to the rack through a ball hinge, and the side surface of the swinging part is used for carrying the spray head;

one end of the crank is hinged with the other end of the swinging part; the other end is hinged with the frame;

and the driving device drives the crank to rotate around a hinge point between the crank and the frame.

Optionally, the crank is located on one side of the swing;

correspondingly, the end of the swing part connected with the crank is provided with a first connecting part which is suspended to the side of the crank.

Optionally, the ball hinge is located on the same side of the swing as the crank;

accordingly, the rocker has a second connecting portion cantilevered to the side of the ball hinge.

Optionally, the swing body between the first connecting portion and the second connecting portion is a plate, and the plate is provided with a mounting hole for connecting the nozzle or a clamping assembly.

Optionally, the ball hinge is configured to:

one of the frame or the swing part is provided with a shaft body, and the other is provided with a sleeve body;

the shaft body and the sleeve body are assembled through a joint bearing.

Optionally, the frame comprises a main frame on one side of the swing;

the crank and the driving device are positioned between the main frame and the swinging part;

correspondingly, the main frame is provided with a third connecting part extending to the side of the crank;

the driving device is mounted on the third connecting portion.

Optionally, the driving device and the crank are respectively arranged at two sides of the third connecting part;

the part of the swing part connected with the crank is one side of the crank, which deviates from the driving device.

Optionally, the shaft of the crank hinged with the frame is a reference shaft;

the shaft of the crank hinged with the swing part is an auxiliary shaft;

accordingly, the auxiliary shaft revolves around the reference shaft.

Optionally, the included angle between the axis of the reference shaft and the swing body is 2.5-3.5 degrees.

Optionally, the drive means is a gerotor motor.

In an embodiment of the present invention, there is further provided a robot arm, the robot arm being terminated with the aforementioned terminal mounting device.

Optionally, comprising:

a large arm having a degree of freedom of swing based on a first swing pair with a guniting robot chassis;

the small arm is connected to the tail end of the large arm through a second swing and rotation pair, and the axis of the second swing and rotation pair is parallel to the axis of the first swing and rotation pair;

wherein the tail end of the small arm is used for installing the tail end carrying device.

Optionally, the large and/or small arms have a telescopic degree of freedom.

Optionally, the second swing pair is configured to:

a frame body is arranged at the tail end of the big arm, and a seat hole is arranged on the frame body;

a foot seat matched with the seat hole to form the second swing pair is hinged with the small arm, and a first axis of the hinge is vertical to an axis of the second swing pair;

the foot seat is further provided with a moving pair, a moving component forming the moving pair is hinged with the small arm, and the second axis of the hinge is parallel to the first axis.

Optionally, a limiting device adapted to the second swing pair is provided for limiting the rotation angle range of the second swing pair.

In an embodiment of the utility model, there is also provided a guniting robot provided with a robot arm as described above.

In the embodiment of the utility model, the end carrying device is provided to enable the swinging part to have three rotational degrees of freedom through the ball hinge, and further to drive the other end of the swinging part through the crank, so that the swinging part is shaken, and the other end of the swinging part rotates along with the crank to rotate for a turnover, namely a circling motion. Correspondingly, the spray head arranged on the tail end carrying device has a circling motion form, so that the slurry spraying device is suitable for slurry superposition in the slurry spraying process, and the slurry spraying quality is better.

Drawings

Fig. 1 is a schematic front view of an end loading device according to an embodiment.

Fig. 2 is a schematic perspective view of an end effector in an embodiment.

FIG. 3 is a schematic diagram of a robot arm according to an embodiment.

Fig. 4 is a schematic structural diagram of an embodiment of a forearm driving device.

In the figure: 1. the hydraulic brake device comprises a base, 2 parts of a lower shaft sleeve, 3 parts of a lower shaft, 4 parts of a mounting hole, 5 parts of a swinging frame, 6 parts of a cycloid motor, 7 parts of an eccentric shaft, 8 parts of an upper shaft, 9 parts of a main frame, 10 parts of a joint bearing, 11 parts of a large arm, 12 parts of a base plate, 13 parts of a small arm, 14 parts of a hinged shaft, 15 parts of a foot rest, 16 parts of a hinged shaft, 17 parts of a flange, 18 parts of a hydraulic cylinder, 19 parts of a hinged shaft, 20 parts of an electronic bin, 21 parts of a brake motor, 22 parts of an encoder and 23 parts of a travel switch.

Detailed Description

In the case of a robot arm, which usually has multiple degrees of freedom and, through strong coupling, ultimately aims at controlling the end position, in an embodiment of the utility model, an end-carrying device, i.e. an end device of the robot arm, which end device is used in its field of application for carrying the spray heads, in other words for controlling the position of the spray heads.

Accordingly, the end carrier is used to control the guniting action of the nozzle, such as conventional swinging, in addition to the nozzle.

In the embodiment of the present invention, unless otherwise specified, the end of the robot arm is an upper end, and correspondingly, the end of the robot arm connected to the chassis of the guniting robot is a lower end. Correspondingly, the upper shaft 8 is the end of the tip, i.e. constitutes the upper shaft 8, while the lower shaft 3 is located below the tip carrier, as shown in fig. 1.

For the end carrier, its basic structure includes a frame, a swing part, a crank, and a driving device for driving the crank as a motive power member.

The rack is a relatively stationary part of the end carriage device, and is a mounting base for other components on the end carriage device, specifically, a fixed framework formed by the base 1 and the main frame 9 shown in fig. 1. As a base member, the frame itself may be an assembly.

The base 1 in fig. 1 is a part of a frame, which is provided with bolt holes, and is connected to a main body of a robot arm by using bolts. A flange connection as shown in fig. 3 (see flange 17 in fig. 3) may also be employed.

As for the connection between the base 1 and the robot arm main body portion, a non-detachable connection such as riveting, welding, or the like may be used, and in the case of a non-detachable connection, riveting is preferable, and although it is necessary to break the rivet, for example, when replacing the tip placement device, the base 1 is not broken, and the base has a certain removability with respect to welding.

Regarding the swinging member, as shown in fig. 1, a swinging frame 5 is connected to the frame at the lower end in fig. 1 by a ball hinge, and the vertical part of the swinging frame 5 in the figure is a plate body, and a mounting hole 4 is formed on the plate body for fixing the spray head on the swinging frame 5.

Due to the adoption of the ball hinge, for example, the swinging frame 5 is connected with the machine frame so as to have three rotational degrees of freedom, the upper end of the swinging frame 5 is driven by an upper shaft 8 shown in fig. 1, the upper shaft 8 is matched with a preset hole or a preset groove on the swinging frame 5, for example, the ball hinge can also be adopted, when the upper shaft 8 rotates around the axis of the cycloid motor 6, for example, the upper part of the swinging frame 5 is driven to rotate, or the upper end of the swinging frame 5 is taken as an object which performs a circling motion, so that the spray heads arranged on the side surface of the swinging frame 5 perform the circling motion together.

As for the crank, an eccentric shaft 7 as shown in fig. 1 is used for generating a revolving motion, which is the most easily implemented motion form in the mechanical field with respect to the swing, so that the control difficulty is relatively low, and the circling motion of the upper end of the swing frame 5 to be implemented does not have a hysteresis problem such as a sine curve (the closer to the wave crest or the wave trough, the slower the speed is, the non-uniform the guniting speed is caused), and the uniform guniting in the whole process is easily implemented.

One end of the crank is hinged with the upper end of the swinging frame 5 shown in fig. 1, and as mentioned above, the hinge between the crank and the swinging frame 5 can be a hinge formed by a cylindrical hinge or a hinge realized by a spherical hinge, for example, the upper shaft 8 is matched with a ball socket, a groove or a seat hole preset on the swinging frame 5 through a joint bearing.

The other end of the crank is hinged to the frame, and in the structure illustrated in fig. 1, the right end of the crank is mounted on the main frame 9 through a rotating shaft.

Further, the crank in the structure illustrated in fig. 1, the shaft for hinging the crank is the motor shaft of the cycloid motor 6 shown in the drawing.

Correspondingly, the crank is driven by the aforementioned cycloid motor 6, for example.

The cycloid motor 6, which is also called a cycloid hydraulic motor, is a type of hydraulic motor, and can output a motion of revolving around a predetermined axis by itself, and by means of a crank structure such as an eccentric shaft 7, a motion of revolving around a predetermined axis with a longer revolving radius can be realized.

In the above structure, the crank is a driving element, and for example, the swing frame 5 is a driven element, which is hinged between the upper end of the crank in fig. 1 and the crank, and the swing frame 5 shows a swing in a roughly conical curved surface with the revolving motion of the tail end of the crank around a predetermined point, which is shown in a circling motion on the nozzle, and in the motion that the nozzle further follows the mechanical arm, the motion is compounded into a spiral line advancing motion, so that a better guniting quality is easily obtained.

As a further consideration for avoiding the interference of motion, the crank is located on the swing side, and in the structure illustrated in fig. 1, the eccentric shaft 7 is located on the right side of the swing frame 5, and at the same time, the main frame 9 for mounting the crank is also located on the side of the crank, and the swing of the swing frame 5 is performed only on the left side of the main frame 9 without interfering with the motion of the main frame 9; accordingly, for example, the piping adapted to the head does not interfere with the movement of the main frame 9.

In addition, the end of the swing part connected with the crank is provided with a first connecting part which is suspended to the side of the crank. In the structure illustrated in fig. 1, the upper end of the swing frame 5 has a plate or rod body that is cantilevered to the right to make room for a large space, so as to avoid motion interference between the eccentric shaft 7 and the swing frame 5.

In fig. 1, for example, the eccentric shaft 7 is located at the lower side of the first connection portion, and it should be understood that the eccentric shaft 7 is located at the upper side of the first connection portion as well as being affected by the motion form and motion amplitude of the swing frame 5. In contrast, the eccentric shaft 7 is located at the lower side of the first connecting portion, which makes the end loading device more compact.

Further, the ball hinge and the crank for connecting, for example, the swing frame 5 and the frame are located on the same side of the swing frame 5, as shown on the right side in fig. 1, whereby the bottom of the conical swing curve is formed on top, which facilitates a relatively large amplitude of the circling motion with a small amplitude of swing.

It should be noted that, in the case of the above-described grouting method, it is necessary to prevent the direct injection surface of the nozzle as much as possible to reduce the rebound, but in the case where the axis of the conical swing curved surface is perpendicular to the injection surface in each circling period, for example, the swing of the swing frame 5 does not cause the situation where the nozzle is perpendicular to the injection surface, and the rebound problem during the grouting is easily controlled.

Although in most construction schemes, the position and posture of the spray head are generally controlled by a mechanical arm, the axis of the conical swing curved surface cannot be perpendicular to the sprayed surface, so that the spray head and the sprayed surface keep a fixed angle in one circle-making period, and uniform spraying quality is easy to obtain; can produce aforementioned helix whitewashing operation mode based on drawing the circle motion to according to the rule, when the helix gos forward, there is superimposed index in back helix and preceding helix, the unsettled condition of aforementioned angle has no negative effect to whitewashing quality almost, for traditional shower nozzle swing mode, changes in obtaining better whitewashing quality.

Correspondingly, the pendulum has a second connection portion which is cantilevered to the side of the ball hinge, which is located, for example, substantially directly below the motor shaft of the gerotor motor 6.

As a further understanding, the ball hinge for the swing portion to the frame is located generally directly below the location where the crank is hinged to the frame.

In the structure shown in fig. 1 and 2, the swing body between the first connecting portion and the second connecting portion is a plate, and the plate is provided with a mounting hole for connecting a nozzle or a clamping assembly. As shown more clearly in fig. 2, the body of the swing frame 5 is a rectangular plate with mounting holes 4, and the plate is easy to obtain better distribution of the mounting holes 4, thereby having better assembling reliability.

In some embodiments, the ball hinge is configured to:

the shaft body and the sleeve body are assembled through a joint bearing 10.

In a further exemplary configuration, the lower shaft 3 is attached to the second connecting portion, and the lower shaft 3 has a journal to which the joint bearing 10 is attached. Correspondingly, the base 1 is provided with a lower shaft sleeve 2 with a bearing cover, and the joint bearing 10 is limited by the bearing cover after being arranged in the lower shaft sleeve 2.

The spherical joint bearing 10 provides rolling friction, and in some embodiments, a ball joint formed by a ball head and a ball socket with sliding friction capability may also be used. Accordingly, the socket is also provided with a cover plate to improve maintainability and reliability.

With regard to the main frame 9 with which the frame is provided, which in the configuration illustrated in fig. 1 is located on the right side of the swing frame 5, and the crank and the drive means are located between the main frame 9 and the swing part, the crank, in particular for example the cycloid motor 6, can be protected and the configuration is also relatively compact.

Accordingly, the main frame 9 has a third connecting portion extending to the side of the crank, thereby forming an installation space of the cycloid motor 6, for example.

Accordingly, for example, the cycloid motor 6 is mounted on the third connecting portion.

In fig. 1 and 2, the third connecting portion is a plate body, a connecting seat hole is formed in the plate body, the cycloid motor 6 is located on the lower side of the third connecting portion, the cycloid motor 6 is mounted on the third connecting portion through, for example, a bolt or a screw, and the cycloid motor axially penetrates through the connecting seat hole and is connected with the eccentric shaft 7 shown in the figure.

Further, the part of the swing part connected with the crank is the side of the crank facing away from the driving device, and the eccentric shaft 7 is located on the upper side of the third connecting part as shown in fig. 1.

The crank is a rod, which in fig. 2 reflects more clearly the structure of the eccentric shaft 7 exemplified by the crank, which is represented in the figure as a plate, which at one end is provided with an upwardly extending upper shaft 8 and at the other end with a downwardly extending shaft, which in the figure is indicated as the motor shaft of the cycloid motor 6.

The motor shaft is taken as a reference shaft, and the upper shaft 8 shown in figure 1 is taken as a secondary shaft; accordingly, the auxiliary shaft revolves around the reference shaft.

In a preferred embodiment, the included angle between the axis of the reference shaft and the swing body is 2.5-3.5 degrees, and the swing amplitude of the swing frame 5 shown in fig. 1 is small, but is enough to meet the requirement of the angle for spraying, namely the angle between the spray head and the sprayed surface during spraying operation.

In addition to the aforementioned end-effector, the rest of the robot arm mainly includes a large arm 11, a small arm 13, and a small arm driving assembly connecting the large arm 11 and the small arm 13 in the structure shown in fig. 3.

Regarding the boom 11, in the embodiment of the present invention, the boom 11 is used for the connection between the robot arm and the chassis of the guniting robot, and the bottom of the boom 11 is connected to the chassis through the first degree of freedom of coupling, and in the preferred embodiment, the connection between the boom 11 and the chassis provides only one degree of freedom, specifically, the degree of freedom of swinging provided by the first swing pair.

In a conventional robot arm, an arm body connected to a chassis usually has two rotational degrees of freedom by means of the connection, and the axes of the two rotational degrees of freedom are perpendicular, so as to realize guniting in a large range. Conventional robotic arm arrangements may also be employed in embodiments of the present invention, whereas in preferred embodiments the connection between the boom 11 and the chassis retains one degree of freedom, namely a degree of freedom of yaw, the axis of which coincides with the direction of travel of the chassis.

In fig. 3, the small arm 13 is connected to the end of the large arm 11 through a second swing pair, and the axis of the second swing pair is parallel to the axis of the first swing pair; by means of the structure, the flexibility of the mechanical arm for adjusting the position and the attitude of the spray head can be improved.

Accordingly, the tip of the small arm 13 is used for mounting the tip carrying device.

In order to adapt to different working surfaces, the big arm and/or the small arm have the telescopic freedom.

The telescopic degree of freedom is a degree of freedom that is relatively easy to implement, most commonly a mechanical arm such as a crane, which is a multi-stage cylinder as a whole.

Even if a multi-stage cylinder structure is not employed, a guide structure between the movable arm and the stationary arm may be employed to form a moving pair, which is then driven by means of, for example, a hydraulic cylinder.

In the structure shown in fig. 3 and 4, the second swing revolute pair is configured such that:

at the end of the boom 11 is mounted a frame, shown in fig. 3 as a frame comprising a vertical base plate 12, the base plate 12 being provided with a horizontal seating hole.

Furthermore, a foot seat 15 which is matched with the seat hole to form the second swing pair is hinged with the small arm, and a first axis of the hinge is vertical to the axis of the second swing pair; the foot rest 15 is driven by a brake motor 21 and has a degree of freedom for swinging the arm 13.

The foot rest 15 is further provided with a moving pair, such as a hydraulic cylinder 18 shown in fig. 3, the hydraulic cylinder 18 is hinged with the small arm 13 through a hinge shaft 16, and the hydraulic cylinder 18 is used for enabling the small arm 13 to obtain a pitching degree of freedom and a swinging degree of freedom. The hinge shaft 16 is parallel to the hinge shaft 14.

On the machine frame, a limit device, such as a travel switch 23 shown in fig. 3, is arranged on the base plate 12 shown in fig. 3 and is adapted to the second swing pair for limiting the rotation angle range of the second swing pair.

The travel switch 23 provides a limit based on travel control, and in some implementations, mechanical limit may be directly adopted, for example, a baffle is disposed on the substrate 12, and the mechanical limit is realized by the baffle. Soft stops may also be employed in some implementations. Three types of stops may be used in combination, for example, by providing a hard stop, a soft stop, and a mechanical stop simultaneously.

Claims

1. A tail end carrying device is used for carrying a spray head matched with a guniting robot on a mechanical arm of the guniting robot, and is characterized by comprising:

2. The end effector as claimed in claim 1, wherein the crank is located on a side of the swing portion;

3. The end carrier of claim 2, wherein the ball hinge is located on the same side of the swing portion as the crank;

4. The end-effector as claimed in claim 3, wherein the swing body between the first and second connecting portions is a plate having a mounting hole for connecting a nozzle or a clamping assembly.

5. The end effector as claimed in claim 1, wherein the ball hinge is configured to:

the shaft body and the sleeve body are assembled through a joint bearing.

6. The end effector as claimed in any one of claims 1 to 5, wherein the frame includes a main frame on one side of the swing portion;

the driving device is mounted on the third connecting portion.

7. The end effector as claimed in claim 6, wherein the drive means and the crank are disposed on opposite sides of the third connecting portion;

8. The tip carrying device according to any one of claims 1 to 5, wherein a shaft of the crank hinged to the frame is a reference shaft;

the shaft of the crank hinged with the swing part is an auxiliary shaft;

accordingly, the auxiliary shaft revolves around the reference shaft.

9. The end effector as claimed in claim 8, wherein the reference axis is at an angle of 2.5 to 3.5 degrees to the pendulum body.

10. The end carrier of claim 1, wherein the drive device is a gerotor motor.

11. A robot arm, wherein the robot arm is provided with the end mounting device according to any one of claims 1 to 10 at an end thereof.

12. A robotic arm as claimed in claim 11, comprising:

13. A robotic arm as claimed in claim 12, in which the large and/or small arms have telescopic degrees of freedom.

14. A robotic arm as claimed in claim 12 or 13, in which the second revolute pair is configured:

15. The mechanical arm as claimed in claim 12, wherein a limiting device adapted to the second swing pair is provided for limiting the rotation angle range of the second swing pair.

16. A guniting robot, characterized in that the guniting robot is provided with a mechanical arm according to any one of claims 11 to 15.