CN210282300U

CN210282300U - Cleaning manipulator matched with coal bunker blockage cleaning robot for use

Info

Publication number: CN210282300U
Application number: CN201920238054.XU
Authority: CN
Inventors: 任晓刚; 于汝; 范继卫; 郭爽
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2019-02-26
Filing date: 2019-02-26
Publication date: 2020-04-10
Anticipated expiration: 2029-02-26

Abstract

The utility model belongs to the technical field of coal bunker blockage removal, and discloses a cleaning manipulator which is matched with a coal bunker blockage removal robot for use, wherein the cleaning manipulator comprises a horizontal feeding mechanism, a swing mechanism and a cleaning mechanism which are sequentially installed from top to bottom; the horizontal feeding mechanism comprises a first pneumatic motor, a base, a flange coupler, a slide rail, a screw rod, a slide block, a screw rod nut, a first connecting plate and a bearing seat; the slewing mechanism comprises a fixed seat, a second pneumatic motor, a first RV reducer and a second connecting plate; the swing mechanism comprises a third pneumatic motor, a support frame, a second RV reducer, an output shaft, a mechanical arm and a bearing end cover; the cleaning mechanism comprises a fourth pneumatic motor, a connecting flange plate, a rotary cutter head and a cleaning cutter head; under the high-speed rotation of rotatory blade disc and horizontal feed mechanism's removal, the clearance tool bit can be to quick clearance of knot coal seam, security and high efficiency during the cleaning operation can be improved.

Description

Cleaning manipulator matched with coal bunker blockage cleaning robot for use

Technical Field

The utility model belongs to the technical field of the clear stifled technique of coal bunker, concretely relates to with clear supporting clearance manipulator who uses of stifled robot of coal bunker.

Background

In the use process of the ground coal bunker, the coal seam often has the problem of hardening, so that the coal bunker is blocked, the coal bunker cannot normally work, the hardened coal seam needs to be cleaned in time, the traditional method for cleaning the hardened coal seam mainly comprises manual cleaning and blasting cleaning, and the traditional cleaning method is unsafe and inefficient.

The Chinese patent No. 201811501363.8 discloses a mechanical hand for cleaning the bunker and a robot for cleaning the blockage of the bunker, the scheme controls the high-speed rotation of a cleaning hub so as to drive a spike part on a scraper to rotate at a high speed, and the cleaning of a hardened coal seam can be realized.

Disclosure of Invention

For solving the not enough of existence among the above-mentioned background art, the utility model aims to provide a clear up manipulator with the supporting use of clear stifled robot in coal bunker guarantees high efficiency and security when clearing up the coal bunker.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a cleaning manipulator used in cooperation with a coal bunker blockage cleaning robot comprises a horizontal feeding mechanism, a swing mechanism and a cleaning mechanism which are sequentially arranged from top to bottom;

the horizontal feeding mechanism comprises a first pneumatic motor, a base, a flange coupling, a slide rail, a screw rod, a slide block, a screw rod nut, a first connecting plate and a bearing seat, wherein the first pneumatic motor is fixedly connected with the base;

the slewing mechanism comprises a fixed seat, a second pneumatic motor, a first RV reducer and a second connecting plate, wherein the second pneumatic motor is arranged in the fixed seat and is fixedly connected with the fixed seat, an output shaft of the second pneumatic motor is connected with the first RV reducer, the lower end of the first RV reducer is fixedly connected with the second connecting plate, and the upper surface of the fixed seat is fixedly connected with the first connecting plate in the horizontal feeding mechanism;

the swing mechanism comprises a third pneumatic motor, a support frame, a second RV reducer, an output shaft, a mechanical arm and a bearing end cover, wherein the third pneumatic motor is fixedly connected with the support frame, the support frame is fixedly connected with the lower surface of a second connecting plate in the swing mechanism, the output shaft of the third pneumatic motor is connected with the second RV reducer, the second RV reducer is connected with one end of the output shaft, the other end of the output shaft is connected with the mechanical arm, and the mechanical arm is connected with the bearing end cover;

clearance mechanism includes fourth pneumatic motor, flange plate, rotatory blade disc, clearance tool bit, fourth pneumatic motor with the terminal fixed connection of the arm in the swing mechanism, the arm in the swing mechanism with the flange plate links to each other, flange plate with rotatory blade disc links to each other, rotatory blade disc with fourth pneumatic motor's output shaft links to each other, rotatory blade disc with clearance tool bit fixed connection.

Preferably, the number of the slide rails is two, the two slide rails are symmetrically arranged on two sides of the upper surface of the base, and the slide grooves of the slide rails are dovetail-shaped;

preferably, the lower surface of the sliding block is provided with a dovetail-shaped boss which is connected with the sliding rail in a sliding manner, and the number of the sliding blocks is two;

preferably, the rotary cutter head is circular, a circular groove and a threaded hole are formed in the center of the lower surface of the rotary cutter head, a plurality of rectangular grooves and threaded holes are uniformly formed in the lower surface of the rotary cutter head, and the rotary cutter head is vertically connected with the tail end of the mechanical arm through the connecting flange plate;

preferably, the lower end of the cleaning cutter head is provided with a rectangular base and a threaded hole, and the rectangular base and the threaded hole are fixedly connected with the rotary cutter head;

compared with the prior art, the beneficial effects of the utility model are that: the utility model provides a clearance coal bunker manipulator structure is light and handy compact, can replace the artifical coal seam that hardens of the inside clearance in coal bunker that gets into, safe in utilization, convenient, high-efficient, and all drives all adopt pneumatic motor, both satisfy load capacity, be applicable to the inside flammable and explosive operation environment in coal bunker again, this utility model provides a clearance coal bunker manipulator adopts the blade disc that has the rotation type structure, evenly is equipped with the clearance tool bit on the blade disc, can high-efficiently clear up the coal seam that hardens.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of a partial structure of the horizontal feeding mechanism of the present invention;

FIG. 3 is a schematic view of a partial structure of the swing mechanism of the present invention;

fig. 4 is a schematic view of a partial structure of the swing mechanism of the present invention;

FIG. 5 is a schematic view of a partial structure of the cleaning mechanism of the present invention;

fig. 6 is a schematic structural view of the rotary cutter head of the present invention;

fig. 7 is a schematic structural view of the utility model discloses clearance tool bit.

Description of reference numerals:

horizontal feed mechanism, 2-swing mechanism, 3-swing mechanism, 4-cleaning mechanism, 11-first pneumatic motor, 12-base, 13-flange coupling, 14-slide rail, 15-screw rod, 16-slide block, 17-screw rod nut, 18-first connecting plate, 19-bearing seat, 21-fixed seat, 22-second pneumatic motor, 23-first RV reducer, 24-second connecting plate, 31-third pneumatic motor, 32-support frame, 33-second RV reducer, 34-output shaft, 35-mechanical arm, 36-bearing end cover, 41-fourth pneumatic motor, 42-connecting flange, 43-rotary cutter head and 44-cleaning cutter head.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.

Referring to fig. 1-7, the present invention provides a technical solution: a mechanical arm capable of cleaning a coal bunker comprises a horizontal feeding mechanism 1, a slewing mechanism 2, a swinging mechanism 3 and a cleaning mechanism 4 which are sequentially arranged from top to bottom; the horizontal feeding mechanism 1 comprises a first pneumatic motor 11, a base 12, a flange coupling 13, a slide rail 14, a screw rod 15, a slide block 16, a screw rod nut 17, a first connecting plate 18 and a bearing seat 19, wherein the first pneumatic motor 11 is fixedly connected with the base 12, the slide rail 14 is arranged on the upper surface of the base 12 and is fixedly connected with the base, the slide block 16 is arranged above the slide rail 14 and is in sliding connection with the slide rail 14, the upper surface of the slide block 16 is fixedly connected with the first connecting plate 18, the first connecting plate 18 is fixedly connected with the upper surface of the screw rod nut 17, the screw rod nut 17 is in sliding connection with the screw rod 15, one end of the screw rod 15 is connected with the first pneumatic motor 11 through the flange coupling 13, the other end of the screw rod 15; the slewing mechanism 2 comprises a fixed seat 21, a second pneumatic motor 22, a first RV reducer 23 and a second connecting plate 24, wherein the second pneumatic motor 22 is arranged inside the fixed seat 21 and is fixedly connected with the fixed seat, the upper surface of the fixed seat 21 is fixedly connected with the first connecting plate 18 in the horizontal feeding mechanism 1, the output shaft of the second pneumatic motor 22 is connected with the first RV reducer 23, and the lower end of the first RV reducer 23 is fixedly connected with the second connecting plate 24; the swing mechanism 3 comprises a third pneumatic motor 31, a support frame 32, a second RV reducer 33, an output shaft 34, a mechanical arm 35 and a bearing end cover 36, the third pneumatic motor 31 is fixedly connected with the support frame 32, the support frame 32 is fixedly connected with the lower surface of a second connecting plate 24 in the swing mechanism 2, the output shaft of the third pneumatic motor 31 is connected with the second RV reducer 33, the second RV reducer 33 is connected with one end of the output shaft 34, the other end of the output shaft 34 is connected with the mechanical arm 35, and the mechanical arm 35 is connected with the bearing end cover 36; the cleaning mechanism 4 comprises a fourth pneumatic motor 41, a connecting flange 42, a rotary cutter disc 43 and a cleaning cutter head 44, the fourth pneumatic motor 41 is fixedly connected with the tail end of a mechanical arm 35 in the swing mechanism 3, the mechanical arm 35 in the swing mechanism 3 is connected with the connecting flange 42, the connecting flange 42 is connected with the rotary cutter disc 43, the rotary cutter disc 43 is connected with an output shaft of the fourth pneumatic motor 41, and the rotary cutter disc 43 is fixedly connected with the cleaning cutter head 44.

Further, the first pneumatic motor 11 drives the screw rod 15 to rotate, and under the rotation of the screw rod 15, the screw rod nut 17 slides to drive the first connecting plate 18 to move, so as to drive the whole manipulator to move;

further, a rotary cutter 43 is mounted at the tail end of the mechanical arm 35 and is vertically arranged, and a cleaning cutter head 44 is uniformly arranged on the lower surface of the rotary cutter 43;

further, under the high-speed rotation of the rotary cutter head 43 and the movement of the horizontal feeding mechanism 1, the cleaning cutter head 44 can quickly clean the hardened coal seam;

of course, the above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and it should be noted that any equivalent substitution, obvious modification made by those skilled in the art under the teaching of the present specification fall within the essential scope of the present specification, and the protection of the present invention should be protected.

Claims

1. The utility model provides a clear up manipulator with supporting use of clear stifled robot in coal bunker, includes by last horizontal feed mechanism (1), rotation mechanism (2), swing mechanism (3) of installing in proper order down, clearance mechanism (4), its characterized in that: the cleaning mechanism (4) comprises a fourth pneumatic motor (41), a connecting flange disc (42), a rotary cutter disc (43) and a cleaning cutter head (44);

fourth air motor (41) with terminal fixed connection of arm (35) in swing mechanism (3), arm (35) in swing mechanism (3) with flange plate (42) link to each other, flange plate (42) with rotatory blade disc (43) link to each other, rotatory blade disc (43) with the output shaft of fourth air motor (41) links to each other, rotatory blade disc (43) with clearance tool bit (44) fixed connection.

2. The cleaning manipulator used with the coal bunker cleaning robot as claimed in claim 1, wherein: the shape of rotatory blade disc (43) is circular, the lower surface center of rotatory blade disc (43) is equipped with a circular recess and is equipped with the screw hole, the lower surface of rotatory blade disc (43) evenly is equipped with a plurality of rectangle recesses and is equipped with the screw hole.

3. The cleaning manipulator used with the coal bunker cleaning robot as claimed in claim 1, wherein: the lower extreme of clearance tool bit (44) is equipped with the rectangle base and is equipped with the screw hole.