CN111636909A - Transportation device and roadway mining equipment - Google Patents
Transportation device and roadway mining equipment Download PDFInfo
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- CN111636909A CN111636909A CN202010589064.5A CN202010589064A CN111636909A CN 111636909 A CN111636909 A CN 111636909A CN 202010589064 A CN202010589064 A CN 202010589064A CN 111636909 A CN111636909 A CN 111636909A
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- 238000005065 mining Methods 0.000 title claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims description 70
- 230000033001 locomotion Effects 0.000 claims description 33
- 238000003860 storage Methods 0.000 claims description 25
- 239000000463 material Substances 0.000 claims description 12
- 238000009434 installation Methods 0.000 abstract description 13
- 238000005553 drilling Methods 0.000 abstract description 7
- 230000032258 transport Effects 0.000 description 22
- 238000000034 method Methods 0.000 description 19
- 230000008569 process Effects 0.000 description 17
- 230000003028 elevating effect Effects 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000014616 translation Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a transportation device and roadway mining equipment, wherein the transportation device is used for the roadway mining equipment and comprises: the transportation part can be fixedly arranged on the roadway mining equipment and is used for transporting the anchor rod; accessory portion, be located the top of transportation portion, accessory portion fixed mounting is on tunnel mining equipment, accessory portion is used for distributing accessory to stock pole, wherein, transportation portion is used for transporting the stock pole, when the stock pole removes the appointed position to accessory portion below, accessory portion installs the accessory to the stock pole on, the stock pole of having installed the accessory continues to transport to the feed bin of automatic drilling machine in, cooperate with accessory portion through transportation portion mutually, the stock pole can the automatic transportation, and the automatic installation accessory, at last automatic installation is in the feed bin of drilling machine, whole journey does not need the manual work, can realize the automatic feeding of stock pole, a large amount of reduction cost of labor, promote work efficiency.
Description
Technical Field
The invention relates to the technical field of roadway excavation supporting equipment, in particular to a transportation device and roadway mining equipment.
Background
At present, after traditional continuous miner cuts the coal seam, tunnel support work is almost all accomplished by the manual work, including the manual work carries out the material loading to the stock, however, the support work in tunnel not only can harm personal safety, has also occupied a large amount of costs of labor simultaneously, reduces work efficiency.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, according to an embodiment of the first aspect of the invention, a transport device is provided.
An embodiment according to a second aspect of the invention provides a roadway mining apparatus.
In view of this, according to a first aspect of the present invention, there is provided a conveyance device for a roadway mining apparatus, comprising: the transportation part can be fixedly arranged on the roadway mining equipment and is used for transporting the anchor rod; the accessory part is located the top of transportation portion, and accessory part fixed mounting is on the roadway mining equipment, and accessory part is used for distributing the accessory to the stock.
The transportation device provided by the invention comprises a transportation part and an accessory part, wherein the transportation part and the accessory part are both fixedly arranged on roadway mining equipment, and the accessory part is positioned above the transportation part, wherein the transportation part is used for transporting an anchor rod, when the anchor rod moves to a specified position below the accessory part, the accessory part is arranged on the anchor rod by the accessory part, the anchor rod with the installed accessory is continuously transported to a storage bin of an automatic drilling machine, the anchor rod can be automatically transported and the accessory is automatically installed by matching the transportation part with the accessory part, and is finally automatically installed in the storage bin of the drilling machine, and the whole process does not need manpower, so that the automatic feeding of the anchor rod can be realized, the labor cost is greatly reduced, and the working efficiency is.
The transportation device in the technical scheme provided by the invention can also have the following additional technical characteristics:
in the above technical solution, further, the transport portion includes: one side of the mounting plate can be fixedly mounted on the roadway mining equipment; the transmission assembly is arranged on the mounting plate and is connected with the mounting plate; and the manipulator assembly can move relative to the transmission assembly and is used for transporting the anchor rod.
In this technical scheme, transportation portion includes mounting panel, transmission assembly and manipulator subassembly, and wherein, on transmission assembly located the mounting panel, manipulator subassembly can be for transmission assembly motion, through setting up transmission assembly for manipulator subassembly can be through the transportation stock that moves on transmission assembly, thereby realizes the automatic transportation of stock, reduces the cost of labor, improves work efficiency.
In the above technical solution, further, the robot assembly includes: a lifting portion movable relative to the transport assembly; one end of the rotating part is fixedly connected with the lifting part; the grabbing part is fixedly connected with the other end of the rotating part and used for grabbing the anchor rod.
In this technical scheme, the manipulator subassembly includes lift portion, rotation portion and snatching the portion, wherein, snatch the portion and can snatch the stock bolt, snatch the portion promptly through setting up, the manipulator subassembly can be followed the feed bin that is equipped with the stock bolt and snatch the stock bolt automatically, and move the automatic transmission that realizes the stock bolt on transmission assembly through lift portion, set up through the aforesaid structure, make manipulator subassembly compact structure, and the manipulator subassembly can be translational motion for transmission assembly, and the up-and-down motion of accessible lift portion realization manipulator subassembly certain range, thereby make the conveyer can be suitable for different cross sectional dimension's tunnel, promote conveyer's suitability.
In the above-described aspect, the elevating unit further includes: one side of the walking device can move on the transmission assembly; the first driving device is connected with the walking device and used for driving the walking device to move; and the lifting device can be movably connected with the other side of the walking device and can do lifting motion on the other side of the walking device.
In this technical scheme, lift portion includes running gear, a drive arrangement and elevating gear, wherein, a drive arrangement drive running gear moves on transmission assembly, through a drive arrangement drive running gear motion promptly, realize that the manipulator subassembly is translational motion for transmission assembly, through setting up elevating gear, can make rotation portion and the portion of snatching do the up-and-down motion under elevating gear's drive, the manipulator subassembly not only can be translational motion for transmission assembly, can also be the up-and-down motion for transmission assembly, thereby realize snatching the stock from the stock storehouse is automatic, automatic transportation to accessory portion after snatching, accessory portion is automatic for stock distribution accessory, and finally transport the stock to the overall process of rig, whole journey does not need artifical the participation, when reducing the cost of labor, promote work efficiency.
In addition, the manipulator assembly can perform translational motion and up-and-down lifting motion relative to the transmission assembly, certain unevenness of the steel mesh can be allowed, and the applicability of the conveying device is further improved.
The lifting part also comprises a fourth driving device which is connected with the lifting device and used for driving the lifting device to move up and down.
In the above technical solution, further, the rotating portion includes: one side of the connecting plate is fixedly connected with the lifting device; one end of the rotating device is fixedly connected with the second connecting plate, the other end of the rotating device is connected with the grabbing part, and the rotating device can drive the grabbing part to rotate by a preset angle.
In this technical scheme, the rotation portion includes connecting plate and rotating device, rotating device can drive the portion of snatching and rotate preset angle, that is to say, be translational motion on transmission assembly after the portion of snatching successfully snatchs the stock, when removing the below station to accessory portion, accessory portion is stock automatic allocation accessory, the stock obtains behind the accessory, manipulator component drives the stock and leaves accessory portion, rotating device drives the portion of snatching and rotates 180 degrees this moment, be about to the stock from the left side of snatching the portion rotate for the right side of snatching the portion, thereby avoid the stock to take place to interfere with accessory portion at the in-process of automatic transportation, and then guarantee the stability of stock automatic transportation process.
In the above technical solution, further, the transmission assembly includes: the guide piece is arranged on the mounting plate and is fixedly connected with the mounting plate; the first transmission piece is installed on the installation plate.
In this technical scheme, transmission assembly includes guide and first transmission, and wherein, guide and first transmission are all installed on the mounting panel, through setting up the guide, can provide the guide effect for manipulator assembly in manipulator assembly is for transmission assembly's motion process.
In the above technical solution, further, the traveling device includes: the conveying device comprises a first body and a guide groove, wherein the guide groove is arranged corresponding to a guide piece, and is formed in one side, close to the conveying assembly, of the first body; the second transmission piece is arranged on the same side of the guide groove and is arranged on the first body; wherein the second transmission member is engaged with the first transmission member to enable the robot assembly to move relative to the transmission assembly.
In this technical scheme, running gear includes guide way and second transmission piece, thereby wherein, thereby the guide way cooperatees with the guide piece and realizes providing the direction function for the manipulator subassembly, and the second transmission piece cooperatees with first transmission piece to make the manipulator subassembly move for the transmission assembly, through the cooperation of guide way and guide piece, further guarantee the stationarity of manipulator subassembly automatic transportation stock process.
In the above technical solution, further, the fitting portion includes: the guide rail can be fixedly arranged on the roadway mining equipment; the storage part can be fixedly arranged on the roadway mining equipment and is used for storing accessories; the moving assembly is connected with the guide rail in a sliding mode, and the other end of the moving assembly is used for moving the accessory.
In this technical scheme, accessory portion includes guide rail, storage portion and removal subassembly, and wherein, storage portion is used for saving the accessory, removes subassembly and guide rail sliding connection, when manipulator assembly successfully snatchs the stock and transports to the below station of accessory portion, removes the accessory in the subassembly removal storage portion to make the accessory can the automatic installation on the stock, realize the automatic assembly of accessory and stock, do not need the manual assembly accessory, reduce the cost of labor, promote work efficiency.
Further, contain a plurality of accessories in the stock portion, can realize the automatic assembly of a plurality of accessories and a plurality of stock, further realize stock transportation and accessory assembly's automated process.
Wherein, it should be noted that, the accessory part can also include camera subassembly or photoelectric sensor, when manipulator subassembly snatchs the stock and transports the below station of accessory part, camera subassembly or photoelectric sensor detect the stock and transport to first preset position, feed back to the controller, the first drive arrangement of controller control stops driving, and control fourth drive arrangement drive elevating gear upward movement to the second preset position, fourth drive arrangement stops driving, the controller control removes the accessory in the subassembly removal storage part, for the stock assembly.
In the above technical solution, further, the moving assembly includes: the second driving device is fixedly connected with the second body and used for driving the second body to slide on the guide rail; one end of the conveying piece is connected with the second body, and the other end of the conveying piece is used for moving the accessories; and the third driving device is fixedly connected with the conveying piece and is used for driving the conveying piece to do telescopic motion.
In this technical scheme, the removal subassembly includes second drive arrangement, carry piece and third drive arrangement, wherein, after an accessory and stock accomplished automatic assembly, the third drive arrangement drive is carried the piece and is got back to initial position, when next stock transports the below station of accessory portion, the third drive arrangement drive is carried the piece and is stretched out, at this moment, second drive arrangement drive second body drives and carries the piece to remove next accessory in order to realize the automatic assembly of next accessory and next stock, realize the automatic assembly of accessory and stock promptly through second drive arrangement, third drive arrangement and carry the piece, and the work efficiency is promoted.
In the above technical solution, further, the fitting portion further includes: one end of the mounting part is fixedly connected with one end of the material storage part, one side of the mounting part, which is connected with the material storage part, is provided with an accessory conveying opening, and the size of the accessory conveying opening is larger than that of an accessory; the installation department still includes: the batching board is arranged inside the third body and fixedly connected with the third body, and is provided with an installation opening, and the size of the installation opening is larger than that of the accessory; batching mouth, batching mouth locate the third body and are close to one side of carrying the piece, carry the piece and can inject batching mouth and shift out the accessory by the accessory delivery port.
In the technical scheme, the mounting part is arranged at one end of the material storage part, a fitting conveying port is arranged at the joint of the mounting part and the material storage part, wherein the size of the fitting conveying port is larger than that of a fitting to ensure that the fitting can be smoothly moved out of the fitting conveying port when the fitting is moved by a conveying part, the mounting part further comprises a proportioning plate which is arranged inside the mounting part, a mounting port with the size larger than that of the fitting is arranged on the proportioning plate, the fitting is automatically rotated by 90 degrees under the action of gravity to fall into the proportioning port on the proportioning plate after being moved out of the fitting conveying port and is automatically assembled with the anchor rod, one side of the mounting part, which is close to the conveying part, is provided with the proportioning port, the conveying part is inserted into the proportioning port under the driving of a third driving device to move the fitting out of the fitting conveying port, and the automatic assembly process of the fitting and the anchor rod is realized when, whole journey does not need artifical the participation, when reducing the cost of labor, promotes work efficiency.
The second aspect of the present invention provides a roadway mining device, which has the transportation device provided in any one of the technical solutions of the first aspect of the present invention, so that the roadway mining device has all the beneficial effects of the transportation device provided in any one of the technical solutions, and details are not repeated herein.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows a schematic structural view of a transportation device according to an embodiment of the invention;
FIG. 2 shows a front view of the embodiment of the transport unit shown in FIG. 1;
FIG. 3 shows a schematic structural view of a transport device according to yet another embodiment of the present invention;
FIG. 4 shows a front view of the embodiment of the transport unit shown in FIG. 3;
FIG. 5 shows a schematic structural view of a transportation device according to yet another embodiment of the present invention;
FIG. 6 shows a front view of the embodiment of the transport unit shown in FIG. 5;
figure 7 illustrates a schematic diagram of a robot assembly according to one embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 7 is:
the conveying part 1, the accessory part 2, the anchor rod 3, the mounting plate 4, the grabbing part 5, the traveling device 6, the lifting device 7, the connecting plate 8, the rotating device 9, the guide part 10, the first conveying part 11, the guide rail 12, the storage part 13, the accessory part 14, the second body 15, the conveying part 16, the third body 17, the proportioning plate 18 and the protective structure 19.
Detailed Description
So that the manner in which the above recited aspects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A conveyance device and roadway mining apparatus according to some embodiments of the present invention are described below with reference to fig. 1 to 7.
As shown in fig. 1 and 2, according to an embodiment of a first aspect of the present invention, there is provided a conveyance device for a roadway mining apparatus, comprising: the transportation part 1 is fixedly arranged on the roadway mining equipment, and the transportation part 1 is used for transporting the anchor rod 3; and the fitting part 2 is positioned above the transportation part 1, the fitting part 2 is fixedly arranged on the roadway mining equipment, and the fitting part 2 is used for distributing the fitting 14 to the anchor rod 3.
In the embodiment, the transportation device provided by the invention comprises a transportation part 1 and an accessory part 2, wherein the transportation part 1 and the accessory part 2 are both fixedly installed on roadway mining equipment, the accessory part 2 is positioned above the transportation part 1, the transportation part 1 is used for transporting the anchor rod 3, when the anchor rod 3 moves to a specified position below the accessory part 2, the accessory part 2 is used for installing the accessory 14 on the anchor rod 3, the anchor rod 3 with the accessory 14 installed is continuously transported to a bin of an automatic drilling machine, the anchor rod 3 can be automatically transported by matching the transportation part 1 with the accessory part 2, the accessory 14 is automatically installed, and finally the accessory is automatically installed in the bin of the drilling machine.
Wherein, it should be explained that, conveyer still includes the controller, the controller is located and is adopted on the machine even, be used for controlling transport portion 1 transportation stock 3, when stock 3 transports to the below station of accessory portion 2, the controller still is used for controlling accessory portion 2 and distributes accessory 14 for stock 3, can realize the automated control process that stock 3 transported and accessory 14 installed through the controller promptly, and then reduce the cost of labor, promote work efficiency, the explosion-proof structure need be installed to the outside of controller, thereby guarantee the security of construction.
In addition, the unified control of the transportation unit 1 and the accessory unit 2 can be realized by a Programmable Logic Controller (PLC).
Further, can set up the gasket that takes precautions against earthquakes in transportation portion 1 and accessory portion 2 and the fixed connection department of tunnel exploitation equipment to can guarantee the normal operating of transportation portion 1 and accessory portion 2 on tunnel exploitation equipment, and then guarantee the stock 3 in the stability of automatic transportation process, wherein, it is required to explain that the gasket that takes precautions against earthquakes can be the nylon materials, and accessory 14 can be the flange.
As shown in fig. 1 and 7, in any of the above embodiments, further, the transport part 1 includes: one side of the mounting plate 4 can be fixedly mounted on the roadway mining equipment; the transmission assembly is arranged on the mounting plate 4 and is connected with the mounting plate 4; and the manipulator assembly can move relative to the transmission assembly and is used for transporting the anchor rod 3.
In this embodiment, the transportation part 1 includes mounting panel 4, transmission assembly and manipulator subassembly, and wherein, transmission assembly locates on the mounting panel 4, and the manipulator subassembly can be for transmission assembly motion, through setting up transmission assembly for the manipulator subassembly can be through transporting stock 3 on transmission assembly moves, thereby realizes stock 3's automatic transportation, reduces the cost of labor, improves work efficiency.
Further, can also set up protective structure 19 on mounting panel 4, prevent falling rocks etc. and drop and damage the manipulator subassembly on the one hand, on the other hand can also play dustproof waterproof etc. effect to the manipulator subassembly through setting up protector to further guarantee the stability of conveyer automatic transportation stock 3 processes.
It should be noted that the protection structure 19 may be a steel belt or a PVC cover, etc. to achieve a protection function.
As shown in fig. 1 to 7, in any of the above embodiments, further, the robot assembly includes: a lifting portion movable relative to the transport assembly; one end of the rotating part is fixedly connected with the lifting part; and the grabbing part 5 is fixedly connected with the other end of the rotating part and used for grabbing the anchor rod 3.
In this embodiment, the manipulator subassembly includes the lift portion, rotation portion and snatch portion 5, wherein, the portion of snatching 5 can snatch stock 3, snatch portion 5 through setting up promptly, the manipulator subassembly can be followed and is equipped with stock 3's automatic anchor stock 3 of snatching, and move on transmission assembly through the lift portion and realize the automatic transmission of stock 3, set up through the aforesaid structure, make manipulator subassembly compact structure, and the manipulator subassembly can be translational motion for transmission assembly, and the up-and-down motion of accessible lift portion realization manipulator subassembly certain range, thereby make the conveyer can be suitable for different cross sectional dimension's tunnel, promote conveyer's suitability.
Further, the portion of snatching 5 can include the guide arm cylinder, for reliability and stability when further guaranteeing that portion of snatching 5 snatchs stock 3, can set up two and more than two guide arm cylinders for snatch stock 3 automatically in 3 feed bins from the stock, realize by the artifical transition of strutting to automatic support in tunnel, improve work efficiency.
In addition, the grabbing part 5 can also comprise a proximity sensor or a photoelectric sensor and the like to detect and feed back the grabbing condition of the anchor rod 3 in real time, so that the grabbing effectiveness of the grabbing part 5 is guaranteed, the situation that the grabbing part 5 does not grab the anchor rod 3 successfully and does not carry out no-load transportation is avoided, and the automatic control of grabbing of the anchor rod 3 is further realized.
Wherein, it should be noted that the guide rod cylinder can be a finger cylinder, and in addition, the grabbing part 5 can also adopt a hydraulic cylinder or an electromagnet and the like to realize the automatic grabbing function of the anchor rod 3.
As shown in fig. 3 and 4, in any of the above embodiments, further, the elevating part includes: a running gear 6, one side of the running gear 6 can move on the transmission component; the first driving device is connected with the walking device 6 and is used for driving the walking device 6 to move; and the lifting device 7 can be movably connected with the other side of the walking device 6, and the lifting device 7 can do lifting motion on the other side of the walking device 6.
In this embodiment, the lifting part includes a traveling device 6, a first driving device and a lifting device 7, wherein the first driving device drives the traveling device 6 to move on the transmission assembly, that is, the traveling device 6 is driven to move by the first driving device, so that the manipulator assembly can perform a translational motion relative to the transmission assembly, by providing the lifting device 7, the rotating part and the gripping part 5 can perform an up-and-down motion under the driving of the lifting device 7, that is, the manipulator assembly can perform a translational motion relative to the transmission assembly and also perform an up-and-down motion relative to the transmission assembly, so that the anchor rod 3 can be automatically gripped from the anchor rod 3 bin, the gripped anchor rod is automatically transported to the fitting part 2, the fitting part 2 automatically allocates a fitting 14 to the anchor rod 3, and finally the anchor rod 3 is transported to the drilling machine in the whole process without manual participation, and the labor cost is reduced, the work efficiency is improved.
In addition, the manipulator assembly can perform translational motion and up-and-down lifting motion relative to the transmission assembly, certain unevenness of the steel mesh can be allowed, and the applicability of the conveying device is further improved.
The lifting part also comprises a fourth driving device which is connected with the lifting device 7 and used for driving the lifting device 7 to move up and down.
It should be noted that, running gear 6 may be a plate structure, specifically, one side of running gear 6 and lifting device 7 swing joint may be provided with a groove, the groove extends along the axial direction of running gear 6, one side of corresponding lifting device 7 and running gear 6 to be connected may be provided with a protrusion, the protrusion and the groove correspond one to one, a plurality of grooves may also be provided on running gear 6, a plurality of protrusions are provided corresponding to lifting device 7, through the cooperation of the groove and the protrusion, the swing joint of lifting device 7 and running gear 6 is realized, that is, lifting device 7 may move up and down relative to running gear 6.
Furthermore, an explosion-proof structure is required to be arranged outside the first driving device and the fourth driving device to ensure the safety of construction operation, and the first driving device or the fourth driving device can be a servo motor, a planetary reducer or the like.
As shown in fig. 7, in any of the above embodiments, further, the rotating portion includes: one side of the connecting plate 8 is fixedly connected with the lifting device 7; rotating device 9, rotating device 9's one end and second connecting plate 8 fixed connection, rotating device 9's the other end is connected with grabbing portion 5, and rotating device 9 can drive grabbing portion 5 and rotate the preset angle.
In this embodiment, the rotating part includes connecting plate 8 and rotating device 9, rotating device 9 can drive the portion of snatching 5 and rotate preset angle, that is to say, be translational motion on the transmission assembly after the portion of snatching 5 successfully snatchs stock 3, when removing to the below station of accessory portion 2, accessory portion 2 is 3 automatic distribution accessories 14 of stock, after stock 3 obtained accessory 14, manipulator assembly drove stock 3 and leaves accessory portion 2, rotating device 9 drove the portion of snatching 5 and rotates 180 degrees this moment, be about to the stock 3 rotates for the right side at the portion of snatching 5 from the left side of snatching 5, thereby avoid stock 3 to take place to interfere with accessory portion 2 in the in-process of automatic transportation, and then guarantee the stability of stock 3 automatic transportation process.
Wherein, it should be noted that, the rotating device 9 can be a swing cylinder, that is, the grabbing portion 5 is realized to drive the anchor rod 3 to rotate 180 degrees through the swing cylinder.
As shown in fig. 1 to 6, in any of the above embodiments, further, the transmission assembly includes: the guide piece 10 is arranged on the mounting plate 4, and the guide piece 10 is fixedly connected with the mounting plate 4; a first transmission member 11, the first transmission member 11 being mounted on the mounting plate 4.
In this embodiment the transfer assembly comprises a guide 10 and a first transfer element 11, wherein the guide 10 and the first transfer element 11 are both mounted on the mounting plate 4, and by providing the guide 10, a guiding effect is provided for the robot assembly during its movement relative to the transfer assembly.
As shown in fig. 5 to 7, in any of the above embodiments, further, the walking device 6 includes: the conveying device comprises a first body and a guide groove, wherein the guide groove is arranged corresponding to the guide piece 10, and is formed in one side, close to the conveying assembly, of the first body; the second transmission piece is arranged on the same side of the guide groove and is arranged on the first body; wherein the second transfer element cooperates with the first transfer element 11 to enable movement of the robot assembly relative to the transfer assembly.
In this embodiment, the running gear 6 includes a guide groove and a second transmission member, wherein the guide groove is matched with the guide member 10 to provide a guide function for the manipulator assembly, and the second transmission member is matched with the first transmission member 11 to enable the manipulator assembly to move relative to the transmission assembly, so that stability of the automatic anchor rod 3 transportation process of the manipulator assembly is further ensured through the matching of the guide groove and the guide member 10.
In addition, the transmission assembly may include a guide groove, and the traveling device 6 may be provided with a guide member 10, so that the guide groove and the guide member 10 cooperate to provide a guide function for the translational movement of the manipulator assembly.
Further, the first transmission piece 11 and the second transmission piece can realize the translational motion of the manipulator assembly relative to the transmission assembly through chain transmission, screw transmission, gear and rack transmission and the like, and further realize the automatic transportation of the anchor rod 3.
As shown in fig. 1, 3 and 5, in any of the above embodiments, further, the fitting part 2 includes: the guide rail 12, the guide rail 12 can be fixedly installed on the roadway mining equipment; the storage part 13, the storage part 13 can be fixedly installed on the roadway mining equipment, and the storage part 13 is used for storing accessories 14; and a moving assembly, one end of which is slidably connected with the guide rail 12, and the other end of which is used for moving the fitting 14.
In this embodiment, the accessory part 2 comprises a guide rail 12, a storing part 13 and a moving assembly, wherein the storing part 13 is used for storing accessories 14, the moving assembly is in sliding connection with the guide rail 12, when the manipulator assembly successfully grabs the anchor rod 3 and transports the anchor rod 3 to a station below the accessory part 2, the moving assembly moves the accessories 14 in the storing part 13, so that the accessories 14 can be automatically installed on the anchor rod 3, automatic assembly of the accessories 14 and the anchor rod 3 is achieved, manual assembly of the accessories 14 is not needed, labor cost is reduced, and work efficiency is improved.
Further, a plurality of accessories 14 are contained in the storing part 13, so that automatic assembly of the plurality of accessories 14 and the plurality of anchor rods 3 can be realized, and further, an automatic process of transporting the anchor rods 3 and assembling the accessories 14 is realized.
Wherein, it should be noted that, the accessory part 2 may further include a camera assembly or a photoelectric sensor, when the manipulator assembly grabs the anchor rod 3 and transports to the station below the accessory part 2, the camera assembly or the photoelectric sensor detects that the anchor rod 3 transports to a first preset position, and feeds back to the controller, the controller controls the first driving device to stop driving, and controls the fourth driving device to drive the lifting device 7 to move upward to a second preset position, the fourth driving device stops driving, and the controller controls the moving assembly to move the accessory 14 in the storage part 13, and the anchor rod 3 is assembled.
As shown in fig. 1, 3 and 5, in any of the above embodiments, further, the moving assembly includes: the second body 15 and the second driving device are fixedly connected with the second body 15 and used for driving the second body 15 to slide on the guide rail 12; a conveying member 16, one end of the conveying member 16 is connected with the second body 15, and the other end of the conveying member 16 is used for moving the fittings 14; and the third driving device is fixedly connected with the conveying member 16 and is used for driving the conveying member 16 to do telescopic motion.
In this embodiment, the moving assembly includes a second driving device, a conveying member 16 and a third driving device, wherein after one fitting 14 and one anchor rod 3 are automatically assembled, the third driving device drives the conveying member 16 to return to the initial position, and when the next anchor rod 3 is transported to a lower station of the fitting part 2, the third driving device drives the conveying member 16 to extend, at this time, the second driving device drives the second body 15 to drive the conveying member 16 to move the next fitting 14 so as to realize the automatic assembly of the next fitting 14 and the next anchor rod 3, that is, the automatic assembly of the fitting 14 and the anchor rod 3 is realized through the second driving device, the third driving device and the conveying member 16, so that the working efficiency is improved.
The second driving device and the third driving device are externally provided with an explosion-proof structure to ensure the safety of construction operation, and the second driving device or the third driving device can be a servo motor or a planetary reducer and the like.
As shown in fig. 1 to 7, in any of the above embodiments, further, the fitting part 2 further includes: one end of the mounting part is fixedly connected with one end of the material storage part 13, one side of the mounting part, which is connected with the material storage part 13, is provided with an accessory 14 conveying opening, and the size of the accessory 14 conveying opening is larger than that of the accessory 14; the installation department still includes: the third body 17 and the batching plate 18 are arranged inside the third body 17, the batching plate 18 is fixedly connected with the third body 17, a mounting opening is formed in the batching plate 18, and the size of the mounting opening is larger than that of the accessory 14; a dispensing opening is provided on the side of the third body 17 adjacent the transport member 16, and the transport member 16 can be inserted into the dispensing opening to remove the fitment 14 from the fitment 14 delivery opening.
In this embodiment, the mounting portion is disposed at one end of the storage portion 13, and a delivery port of the accessory 14 is disposed at a connection position of the mounting portion and the storage portion 13, wherein the delivery port of the accessory 14 is larger than the accessory 14 to ensure that the accessory 14 can be smoothly removed from the delivery port of the accessory 14 when the delivery member 16 moves the accessory 14, further, the mounting portion further includes a dispensing plate 18 disposed inside the mounting portion, a mounting port with a size larger than that of the accessory 14 is formed on the dispensing plate 18, the accessory 14 automatically rotates 90 degrees under the action of its own gravity to fall into the dispensing port on the dispensing plate 18 after being removed from the delivery port of the accessory 14, and is automatically assembled with the anchor rod 3, the dispensing port is disposed at a side of the mounting portion close to the delivery member 16, the delivery member 16 is inserted into the dispensing port under the driving of the third driving device to remove the accessory 14 from the delivery port of the accessory 14, and the above process realizes transportation of the anchor rod 3, the automatic assembly process of accessory 14 and stock 3, whole journey does not need artifical the participation, when reducing the cost of labor, promotes work efficiency.
In addition, the dispensing opening may be a long hole arranged transversely along the mounting portion, and the long hole may extend to the storing portion 13, so that the conveying member 16 can automatically move the accessory 14 out of the conveying opening of the accessory 14 under the driving of the second driving device and the third driving device, and the automatic assembly with the anchor rod 3 is completed.
Wherein, it should be noted that the installation department also can integrated into one piece with storage portion 13, and integrated into one piece mechanical properties is good, and can realize batch production.
Embodiments of the second aspect of the present invention provide a roadway mining device, which has the transportation device provided in any embodiment of the first aspect of the present invention, so that the roadway mining device has all the beneficial effects of the transportation device provided in any embodiment described above, and details are not repeated here.
In the embodiment, the transportation device comprises a transportation part 1 and an accessory part 2 which are respectively fixedly installed on the roadway mining equipment, the accessory part 2 is arranged above the transportation part 1, the finger cylinder automatically grabs the anchor rod 3 from the anchor rod bin, the photoelectric sensor automatically detects whether the finger cylinder successfully grabs the anchor rod 3, the controller controls the manipulator assembly to drive the anchor rod 3 to move on the transmission assembly in a translation manner after receiving the feedback of successfully grabbing the anchor rod 3, when the camera assembly or the photoelectric sensor detects that the anchor rod 3 moves to a station below the accessory part 2, the controller carries out real-time feedback, controls the first driving device to stop driving, controls the fourth driving device to drive the lifting device 7 to drive the anchor rod 3 to move upwards until one end of the anchor rod 3 is located in the installation opening or partially penetrates out of the installation opening, and at the moment, the fourth driving device stops driving, the controller controls the third driving device to drive the conveying piece 16 to be inserted into the proportioning port, the controller controls the second driving device to drive the conveying piece 16 to move the accessory 14 out of the accessory conveying port, the accessory 14 is overturned by 90 degrees under the action of self gravity to automatically fall into the mounting port to be automatically assembled with the anchor rod 3 or automatically passes through the anchor rod 3 to automatically assemble the accessory 14 with the anchor rod 3, a turnover device can be further arranged, after the accessory 14 is moved out of the accessory conveying port, the controller controls the turnover device to overturn the accessory 14 by 90 degrees to be assembled with the anchor rod 3, after the accessory 14 is assembled with the anchor rod 3, the controller controls the fourth driving device to drive the lifting device 7 to move downwards, the driving is stopped after the anchor rod leaves the mounting portion, at the moment, the swing air cylinder drives the grabbing portion 5 to rotate by 180 degrees, the grabbing portion 5 drives the anchor rod 3 to rotate from one side to the other side, and the controller controls the first driving device to drive, so that manipulator assembly drives 3 translations of stock rod, until transporting 3 top stations to the rig feed bin with the stock rod, controller control fourth drive arrangement drive elevating gear 7 downstream, with 3 automatic installations of stock rod to the feed bin of rig, realize 3 automatic snatchs of stock rod to the automatic transportation from automatic, go to automatic assembly accessory 14 again, the overall process of final automatic transportation and installation to the rig feed bin, whole journey does not need artifical the participation, when reducing the cost of labor, promote work efficiency.
In addition, with above-mentioned conveyer fixed mounting on tunnel mining equipment, can realize cutting the coal seam after, the manipulator subassembly transports in the feed bin of rig after 3 automatic assembly accessories 14 of stock rod, promotes work efficiency, realizes the integration of exploitation and anchor, wherein, it needs to explain that tunnel mining equipment can be continuous miner.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A transportation device for roadway mining equipment, comprising:
the transportation part (1), the transportation part (1) can be fixedly arranged on the roadway mining equipment, and the transportation part (1) is used for transporting the anchor rod (3);
an accessory part (2) located above the transport part (1), the accessory part (2) being fixedly mounted on the roadway mining device, the accessory part (2) being used for distributing an accessory (14) to the anchor rod (3).
2. A transport device according to claim 1, characterized in that the transport section (1) comprises:
the mounting plate (4), one side of the mounting plate (4) can be fixedly mounted on the roadway mining equipment;
the transmission assembly is arranged on the mounting plate (4) and is connected with the mounting plate (4);
a manipulator assembly movable relative to the transport assembly for transporting an anchor rod (3).
3. The transport device of claim 2, wherein the robot assembly comprises:
a lifting portion movable relative to the transport assembly;
one end of the rotating part is fixedly connected with the lifting part;
and the grabbing part (5) is fixedly connected with the other end of the rotating part and used for grabbing the anchor rod (3).
4. The transport device of claim 3, wherein the lift portion comprises:
a running gear (6), one side of the running gear (6) being movable on the transmission assembly;
the first driving device is connected with the walking device (6) and is used for driving the walking device (6) to move;
the lifting device (7) can be movably connected with the other side of the walking device (6), and the lifting device (7) can do lifting motion on the other side of the walking device (6).
5. The transportation device of claim 4, wherein the rotating portion comprises:
one side of the connecting plate (8) is fixedly connected with the lifting device (7);
rotating device (9), the one end of rotating device (9) with connecting plate (8) fixed connection, the other end of rotating device (9) with portion of snatching (5) are connected, rotating device (9) can drive portion of snatching (5) rotate and predetermine the angle.
6. The transport device of claim 4, wherein the transport assembly comprises:
the guide piece (10) is arranged on the mounting plate (4), and the guide piece (10) is fixedly connected with the mounting plate (4);
a first transmission member (11), the first transmission member (11) being mounted on the mounting plate (4).
7. A transporting arrangement as claimed in claim 6, characterised in that the walking means (6) comprise:
a first body, a second body and a third body,
the guide groove is arranged corresponding to the guide piece (10), and is formed in one side, close to the transmission assembly, of the first body;
the second transmission piece is arranged on the same side of the guide groove and is arranged on the first body;
wherein the second transfer element cooperates with the first transfer element (11) to enable the robot assembly to move relative to the transfer assembly.
8. A transportation device according to claim 1, characterized in that the fitting part (2) comprises:
a guide rail (12), the guide rail (12) being fixedly mountable on the roadway mining apparatus;
the storage part (13) can be fixedly mounted on the roadway mining equipment, and the storage part (13) is used for storing accessories (14);
a moving component, one end of the moving component is connected with the guide rail (12) in a sliding mode, and the other end of the moving component is used for moving the accessory (14).
9. The transport device of claim 8, wherein the moving assembly comprises:
a second body (15) having a first end,
the second driving device is fixedly connected with the second body (15) and is used for driving the second body (15) to slide on the guide rail (12);
a conveying element (16), one end of the conveying element (16) is connected with the second body (15), and the other end of the conveying element (16) is used for moving the accessory (14);
and the third driving device is fixedly connected with the conveying piece (16) and is used for driving the conveying piece (16) to do telescopic motion.
10. A transportation device according to claim 9, characterized in that the fitting part (2) further comprises:
the mounting part is fixedly connected with one end of the material storage part (13), an accessory conveying port is formed in one side, connected with the material storage part (13), of the mounting part, and the size of the accessory conveying port is larger than that of the accessory (14);
the mounting portion further includes:
a third body (17),
the batching plate (18) is arranged inside the third body (17) and fixedly connected with the third body (17), a mounting opening is formed in the batching plate (18), and the size of the mounting opening is larger than that of the accessory (14);
a dispensing opening provided on a side of the third body (17) adjacent the transport member (16), the transport member (16) being insertable into the dispensing opening to remove the fitment (14) from the fitment (14) transport opening.
11. A roadway mining apparatus including a conveyance device as claimed in any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010589064.5A CN111636909A (en) | 2020-06-24 | 2020-06-24 | Transportation device and roadway mining equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010589064.5A CN111636909A (en) | 2020-06-24 | 2020-06-24 | Transportation device and roadway mining equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111636909A true CN111636909A (en) | 2020-09-08 |
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ID=72328433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010589064.5A Pending CN111636909A (en) | 2020-06-24 | 2020-06-24 | Transportation device and roadway mining equipment |
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| Country | Link |
|---|---|
| CN (1) | CN111636909A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676799A (en) * | 2021-03-12 | 2021-04-20 | 三一重型装备有限公司 | Assembly fixture and assembly equipment |
| CN113334046A (en) * | 2021-06-02 | 2021-09-03 | 亚普汽车部件股份有限公司 | Method for automatically mounting parts on mechanism |
-
2020
- 2020-06-24 CN CN202010589064.5A patent/CN111636909A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676799A (en) * | 2021-03-12 | 2021-04-20 | 三一重型装备有限公司 | Assembly fixture and assembly equipment |
| CN113334046A (en) * | 2021-06-02 | 2021-09-03 | 亚普汽车部件股份有限公司 | Method for automatically mounting parts on mechanism |
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