CN110723656B - Multi-degree-of-freedom mining hoisting device - Google Patents
Multi-degree-of-freedom mining hoisting device Download PDFInfo
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- CN110723656B CN110723656B CN201910924324.7A CN201910924324A CN110723656B CN 110723656 B CN110723656 B CN 110723656B CN 201910924324 A CN201910924324 A CN 201910924324A CN 110723656 B CN110723656 B CN 110723656B
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- longitudinal moving
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- lifting
- moving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
- B66C5/08—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods with vertically invlinable runways or tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/08—Runners; Runner bearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention discloses a multi-degree-of-freedom mining hoisting device, which comprises four servo hydraulic cylinders, a top supporting platform, a rotatable hoisting platform and a base driving system, wherein the servo hydraulic cylinders are arranged in parallel, the bottom ends of the servo hydraulic cylinders are connected with a base through universal joints, the top ends of the servo hydraulic cylinders are connected with the top supporting platform through ball hinges, the top supporting platform is provided with an explosion-proof rotating motor of the hoisting platform, and the motor is connected with the rotatable hoisting platform through a large rotating bearing; the rotatable hoisting platform is provided with a hoisting device moving in the X-Y direction and consists of a sliding guide rail, an X-direction transverse moving platform, a Y-direction longitudinal moving platform, a transverse moving driving cylinder and a longitudinal moving driving cylinder; the base driving system is driven by an explosion-proof motor, and a track can be arranged below the base driving system to drive the whole device to move. The invention can adjust the degrees of freedom in six directions in the space of a lifted object in the lifting process, thereby flexibly and quickly carrying out the installation and removal work on the hydraulic support, a coal mining machine, a crusher and other mining machines.
Description
Technical Field
The invention relates to the technical field of mining equipment, in particular to a multi-degree-of-freedom mining hoisting device which is used for mounting and dismounting fully-mechanized mining mechanical equipment under a coal mine.
Background
The mining hoisting equipment is important equipment in the comprehensive complete equipment of the coal mine, and as the size, the weight and the roadway space of the mining equipment such as a hydraulic support, a coal mining machine and the like are large, the equipment is usually disassembled into a plurality of parts and then transported to the underground, the parts are transported to an assembly room for integral assembly, and then the assembled integral equipment is transported to an installation position. In the process, equipment components such as a hydraulic support, a coal mining machine and the like need to be hoisted by using the mining hoisting equipment, however, the flexibility of the existing mining hoisting equipment is not enough, and although the mining hydraulic hoisting device capable of moving a hoisting hook on an X-Y plane appears, at present, the posture of the device cannot be accurately adjusted due to the defects of the freedom degree and the flexibility of the hoisting equipment in the process of assembling and disassembling the equipment, so that the hoisting and positioning are difficult to accurately carry out, and further the working efficiency is reduced.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom mining hoisting device which is provided with six degrees of freedom with complete space, has high flexibility and can accurately and quickly adjust the position and the posture of a hoisting part.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a mining hoisting device with multiple degrees of freedom comprises a base, four parallel servo hydraulic cylinders, a top supporting platform, a rotary moving platform and a hoisting unit,
the base is of a box body type structure, a walking driving system is arranged in the base, four servo hydraulic cylinders are symmetrically arranged at four corners, the upper end of each servo hydraulic cylinder is connected with the top supporting platform through a spherical hinge joint, the bottom end of each servo hydraulic cylinder is connected with the base through a universal joint hinge, a rotating motor and an attitude gyroscope are arranged above the top supporting platform, the lower part of the top supporting platform is connected with the rotating movable platform through a large turntable bearing, the rotating motor drives the rotating movable platform to rotate along the Z axis through the large turntable bearing,
the rotary platform is provided with an X-direction transverse moving platform and a Y-direction longitudinal moving platform, wherein the Y-direction longitudinal moving platform is provided with two longitudinal moving beams, a fixed beam, four longitudinal moving driving cylinders and two Y-direction longitudinal moving guide rails, the two Y-direction longitudinal moving guide rails are symmetrically arranged below the top supporting platform, the longitudinal moving beams are positioned below the Y-direction longitudinal moving guide rails, one end of each longitudinal moving driving cylinder is connected with the longitudinal moving beam through a connecting ring, the other end of each longitudinal moving driving cylinder is connected with the fixed beam positioned in the center of the rotary platform through a connecting lug, every two longitudinal moving driving cylinders drive one longitudinal moving beam to move along the Y direction,
the X-direction transverse moving platform is provided with four transverse moving driving cylinders, four driving cylinder fixing devices and two X-direction transverse moving guide rails, the X-direction transverse moving guide rails are arranged below the longitudinal moving beam, the transverse moving driving cylinders are fixed on the X-direction transverse moving guide rails through the driving cylinder fixing devices, the driving cylinder fixing devices and the transverse moving driving cylinders are respectively positioned on two sides of the X-direction transverse moving guide rails, and each transverse moving driving cylinder drives one lifting unit to move in the X direction;
the lifting unit comprises four lifting motors, a chain box, chain wheels, lifting chains and lifting hooks, wherein every two lifting motors are symmetrically arranged on an X-direction transverse moving guide rail and are in sliding connection with the X-direction transverse moving guide rail; the chain box is arranged at the front end of the hoisting motor, the chain wheel is arranged in the chain box, the hoisting hook is arranged at one end of the hoisting chain, and the other end of the hoisting chain is connected with the chain wheel.
The rotary motor output shaft passes through the coupling joint rotation axis, the rotation axis comprises integrated into one piece's disc and cylinder axle, evenly is equipped with a plurality of pinholes on the disc, rotary platform goes up relevant position and opens the notch that has with disc looks adaptation, and rotary platform passes through the connecting pin and links together rotation axis, large-scale carousel bearing's inner circle, top supporting platform goes up relevant position and opens the notch that has the outer lane looks adaptation with large-scale carousel bearing, and top supporting platform passes through the fixed pin and fixes with large-scale carousel bearing's outer lane, the cylinder axle head and the coupling joint of rotation axis.
In order to reduce the friction force in the movement process, four roller wheels are symmetrically arranged inside two ends of the connecting plate.
In order to reduce the friction force in the movement process, four roller wheels are symmetrically arranged in the combined parts of the longitudinal moving beam and the two ends of the Y-direction longitudinal moving guide rail respectively.
The X-direction transverse moving driving cylinders are symmetrically and reversely arranged on the left side and the right side of the X-direction transverse moving guide rail.
Preferably, the rotating motor is controlled by a programmable logic controller, and a rotating motor encoder is arranged on the rotating motor to form closed-loop feedback control, so that the precise posture of the Z-axis rotating direction can be controlled, and the angle between the hoisting part and the object to be installed can be adjusted.
Preferably, the hoisting motor is controlled by a programmable logic controller, and a hoisting motor encoder is arranged on the hoisting motor to form closed-loop feedback control, so that the moving amount of a hoisted object on a Z shaft can be accurately adjusted, and meanwhile, the accurate positioning of a pin shaft hole on the Z shaft is ensured.
Preferably, the longitudinal movement driving cylinder, the transverse movement driving cylinder and the four parallel servo hydraulic cylinders are controlled by an electro-hydraulic servo control system, and displacement sensors are mounted at the tail ends of the hydraulic cylinders, so that the expansion amount of the piston rods can be monitored and recorded in real time, and closed-loop feedback control is formed.
Preferably, a traveling wheel is arranged below the base.
Compared with the prior art, the invention has the following beneficial effects:
1. the device can quickly, accurately and safely carry out lifting, mounting and dismounting operations on the underground mechanical equipment for the mine, comprehensively improve the overall mounting and dismounting efficiency of the fully mechanized mining mechanical equipment and reduce the labor intensity of workers;
2. the device can not only realize X, Y, Z movement in three directions of the lifted object, but also realize the turning and rotating operation of the lifted object X, Y, Z in three directions through the servo hydraulic cylinder and the rotating motor in the lifting process, and is convenient for the underground equipment to accurately adjust the position and the posture in the assembling and assembling process.
3. The device adopts an advanced electro-hydraulic servo control system and a hydraulic special servo controller to control four parallel servo hydraulic cylinders and a rotating motor to finish accurate actions, further finely adjust the position and the posture of a lifted object in a suspended state, accurately finish the decomposition and assembly work of each part of a hydraulic support, a coal mining machine conveyor and a reversed loader, and improve the level of mechanized operation. Through the position sensor on the servo hydraulic cylinder and the encoder on the motor, the corresponding movement amount is recorded, and after the assembly is completed conveniently, the lifting device returns to the initial position.
Drawings
FIG. 1 is an overall structure diagram of a multi-degree-of-freedom mining hoisting device;
FIG. 2 is a view of a rotary movable platform;
FIG. 3 is a view of the structure of the Y-direction longitudinal moving platform;
FIG. 4 is a view showing the structure of an X-direction traverse guide;
FIG. 5 is a view showing the structure of a Y-direction longitudinal movement guide rail;
FIG. 6 is a view showing a structure of a rotary movable table connection;
FIG. 7 is a diagram of attitude adjustment;
in the figure: 1. a rotating electric machine; 2. a top support platform; 3. a large turntable bearing; 4. longitudinally moving a driving cylinder; 5. rotating the movable platform; 6. a ball hinge joint; 7. longitudinally moving the guide rail in the Y direction; 8. a connecting ring; 9. longitudinally moving the beam; 10. x-direction transverse movement guide rails; 11. the X-direction transverse movement driving cylinder fixing device; 12. a transverse moving driving cylinder; 13. a connecting plate; 14. a hoisting motor; 15. lifting a lifting hook; 16. a servo hydraulic cylinder; 17. a base drive motor; 18. a universal joint hinge; 19. a base; 20. a traveling wheel; 21. a rotary motor encoder; 22. a rotating shaft; 23. an inner ring of a large turntable bearing; 24. an outer ring of a large turntable bearing; 25. a fixed beam; 26. connecting lugs; 27. a roller wheel.
Detailed Description
The mining hoisting device with multiple degrees of freedom comprises a bottom driving unit, a parallel servo hydraulic cylinder supporting unit, a top supporting unit, a rotary movable platform unit and a hoisting unit, wherein the bottom driving unit is a travelling mechanism and controls the whole device to move under a mine; the parallel servo hydraulic cylinder supporting unit is responsible for supporting the whole device, and when the hoisting object needs to adjust the posture in the X-Y direction, the servo hydraulic cylinder is controlled to stretch through the hydraulic special servo controller and the electro-hydraulic servo control system, so that the top supporting unit is controlled to turn over and adjust the posture; the top supporting unit is mainly responsible for transferring movement, and a rotating motor is arranged at the top; the rotary movable platform unit mainly comprises an X-Y transverse and longitudinal moving system, ensures that the hoisting unit finds an object to be hoisted on a spatial plane, and rotates around a Z axis under the driving of a rotary motor to finely adjust the posture of the hoisted object; the hoisting unit mainly comprises a hoisting motor and is responsible for hoisting, falling and the like of objects.
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1, the bottom driving unit includes a base 19, the base 19 is a box structure, and a walking driving system is disposed inside the base 19; the base driving motor 17 is matched with a worm gear speed reducer for driving, the lower part of the base 19 is provided with a walking wheel 20, and the walking wheel 20 can roll on a track arranged underground so as to drive the whole lifting device to walk to a specified position.
The parallel servo hydraulic cylinder supporting unit comprises four parallel servo hydraulic cylinders 16, the four servo hydraulic cylinders 16 are symmetrically arranged at four corners, the upper end of each servo hydraulic cylinder 16 is connected with the top supporting platform 2 through a spherical hinge joint 6, and the bottom ends of the servo hydraulic cylinders 16 are connected with a base 19 through universal joint hinges 18. Four parallel servo hydraulic cylinders 16 play a dual role of supporting and attitude adjusting for the whole device, lifting hooks 15 of four lifting motors 14 simultaneously hook a lifted object, when the lifted object needs to be subjected to attitude adjustment in a suspended state, the parallel servo hydraulic cylinders 16 can be controlled to extend and retract in a linkage manner through an electro-hydraulic servo control system and a hydraulic special servo controller, further the top supporting platform 2 is controlled to turn along the X direction and the Y direction (two degrees of freedom), the attitude of the lifted object in the suspended state can be accurately finely adjusted in a state that a lifting chain is tensioned and the lifting motors do not rotate to lift the heavy object, the bottom end of each parallel driving hydraulic cylinder is provided with a displacement sensor, the extension amount of the hydraulic cylinder is subjected to feedback control at any time, meanwhile, the displacement sensor records the extension amount of the servo hydraulic cylinder, and after the attitude adjustment is finished, the hydraulic cylinder returns to the original state, the installation and the removal of mining parts such as a hydraulic support, a coal mining machine and the like are completed, the attitude gyroscope is installed above the top supporting platform 2, the position and the attitude of the whole movable platform are monitored, when the platform is in a singular position or is unstable in movement, the equipment can be stopped in time, and the safety of the system is improved.
The top supporting unit comprises a top supporting platform 2, a rotating motor 1 and a large turntable bearing 3, wherein the rotating motor 1 is arranged above the top supporting platform 2, an output shaft of the rotating motor 1 passes through a coupling to be connected with a rotating shaft 22, as shown in fig. 6, the rotating shaft 22 is composed of a disc and a cylindrical shaft which are integrally formed, a plurality of pin holes are uniformly formed in the disc, an outer ring 24 of the large turntable bearing is relatively static, an inner ring 23 rotates relatively, the outer ring 24 of the large turntable bearing is connected with the top supporting platform 2 through a fixing pin, in order to avoid interference between the inner ring 23 and the top supporting platform 2, a mounting groove with the outer diameter larger than the inner ring 23 is formed in the corresponding position of the. The rotating motor 1 is designed in an explosion-proof mode and is controlled by a programmable logic controller, a rotating motor encoder 21 is arranged on the rotating motor 1, closed-loop feedback control is formed, the accurate posture of the Z-axis rotating direction can be controlled, and then the angle between a hoisting part and an object to be installed is adjusted.
The rotary moving platform unit comprises a rotary moving platform 5, an X-direction transverse moving platform and a Y-direction longitudinal moving platform are arranged on the rotary moving platform 5, and the Y-direction longitudinal moving platform is arranged below the rotary moving platform 5 and comprises a Y-direction longitudinal moving guide rail 7, a longitudinal moving beam 8, a fixed beam 25 and a Y-direction longitudinal moving driving cylinder 4; the X-direction transverse moving platform is arranged below the Y-direction longitudinal moving platform and comprises an X-direction transverse moving guide rail 10, an X-direction transverse moving driving cylinder fixing device 11 and an X-direction transverse moving driving cylinder 12, and the X-direction transverse moving guide rail 10 is arranged below the longitudinal moving beam 9.
As shown in fig. 6, a circular notch is formed in a corresponding position of the rotary movable platform 5, the large end of the rotary shaft 22 is placed in the notch, the rotary shaft 22, the rotary movable platform 5 and the large turntable bearing inner ring 23 are connected together through a fixing pin, the cylindrical shaft end of the rotary shaft is connected with the output shaft of the rotary motor 1 through a shaft coupling, the large turntable bearing outer ring 24 is connected with the corresponding notch of the top supporting platform 2, the rotary movable platform 5 is further connected with the top supporting platform 2, and the rotary movable platform and the top supporting platform can rotate relatively through the large turntable bearing 3.
As shown in fig. 1, 2, 4 and 5, four traverse driving cylinders 12, four driving cylinder fixing devices 11 and two X-direction traverse guide rails 10 are arranged on the X-direction traverse platform, two hoisting motors 14 are symmetrically arranged on each X-direction traverse guide rail 10, the hoisting motors move on the X-direction traverse guide rails, the traverse driving cylinders 12 are fixed on the X-direction traverse guide rails 10 through the driving cylinder fixing devices 11, the driving cylinder fixing devices 11 and the traverse driving cylinders 12 are respectively positioned at two sides of the X-direction traverse guide rails, the X-direction traverse driving cylinders 12 are symmetrically and reversely arranged at the left and right sides of the X-direction traverse guide rails, in order to reduce the friction force in the movement process, four roller wheels 26 are symmetrically arranged in two ends of the connecting plate 13, the transverse moving driving cylinders 12 are arranged on the left side and the right side of the X-direction transverse moving guide rail 10, piston rods are arranged in opposite directions, and each transverse moving driving cylinder drives one lifting unit to move along the X direction.
As shown in fig. 3 to 5, the Y-direction longitudinal movement platform is provided with two longitudinal movement beams 9, a fixed beam 25, four longitudinal movement driving cylinders 4, an oil cylinder connecting ring 8 and two Y-direction longitudinal movement guide rails 7, the two Y-direction longitudinal movement guide rails are symmetrically arranged on the top supporting platform 2, the longitudinal movement beams 9 are located below the Y-direction longitudinal movement guide rails 7, the X-direction transverse movement guide rails 10 are arranged below the longitudinal movement beams 9, one end of each longitudinal movement driving cylinder 4 is connected with the longitudinal movement beam 9 through the connecting ring 8, the other end of each longitudinal movement driving cylinder 4 is connected with the fixed beam 25 located in the center of the rotating platform 5 through the connecting lug 26, the fixed beam 25 provides a supporting force for the longitudinal movement driving cylinder 4, and the longitudinal movement beams 9 reciprocate on the Y-direction longitudinal movement guide rails 7 under the driving of the longitudinal movement driving cylinders 4, so as to drive the hoisting motors 14 on the X-direction transverse movement guide rails 10 to longitudinally move along the Y direction. In order to reduce the friction force in the movement process, four roller wheels 26 are arranged symmetrically in the joint of the two ends 9 of the longitudinal moving beam and the Y-direction longitudinal moving guide rail 7.
The whole rotary moving platform unit structure is arranged as shown in fig. 2, and the whole X-direction transverse moving platform, Y-direction longitudinal moving platform and hoisting unit can be driven by the rotary motor 1 to rotate around the Z axis to the position of the posture required by the hoisting object.
The lifting unit comprises a lifting motor 14, a chain box, a chain wheel, a lifting chain and a lifting hook 15, the chain box is arranged at the front end of the lifting motor 14, the chain wheel is arranged in the chain box, the lifting hook is arranged at one end of the lifting chain, the other end of the lifting chain is connected with the chain wheel, a chain cable system supports the weight of a lifted object, the chain wheel is stored for storing the chain cable, and under the driving of the lifting motor 14, the chain wheel rotates to pull the lifting chain, so that the object is lifted through the lifting hook 15. The lifting motors 14 are four, every two lifting motors 14 are symmetrically arranged on one X-direction transverse moving guide rail 10, the lifting motors 14 are connected with the X-direction transverse moving guide rails 10 in a sliding mode, each lifting motor 14 is connected with one transverse moving driving cylinder 12 through a connecting plate 13, the transverse moving driving cylinders 12 drive the lifting motors 14 to move back and forth in the X direction through the connecting plates 13, and the longitudinal moving driving cylinders 4 drive the longitudinal moving beams 9 to move back and forth on the Y-direction longitudinal moving guide rails 7 so as to drive the lifting motors 14 on the X-direction transverse moving guide rails 10 to move longitudinally in the Y direction. Under the drive of the transverse hydraulic cylinder 12 and the longitudinal hydraulic cylinder 4, the hoisting motor 14 finds an object to be hoisted on an X-Y plane through transverse and longitudinal movement, under the drive of the hoisting motor 14, the hoisting hook 15 is lowered to hook and lift the object, the hoisting object is moved to the position near a machine to be installed and matched under the drive of the transverse hydraulic cylinder 12 and the longitudinal hydraulic cylinder 4 continuously, then the parallel driving servo hydraulic cylinder 16 is controlled to be in telescopic linkage through electro-hydraulic servo control and a hydraulic special servo controller to complete the X-direction and Y-direction overturning action of the top supporting platform, meanwhile, the rotating motor 1 acts to control the rotation of the hoisting object along the Z axis, and further the correct installation position and posture of the hoisting object and the machine to be installed and matched are found, and the corresponding installation and assembly operation is completed. The hoisting motor 14 is controlled by a programmable logic controller, and a hoisting motor encoder is arranged on the hoisting motor 14 to form closed-loop feedback control, so that the moving amount of a hoisted object on a Z axis can be accurately adjusted, and meanwhile, the accurate positioning of a pin shaft hole on the Z axis is ensured.
Fig. 7 shows an attitude adjustment diagram, in which the rotary platform 5 is driven by the rotary motor 1 to rotate a certain angle around the Z axis, and at the same time, the two servo hydraulic cylinders 16 on the left end base 19 do not operate, and the pistons of the two servo hydraulic cylinders 16 on the right end base 19 extend out to control the top supporting unit, the rotary platform unit, and the hoisting unit to rotate a certain angle around the X axis together, so that the hoisting component and the object to be installed have a certain angular deviation, and the attitude of the hoisted object can be adjusted under the condition that the hoisting chain is tensioned and the hoisting motor 14 does not lift the weight.
Claims (9)
1. A mining hoisting device with multiple degrees of freedom is characterized by comprising a base (19), four parallel servo hydraulic cylinders (16), a top supporting platform (2), a rotary platform (5) and a hoisting unit,
the base (19) is of a box type structure, a walking driving system is arranged in the base, four servo hydraulic cylinders (16) are symmetrically arranged at four corners, the upper end of each servo hydraulic cylinder (16) is connected with the top supporting platform (2) through a ball hinge joint (6), the bottom end of each servo hydraulic cylinder (16) is connected with the base (19) through a universal joint hinge (18), a rotating motor (1) and an attitude gyroscope are arranged above the top supporting platform (2), the lower part of the top supporting platform (2) is connected with the rotating platform (5) through a large turntable bearing (3), the rotating motor (1) drives the rotating platform (5) to rotate along the Z axis through the large turntable bearing (3),
an X-direction transverse moving platform and a Y-direction longitudinal moving platform are arranged on the rotary moving platform (5), wherein two longitudinal moving beams (9), a fixed beam (25), four longitudinal moving driving cylinders (4) and two Y-direction longitudinal moving guide rails (7) are arranged on the Y-direction longitudinal moving platform, the two Y-direction longitudinal moving guide rails (7) are symmetrically arranged below the top supporting platform (2), the longitudinal moving beams (9) are positioned below the Y-direction longitudinal moving guide rails (7), one end of each longitudinal moving driving cylinder (4) is connected with the longitudinal moving beam (9) through a connecting ring (8), the other end of each longitudinal moving driving cylinder (4) is connected with the fixed beam (25) positioned in the center of the rotary moving platform (5) through a connecting lug (26), and each two longitudinal moving driving cylinders (4) drive one longitudinal moving beam (9) to move along the Y direction,
the X-direction transverse moving platform is provided with four transverse moving driving cylinders (12), four driving cylinder fixing devices (11) and two X-direction transverse moving guide rails (10), the X-direction transverse moving guide rails (10) are arranged below the longitudinal moving beam (9), the transverse moving driving cylinders (12) are fixed on the X-direction transverse moving guide rails (10) through the driving cylinder fixing devices (11), the driving cylinder fixing devices (11) and the transverse moving driving cylinders (12) are respectively positioned on two sides of the X-direction transverse moving guide rails (10), each transverse moving driving cylinder (12) drives one hoisting unit to move along the X direction,
the lifting unit comprises four lifting motors (14), chain boxes, chain wheels, lifting chains and lifting hooks (15), every two lifting motors (14) are symmetrically arranged on one X-direction transverse guide rail (10), the lifting motors (14) are in sliding connection with the X-direction transverse guide rails (10), each lifting motor (14) is connected with one transverse driving cylinder (12) through a connecting plate (13), the transverse driving cylinders (12) drive the lifting motors (14) to move in an X direction in a reciprocating manner through the connecting plates (13), and the longitudinal driving cylinders (4) drive the longitudinal moving beams (9) to move in a reciprocating manner on the Y-direction longitudinal moving guide rails (7) so as to drive the lifting motors (14) on the X-direction transverse guide rails (10) to move in a longitudinal manner along the Y direction; the chain box is arranged at the front end of the hoisting motor (14), the chain wheel is arranged in the chain box, the lifting hook (15) is arranged at one end of the lifting chain, and the other end of the lifting chain is connected with the chain wheel.
2. The mining hoisting device with multiple degrees of freedom according to claim 1, wherein an output shaft of the rotating motor (1) is connected with a rotating shaft (22) through a coupler, the rotating shaft (22) is composed of an integrally formed disc and a cylindrical shaft, a plurality of pin holes are uniformly formed in the disc, notches matched with the disc are formed in corresponding positions of the rotating platform (5), the rotating platform (5) is connected with the rotating shaft (22) and inner rings of the large-sized turntable bearing (3) through connecting pins, notches matched with the outer ring (24) of the large-sized turntable bearing are formed in corresponding positions of the top supporting platform (2), the top supporting platform (2) is fixed with the outer ring (24) of the large-sized turntable bearing through fixing pins, and the cylindrical shaft end of the rotating shaft (22) is connected with the coupler.
3. The mining hoisting device with multiple degrees of freedom according to claim 1, characterized in that four roller wheels (27) are symmetrically mounted inside both ends of the connecting plate (13).
4. The mining hoisting device with multiple degrees of freedom according to claim 1, wherein four roller wheels (27) are symmetrically installed in the joint portion of the longitudinal moving beam (9) and the two ends of the Y-direction longitudinal moving guide rail (7), respectively.
5. The mining hoisting device with multiple degrees of freedom of claim 1, wherein the X-direction traverse guide rail (10) is provided with a traverse driving cylinder (12) at each of the left and right sides in opposite directions.
6. The mining hoisting device with multiple degrees of freedom according to claim 1, wherein the rotating electrical machine (1) is controlled by a programmable logic controller, and a rotating electrical machine encoder (21) is arranged on the rotating electrical machine (1).
7. The mining hoisting device with multiple degrees of freedom according to claim 1, wherein the hoisting motor (14) is controlled by a programmable logic controller, and a hoisting motor encoder is arranged on the hoisting motor (14).
8. The mining hoisting device with multiple degrees of freedom according to claim 1, wherein the longitudinal moving driving cylinder (4), the transverse moving driving cylinder (12) and the four parallel servo hydraulic cylinders (16) are all controlled by an electro-hydraulic servo control system, and displacement sensors are mounted at the tail ends of the longitudinal moving driving cylinder (4), the transverse moving driving cylinder (12) and the four parallel servo hydraulic cylinders (16).
9. The mining hoisting device with multiple degrees of freedom of claim 1, wherein a walking wheel (20) is arranged below the base (19).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910924324.7A CN110723656B (en) | 2019-09-27 | 2019-09-27 | Multi-degree-of-freedom mining hoisting device |
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| CN201910924324.7A CN110723656B (en) | 2019-09-27 | 2019-09-27 | Multi-degree-of-freedom mining hoisting device |
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| CN110723656A CN110723656A (en) | 2020-01-24 |
| CN110723656B true CN110723656B (en) | 2020-09-01 |
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| CN112374376A (en) * | 2020-10-09 | 2021-02-19 | 山东塔高矿业机械装备制造有限公司 | Hoisting device and method for coal mine tunnel |
| CN112357809A (en) * | 2020-11-28 | 2021-02-12 | 江西惠民电气有限公司 | Portable substation equipment hoisting accessory |
| CN112357757B (en) * | 2020-12-14 | 2022-09-09 | 山东晟天钢构有限公司 | Navigation vehicle beam assembly and matched navigation vehicle system |
| GB2606690A (en) * | 2021-03-31 | 2022-11-23 | Simmons Raymond | Gantry |
| CN113247758B (en) * | 2021-06-11 | 2022-11-01 | 寿光市房泰建筑安装有限公司 | Plate hoisting device for building construction and use method |
| CN116081473B (en) * | 2023-04-11 | 2023-07-21 | 山东力达智能车辆产业技术研究院有限公司 | Lifting device |
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| DE102014100658A1 (en) * | 2014-01-21 | 2015-07-23 | Terex Mhps Gmbh | Stacking crane with container intermediate storage place |
| CN104627857B (en) * | 2015-02-16 | 2017-08-04 | 哈尔滨工程大学 | Active heave compensation experimental provision |
| NL2015790B1 (en) * | 2015-11-13 | 2017-06-02 | Ampelmann Holding B V | Method and apparatus for transferring loads between a vehicle and a transfer area spaced apart from said vehicle. |
| CN205838427U (en) * | 2016-07-19 | 2016-12-28 | 河南交通职业技术学院 | Movable small crane |
| CN107123355B (en) * | 2017-06-09 | 2023-03-31 | 燕山大学 | Six-freedom-degree double-parallel heavy swing table with load balancing device |
| CN207030770U (en) * | 2017-06-29 | 2018-02-23 | 长沙远大住宅工业（江苏）有限公司 | Lifting mechanism and hoisting traveling crane |
| CN109573886B (en) * | 2018-10-18 | 2020-03-17 | 中国矿业大学 | Device for hoisting, assembling and disassembling underground hydraulic support |
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