CN212867567U - Cantilever crane system for underground narrow tunnel manipulator - Google Patents
Cantilever crane system for underground narrow tunnel manipulator Download PDFInfo
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- CN212867567U CN212867567U CN202021321696.5U CN202021321696U CN212867567U CN 212867567 U CN212867567 U CN 212867567U CN 202021321696 U CN202021321696 U CN 202021321696U CN 212867567 U CN212867567 U CN 212867567U
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- arm
- connecting rod
- support
- manipulator
- oil cylinder
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- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims 1
- 239000003245 coal Substances 0.000 abstract description 8
- 239000003921 oil Substances 0.000 description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 239000000463 material Substances 0.000 description 7
- 230000003014 reinforcing effect Effects 0.000 description 5
- 238000009412 basement excavation Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 239000010802 sludge Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003250 coal slurry Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
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Abstract
The utility model discloses a narrow and small tunnel cantilever crane system for manipulator in pit, including four-bar linkage system and flexible arm, four-bar linkage system includes the base, be fixed with the support on the base, the three position of upper end, middle-end, lower extreme of support articulates from a left side to the right side respectively has connecting rod, big arm and hydro-cylinder, the bottom arm lower extreme of flexible arm is fixed with flexible arm support, the left and right sides of flexible arm support lower extreme is articulated with connecting rod, big arm respectively, the upper end of big arm still is articulated with the flexible end of hydro-cylinder, and it can keep flexible arm under the prerequisite with ground level, adjusts flexible arm height of locating through the cooperation of big arm, connecting rod and hydro-cylinder, makes the manipulator can carry out the clear operation of digging to the sump that is less than ground when flexible arm height is lower, and then can accomplish the clear work of digging of coal slime.
Description
Technical Field
The utility model relates to a cantilever crane system field, concretely relates to narrow and small tunnel cantilever crane system for manipulator in pit.
Background
The guniting support is the main part of mine rock roadway support, but in the process flow, because proper mechanical equipment is lacked, the spraying machine is mainly fed by manpower, the labor intensity is high, and the working efficiency is low. On the other hand, as underground excavation faces are dispersed and the space of a roadway is narrow, a ground stirring station is mostly adopted to prepare dry-mixed aggregate during the construction of the foundation, and then the dry-mixed aggregate is transported to each excavation face by a mine car.
Meanwhile, underground sump of coal mine and various slime water sedimentation tanks (pits) are important facilities for ensuring safe production and preventing mine flood. The underground water sump has severe working conditions, the water content in the sludge is large, the sludge is often changed into a semi-fluid state or a fluid state after being stirred, the traditional sump cleaning mode has high labor intensity, low working efficiency and long sump cleaning period, and the safety production is influenced. Therefore, the efficient dredging device for the mine sump has important practical significance for reducing the labor intensity of workers, improving the cleaning speed of the sump and the capability of the sump to resist flood disasters and ensuring the safe production of the mine.
SUMMERY OF THE UTILITY MODEL
The technical insufficiency to the above-mentioned existence, the utility model aims at providing a narrow and small tunnel cantilever crane system for manipulator in pit, it can keep flexible arm under with the ground level prerequisite, adjust the flexible arm height of locating through the cooperation of big arm, connecting rod and hydro-cylinder, make the manipulator can carry out the clear operation of digging to the sump that is less than ground when flexible arm height is lower, and then can accomplish the clear work of digging of coal slime.
In order to solve the technical problem, the utility model adopts the following technical scheme:
the utility model provides a narrow and small tunnel cantilever crane system for manipulator in pit, including four-bar linkage system and flexible arm, its characterized in that: the four-connecting-rod system comprises a base, wherein a support is fixed on the base, a connecting rod, a large arm and an oil cylinder are hinged to the upper end, the middle end and the lower end of the support from left to right respectively, a telescopic arm support is fixed to the lower end of a bottom arm of the telescopic arm, the left side and the right side of the lower end of the telescopic arm support are hinged to the connecting rod and the large arm respectively, the hinge joint connecting lines at the two ends of the large arm are parallel to the hinge joint connecting lines at the two ends of the connecting rod, the upper end of the large arm is hinged to the telescopic end of the oil cylinder, the hinge joint connecting lines at the two ends of the oil cylinder are parallel to the hinge joint connecting lines at the two ends of the connecting rod, and the distance between the two hinge joints.
Preferably, when the connecting rod and the oil cylinder are in a vertical state, the telescopic arm keeps horizontal and is vertical to the connecting rod.
Preferably, the support and the telescopic arm support are hinged with the large arm through a first pin shaft.
Preferably, the bottom of the oil cylinder is hinged with the support through an oil cylinder support, and the telescopic end of the oil cylinder is hinged with the telescopic arm support through a second pin shaft.
Preferably, the large arm is a shell which is welded by steel plates and is vertical to the ground.
The beneficial effects of the utility model reside in that: the system can adjust the height of the telescopic arm through the matching of the large arm, the connecting rod and the oil cylinder on the premise of keeping the telescopic arm horizontal to the ground, and the manipulator can clear and dig the water sump lower than the ground when the height of the telescopic arm is lower, so that the coal slime clearing and digging work can be completed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a walking type material handling device suitable for a narrow space of a roadway according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an arm support system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present invention.
Description of reference numerals:
1. a crawler traveling device; 1-2, a support oil cylinder; 2. a power system; 3. a hydraulic system; 4. a boom system; 41. a telescopic arm; 42. a base; 43. a support; 44. a cylinder support; 45. a large arm; 46. an oil cylinder; 47. a telescopic arm support; 48. a connecting rod; 411. a first shaft pin; 412. a second shaft pin; 5. a lifting mechanism; 51. a support plate; 52. a U-shaped reinforcing frame; 54. shearing a fork; 55. a parallel bar; 56. a third ear panel; 6. a grab bucket mechanism; 7. a swing mechanism; 8. a translation mechanism; 13. a slewing mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1, a narrow and small tunnel cantilever crane system for manipulator in pit is applicable to the walking material handling device in the narrow and small space in tunnel, and this discharge apparatus is including the crawler running gear 1 that is equipped with the frame, the frame up end passes through 8 sliding connection automobile bodies of translation mechanism, the front end of automobile body is equipped with rotation mechanism 13, rotation mechanism 13 upper end is equipped with can vertical become the cantilever crane system 4 of width of cloth and horizontal extension, the flexible end of level of cantilever crane system 4 passes through hoist mechanism 5 and connects grab bucket mechanism 6, the rear end of automobile body is equipped with the hydraulic system 3 that provides power for crawler running gear 1, cantilever crane system 4, hoist mechanism 5, grab bucket mechanism 6, rotation mechanism 7 and translation mechanism 8, still be equipped with power device 2 that provides kinetic energy for hydraulic system 3 on the automobile body.
Referring to fig. 2, the boom system 4 comprises a four-bar linkage system and a telescopic boom 41, the four-bar linkage system comprises a base 42, a bracket 43 is fixed on the base 42, a connecting rod 48, a large arm 45 and an oil cylinder 46 are respectively hinged at the upper end, the middle end and the lower end of the bracket 43 from left to right, a telescopic arm support 47 is fixed at the lower end of the bottom arm of the telescopic arm 41, the left side and the right side of the lower end of the telescopic arm support 47 are respectively hinged with a connecting rod 48 and a big arm 45, the connecting line of the hinge points at the two ends of the big arm 45 is parallel to the connecting line of the hinge points at the two ends of the connecting rod 48, the upper end of the big arm 45 is also hinged with the telescopic end of the oil cylinder 46, the connecting lines of the hinge points at the two ends of the oil cylinder 46 are parallel to the connecting lines of the hinge points at the two ends of the connecting rod 48, and the distance between the two hinge points of the bracket 43, the telescopic arm bracket 47 and the large arm 45 is the same as the distance between the hinge points at the two ends of the connecting rod 48.
Referring to fig. 3, the lifting mechanism 5 includes a support plate 51 fixed to the extended end of the telescopic arm 41, a U-shaped reinforcing frame 52 is fixed on the supporting plate 51, a scissor lifting mechanism is arranged below the U-shaped reinforcing frame 52, the scissor lifting mechanism comprises two rows of scissor forks 54 which are arranged in parallel and are symmetrical with each other, a parallel rod 55 is connected between the nodes of the two rows of scissor forks 54, the projection of the scissor lifting mechanism in the vertical direction is positioned in the projection frame of the U-shaped reinforcing frame 52, two scissor nodes on one side of the top end of the scissor lifting mechanism are hinged on the supporting plate 51, two scissor joints on the other side of the top end of the scissor lifting mechanism are hinged on the U-shaped reinforcing frame 52, and an adjacent parallel rod 55 below the hinged joint is hinged with the telescopic end of the hydraulic oil cylinder 2, the bottom of the hydraulic oil cylinder 2 is hinged to the supporting plate 51, and the shearing fork nodes on two sides of the lower end of the shearing fork lifting mechanism are hinged to the grab bucket mechanism 6.
The translation mechanism 8 comprises a linear guide rail fixed on the frame, a sliding block matched with the linear guide rail is fixed at the bottom of the vehicle body, a moving oil cylinder is hinged on the frame, and the extending end of the moving oil cylinder is hinged at the bottom of the vehicle body and controls the moving of the moving oil cylinder.
Two supporting oil cylinders are symmetrically arranged at the front end and the rear end of the frame respectively, and the supporting oil cylinders are connected with the oil circuit of the hydraulic system 3.
The working principle of the four-bar mechanism in the device is as follows: when no work is needed, the stroke of the oil cylinder 46 on the four-connecting-rod system is at the maximum, and the large arm 45 and the connecting rod 48 are vertical to the ground; when the coal slurry dredging operation is carried out, the height of the telescopic arm 41 needs to be reduced to the minimum so as to facilitate dredging of the water sump below the ground. At this time, the hydraulic system on the manipulator is adopted to drive the oil cylinder 46, so that the stroke of the oil cylinder 46 is reduced, the oil cylinder 46 drives the telescopic arm 41 to move downwards, the angle between the large arm 45 and the connecting rod 48 and the ground is gradually reduced under the drive of the telescopic arm 41, and the lengths of the large arm 45 and the connecting rod 48 are kept unchanged, so that two hinge points on the large arm 45, hinge points at two ends of the connecting rod 48 and four points always keep a parallelogram, and the telescopic arm 41 and the base 42 always keep a parallel. When the stroke of the oil cylinder 46 reaches the minimum, the telescopic arm 41 reaches the lowest position, and then the grab bucket mechanism 15 on the manipulator is lowered into the water sump below the ground through the lifting mechanism 14, so that the water sump can be dug. After the excavation operation is completed, the cylinder 46 is driven to increase its stroke, and the vehicle can return to the initial position.
When the material is taken, guniting aggregate (yellow sand and stones) is conveyed to a tunneling working surface by a mine car, then the device drives the crawler traveling device 1 through the power system 2 to enable the device to travel in a roadway, and when the device travels to a position parallel to the mine car, the device stops traveling. Then putting down the support oil cylinder 1-2 to ensure that the vehicle body is stable, and driving the slewing mechanism 13 to rotate through the hydraulic system 3 after the operation is started so as to enable the grab bucket mechanism 6 to be transported and rotated above the mine car; and then the arm support system 4 is extended to grab the materials through the grab bucket mechanism 6. After the material is grabbed, the grab bucket mechanism 5 is lifted by the lifting mechanism 5, the position of the grab bucket mechanism 5 is adjusted to the feeding port of the guniting machine through the swing mechanism 12 and the arm support system 4, and finally the grab bucket mechanism 6 is opened to send the material out, so that one-time operation is completed. After the materials are loaded and unloaded through multiple operations, the crawler traveling device 1 can move to the next working surface to perform the operation.
When the coal slime is dug, the device is firstly driven to the front of a sump, the mine car runs to be parallel to the device, then the supporting leg oil cylinders 1-2 are put down to keep the car body stable, and the four-connecting-rod system on the arm support system 4 is driven by the hydraulic system 3 to reduce the height of the telescopic arm 41 to the minimum; then simultaneously driving the translation mechanism 8 and the extension joints of the telescopic arms 41 to enable the grab bucket mechanism 6 to move forwards to be right above the water sump; and then, the coal slime grabbing part is completed by extending out and utilizing the grab bucket mechanism 6. After the coal grabbing is finished, the lifting mechanism 5 is contracted, and then the telescopic arm 41 is returned to the highest position by the four-connecting-rod system on the arm support system 4; and finally, driving the translation mechanism 8 to retreat and return, and the telescopic joint of the telescopic arm 41 to contract and retreat to enable the telescopic joint to recover to the initial position to be parallel to the mine car, driving the swing mechanism 13 to enable the grab bucket mechanism 5 to run right above the mine car, and then opening the grab bucket mechanism 6 to discharge coal slime to complete one-time operation.
It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (5)
1. The utility model provides a narrow and small tunnel cantilever crane system for manipulator in pit, includes four connecting rod systems and telescopic boom (41), its characterized in that: the four-connecting-rod system comprises a base (42), a bracket (43) is fixed on the base (42), the upper end, the middle end and the lower end of the bracket (43) are respectively articulated with a connecting rod (48), a large arm (45) and an oil cylinder (46) from left to right, a telescopic arm support (47) is fixed at the lower end of the bottom arm of the telescopic arm (41), the left side and the right side of the lower end of the telescopic arm support (47) are respectively hinged with a connecting rod (48) and a big arm (45), the connecting line of the hinge points at the two ends of the big arm (45) is parallel to the connecting line of the hinge points at the two ends of the connecting rod (48), the upper end of the big arm (45) is also hinged with the telescopic end of the oil cylinder (46), the connecting line of the hinged points at the two ends of the oil cylinder (46) is parallel to the connecting line of the hinged points at the two ends of the connecting rod (48), the distance between the two hinge points of the bracket (43), the telescopic arm bracket (47) and the large arm (45) is the same as the distance between the hinge points at the two ends of the connecting rod (48).
2. The boom system for the underground narrow roadway manipulator of claim 1, wherein: when the connecting rod (48) and the oil cylinder (46) are in a vertical state, the telescopic arm (41) is kept horizontal and is perpendicular to the connecting rod (48).
3. The boom system for the underground narrow roadway manipulator of claim 1, wherein: the support (43) and the telescopic arm support (47) are hinged with the large arm (45) through a first pin shaft (411).
4. The boom system for the underground narrow roadway manipulator of claim 1, wherein: the bottom of the oil cylinder (46) is hinged to the support (43) through an oil cylinder support (44), and the telescopic end of the oil cylinder (46) is hinged to the telescopic arm support (47) through a second pin shaft (412).
5. The boom system for the underground narrow roadway manipulator of claim 1, wherein: the large arm (45) is a shell which is formed by welding steel plates and is vertical to the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021321696.5U CN212867567U (en) | 2020-07-08 | 2020-07-08 | Cantilever crane system for underground narrow tunnel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021321696.5U CN212867567U (en) | 2020-07-08 | 2020-07-08 | Cantilever crane system for underground narrow tunnel manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212867567U true CN212867567U (en) | 2021-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021321696.5U Expired - Fee Related CN212867567U (en) | 2020-07-08 | 2020-07-08 | Cantilever crane system for underground narrow tunnel manipulator |
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| Country | Link |
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| CN (1) | CN212867567U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113914893A (en) * | 2020-07-08 | 2022-01-11 | 中国矿业大学 | Walking type mechanical arm suitable for narrow and small space of roadway |
-
2020
- 2020-07-08 CN CN202021321696.5U patent/CN212867567U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113914893A (en) * | 2020-07-08 | 2022-01-11 | 中国矿业大学 | Walking type mechanical arm suitable for narrow and small space of roadway |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210402 Termination date: 20210708 |
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| CF01 | Termination of patent right due to non-payment of annual fee |