CN217256337U - Underground transfer robot for coal mine - Google Patents
Underground transfer robot for coal mine Download PDFInfo
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- CN217256337U CN217256337U CN202221213366.3U CN202221213366U CN217256337U CN 217256337 U CN217256337 U CN 217256337U CN 202221213366 U CN202221213366 U CN 202221213366U CN 217256337 U CN217256337 U CN 217256337U
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Abstract
The invention provides a coal mine underground transfer robot which comprises a bottom plate, a crawler base plate, a mechanical arm, a hydraulic support leg, a motor, a vacuum electromagnetic starting box, a hydraulic cooler, a hydraulic oil tank, an explosion-proof electric cabinet and a mining explosion-proof cable drum, wherein the mechanical arm, the hydraulic support leg, the motor, the vacuum electromagnetic starting box, the hydraulic cooler, the hydraulic oil tank, the explosion-proof electric cabinet and the mining explosion-proof cable drum are arranged on the bottom plate; the mechanical arm adopts the principle of a connecting rod structure, and drives the large arm to rotate up and down, the bucket rod to rotate up and down, the front arm to rotate up and down and the rotating arm to rotate by virtue of the expansion of the oil cylinder to drive the gripper, so that the operation requirements of different height positions are met; the robot adopts crawler-type moving mechanism, conveniently moves the walking in remote control under the complicated condition in the pit, realizes snatching, hoist and mount, transportation and the supplementary installation task of heavy object in the pit, reduces manual operation risk, improves the safety guarantee.
Description
Technical Field
The utility model relates to a colliery underworkings uses the robotechnology field, concretely relates to colliery underworkings transfer robot.
Background
In the coal mine production process, heavy objects are often required to be carried, and loading and unloading are carried out. At present, automatic production of robot operation is basically realized on an enterprise production line, however, a land robot suitable for the production line cannot be directly applied to underground operation, in coal mine production, carrying work is still manually operated by a carrying worker, the phenomenon of injury by crashing is very easy to occur, if necessary protective articles are worn when chemical dangerous goods, flammable and explosive goods and the like are shipped, disasters can be caused due to improper operation. The porter is extremely easy to be tired under long-term high-intensity labor, certain accident risks exist when a crane or other tools are operated, the carrying efficiency cannot be guaranteed, and normal production is influenced. In view of the fact that the underground roadway of the coal mine is severe in environment and very easy to cause explosion accidents, and the working space is limited, the tasks of grabbing, hoisting, transferring and assisting in installation of underground heavy objects by means of a robot are considered.
SUMMERY OF THE UTILITY MODEL
The utility model aims at not enough to prior art, the utility model aims at designing a colliery is haulage robot in pit adopts crawler-type moving mechanism, and the walking is removed in the remote control under the complicated condition in pit, realizes snatching, hoist and mount, transportation and the supplementary installation task of heavy object in the pit, include: the mining explosion-proof cable drum comprises a bottom plate, a track chassis, and a mechanical arm, a hydraulic supporting leg, a motor, a vacuum electromagnetic starting box, a hydraulic cooler, a hydraulic oil tank, an explosion-proof electric cabinet and a mining explosion-proof cable drum which are arranged on the bottom plate.
The mechanical arm comprises a rotary table, a large arm oil cylinder, a large arm, a bucket rod oil cylinder, a front arm, a paw oil cylinder, a rotary arm, a paw and a connecting block; the rotary table is fixedly installed at the front end of the base plate, the large arm is hinged to the bucket rod, the bucket rod is hinged to the front arm, the front arm is hinged to the connecting block, and the mechanical arm moves through hydraulic driving.
The hydraulic oil tank is respectively connected with the large arm oil cylinder, the bucket rod oil cylinder, the front arm oil cylinder and the paw oil cylinder through hydraulic oil pipes, oil pressure is provided through a control hydraulic pump, an electromagnetic valve is respectively installed on a pipeline of each oil cylinder, and each oil way is controlled through the electromagnetic valve.
The rotating arm is movably connected to the connecting block through a bearing, the paw is fixed to the rotating arm, and opening and closing actions of the two semicircular paws on the paw are controlled through hydraulic pressure.
And reinforcing plates or reinforcing ribs are arranged at the hinged positions of the rotary table, the large arm, the bucket rod, the front arm, the large arm oil cylinder, the bucket rod oil cylinder, the front arm oil cylinder and the paw oil cylinder.
A controller and a remote controller receiving device are arranged in the explosion-proof electric cabinet, and the remote controller receiving device is connected with the controller;
a mining explosion-proof vacuum electromagnetic starter is installed in the vacuum electromagnetic starter box, and a controller controls the starting and stopping of the motor through the vacuum electromagnetic starter.
The mining explosion-proof cable drum is used for winding and unwinding a power supply cable along with the robot.
The utility model has the advantages that:
the utility model provides a coal mine underground transfer robot, which adopts the design of a crawler-type moving mechanism, can walk on complex terrains, can realize underground auxiliary transfer, and has the functions of grabbing, hoisting, transferring, auxiliary mounting and the like of underground heavy objects; reduce the manual work risk, improve the safety guarantee.
Drawings
FIG. 1 is a structural diagram of a coal mine underground transfer robot of the present invention;
FIG. 2 is a structural diagram of a mechanical arm of the present invention;
in the figure, 10-a bottom plate, 11-a crawler chassis, 12-a hydraulic supporting leg, 13-a mechanical arm, 14-a motor, 15-a vacuum electromagnetic starting box, 16-a hydraulic cooler, 17-a hydraulic oil tank, 18-an explosion-proof electric cabinet, 19-a mining explosion-proof cable drum, 20-a turntable, 21-a large arm oil cylinder, 22-a large arm, 23-a dipper, 24-a dipper oil cylinder, 25-a forearm oil cylinder, 26-a forearm, 27-a paw oil cylinder, 28-a rotating arm, 29-a paw and 30-a connecting block.
Detailed Description
The invention is further described with reference to the accompanying drawings and the following detailed description.
As shown in figure 1, the underground coal mine transfer robot comprises a bottom plate 10, a crawler base plate 11, a mechanical arm 13, a hydraulic support leg 12, a motor 14, a vacuum electromagnetic starting box 15, a hydraulic cooler 16, a hydraulic oil tank 17, an explosion-proof electric cabinet 18 and a mining explosion-proof cable drum 19, wherein the mechanical arm 13, the hydraulic support leg 12, the motor, the vacuum electromagnetic starting box 15, the hydraulic cooler 17, the explosion-proof electric cabinet and the mining explosion-proof cable drum 19 are installed on the bottom plate 10. The output shaft of the motor 14 is connected with the driving shaft of the crawler chassis 11, and the crawler is driven to work by the driving motor 14.
The hydraulic support legs 12, the mechanical arm 13, the motor 14, the vacuum electromagnetic starting box 15, the hydraulic cooler 16, the hydraulic oil tank 17, the explosion-proof electric cabinet 18 and the mining explosion-proof cable drum 19 are compactly and reasonably distributed on the bottom plate 10, and through finite element analysis and integral gravity center calculation of the bottom plate 10, the arrangement can stably walk when no heavy object exists, and when the heavy object is carried, the four hydraulic support legs 12 extend out to be supported on the ground, and stable and safe actions can be achieved.
As shown in fig. 2, the mechanical arm 13 includes a turntable 20, a large arm cylinder 21, a large arm 22, an arm 23, an arm cylinder 24, a forearm cylinder 25, a forearm 26, a gripper cylinder 27, a rotating arm 28, a gripper 29, and a connecting block 30; the rotary table 20 is fixedly installed at the front end of the base plate 10, the large arm 22 is hinged to the bucket rod 23, the bucket rod 23 is hinged to the front arm 26, the front arm 26 is hinged to the connecting block 30, and the mechanical arm moves through hydraulic driving.
The mechanical arm adopts the principle of a connecting rod structure, and drives the big arm to rotate up and down, the bucket rod to rotate up and down, the front arm to rotate up and down and the rotating arm to rotate to drive the paw by virtue of the stretching of the oil cylinder, so that the tasks of grabbing, hoisting, transferring and assisting in installation of heavy objects at different height positions are completed.
The rotary table 20 is fixedly installed at the front end of the bottom plate 10, the large arm oil cylinder 21 and the large arm 22 are respectively hinged on the rotary table 20, the extending end of the large arm oil cylinder 21, one end of the bucket rod 23 is respectively hinged at one end of the large arm 22, the bucket rod oil cylinder 24 is hinged on the large arm 22, the output end of the bucket rod oil cylinder 24 is hinged on the bucket rod 23, one end of the front arm 26 is hinged at one end of the bucket rod 23, the front arm oil cylinder 25 is hinged on the bucket rod 23, the output end of the front arm oil cylinder 25 is hinged on the front arm 26, the paw oil cylinder 27 is hinged at one end of the front arm 26, the other end of the front arm 26 and the output end of the paw oil cylinder 27 are respectively hinged on the connecting block 30, the rotating arm 28 is movably connected on the connecting block 30 through a bearing, the paw 29 is fixed on the rotating arm 28, and the opening and closing actions of two semicircular paws on the paw 29 are controlled through hydraulic pressure.
The rotary table 20, the large arm 22, the bucket rod 23, the front arm 26 and the connecting block 30 are formed by welding steel plates with high strength, and the steel structure is light in weight and high in strength. A plurality of reinforcing plates or reinforcing ribs are added at the hinged parts of the rotary table 20, the large arm 22, the bucket rod 23, the front arm 26, the large arm oil cylinder 21, the bucket rod oil cylinder 24, the front arm oil cylinder 25 and the paw oil cylinder 27, because the parts are stressed greatly in the processes of grabbing, hoisting, transferring and auxiliary installation of heavy objects, stress concentration is easy to generate, and the requirements on the strength of the parts are higher than those of other parts.
The hydraulic oil tank 17 is respectively connected with the large arm oil cylinder 21, the bucket rod oil cylinder 24, the front arm oil cylinder 25 and the paw oil cylinder 27 through hydraulic oil pipes, oil pressure is provided through a control hydraulic pump, an electromagnetic valve is respectively installed on a pipeline of each oil cylinder, and each oil way is controlled through the electromagnetic valve.
A controller is installed in the explosion-proof electric control box 18, a mining explosion-proof vacuum electromagnetic starter is installed in the vacuum electromagnetic starter box 15, and the controller controls the motor to act through the vacuum electromagnetic starter.
In order to realize the remote control function, a remote controller receiving device is further installed in the explosion-proof electric cabinet 18 and connected with the controller, an operator holds the remote controller by hand, a sent remote control command is sent to the controller through the receiving device, and the controller controls the motor to act.
The robot is powered by a cable, and the mining explosion-proof cable drum 19 is responsible for winding and unwinding the cable along with the robot.
The robot operation flow is as follows: snatch, hoist, before transportation and the supplementary installation operation, walk to waiting the operation department with mining transfer robot remote control by the manual work, the manual work takes out the cable plug from mining flame proof type cable drum, access electricity in the nearby flame proof electronic box in the tunnel, the remote controller is operated, receive remote control signal through remote controller receiving arrangement, control transfer robot walks to before the article that needs snatch, control hydraulic supporting leg stretches out, and fix subaerial, start hydraulic system, each hydro-cylinder on the remote control arm, make the good article of fixing the required transport of hand claw, then the remote control hoists, transport and the supplementary installation task.
Claims (7)
1. The underground coal mine carrying robot is characterized by comprising a bottom plate (10), a crawler base plate (11), and a mechanical arm (13), a hydraulic supporting leg (12), a motor (14), a vacuum electromagnetic starting box (15), a hydraulic cooler (16), a hydraulic oil tank (17), an explosion-proof electric cabinet (18) and a mining explosion-proof cable drum (19) which are installed on the bottom plate (10).
2. The underground coal mine handling robot according to claim 1, wherein the mechanical arm (13) comprises a rotary table (20), a large arm oil cylinder (21), a large arm (22), an arm (23), an arm oil cylinder (24), a forearm oil cylinder (25), a forearm (26), a paw oil cylinder (27), a rotating arm (28), a paw (29) and a connecting block (30); the rotary table (20) is fixedly installed at the front end of the base plate (10), the large arm (22) is hinged to the bucket rod (23), the bucket rod (23) is hinged to the front arm (26), the front arm (26) is hinged to the connecting block (30), and mechanical arm action is achieved through hydraulic driving.
3. The underground coal mine transfer robot as claimed in claim 2, wherein the hydraulic oil tank (17) is connected with the boom cylinder (21), the arm cylinder (24), the forearm cylinder (25) and the paw cylinder (27) through hydraulic oil pipes respectively, oil pressure is provided by controlling a hydraulic pump, an electromagnetic valve is mounted on a pipeline of each cylinder respectively, and each oil way is controlled through the electromagnetic valve.
4. The underground coal mine transfer robot as claimed in claim 2, wherein the rotating arm (28) is movably connected to the connecting block (30) through a bearing, the gripper (29) is fixed on the rotating arm (28), and the opening and closing actions of two semicircular grippers on the gripper (29) are controlled through hydraulic pressure.
5. The underground coal mine handling robot as claimed in claim 2, wherein the joints of the rotary table (20), the large arm (22), the dipper (23), the front arm (26), the large arm cylinder (21), the dipper cylinder (24), the front arm cylinder (25) and the paw cylinder (27) are provided with reinforcing plates or reinforcing ribs.
6. The underground coal mine transfer robot as claimed in claim 1, wherein a controller and a remote controller receiving device are installed in the explosion-proof electric cabinet (18), and the remote controller receiving device is connected with the controller;
a mining explosion-proof vacuum electromagnetic starter is installed in the vacuum electromagnetic starting box (15), and a controller controls the motor to act through the vacuum electromagnetic starter.
7. The underground coal mine transfer robot as claimed in claim 1, wherein the mining explosion-proof cable drum (19) is used for winding and unwinding a power supply cable along with the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221213366.3U CN217256337U (en) | 2022-05-20 | 2022-05-20 | Underground transfer robot for coal mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221213366.3U CN217256337U (en) | 2022-05-20 | 2022-05-20 | Underground transfer robot for coal mine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217256337U true CN217256337U (en) | 2022-08-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221213366.3U Active CN217256337U (en) | 2022-05-20 | 2022-05-20 | Underground transfer robot for coal mine |
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| Country | Link |
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| CN (1) | CN217256337U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117047783A (en) * | 2023-10-11 | 2023-11-14 | 中煤科工机器人科技有限公司 | Auxiliary operation robot with intelligent environment sensing function |
-
2022
- 2022-05-20 CN CN202221213366.3U patent/CN217256337U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117047783A (en) * | 2023-10-11 | 2023-11-14 | 中煤科工机器人科技有限公司 | Auxiliary operation robot with intelligent environment sensing function |
| CN117047783B (en) * | 2023-10-11 | 2023-12-22 | 中煤科工机器人科技有限公司 | Auxiliary operation robot with intelligent environment sensing function |
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