CN101526007B - Underground coal bunker cleaning robot - Google Patents
Underground coal bunker cleaning robot Download PDFInfo
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- CN101526007B CN101526007B CN2009100200115A CN200910020011A CN101526007B CN 101526007 B CN101526007 B CN 101526007B CN 2009100200115 A CN2009100200115 A CN 2009100200115A CN 200910020011 A CN200910020011 A CN 200910020011A CN 101526007 B CN101526007 B CN 101526007B
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- coal bunker
- hydraulic cylinder
- arm
- cleaning robot
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Abstract
The invention discloses an underground coal bunker cleaning robot which comprises a suspension mechanism, a driving mechanism, an upper position mechanism, a lower position mechanism and at least one camera, wherein the suspension mechanism is connected with a traction rope of a hoist device arranged outside the coal bunker; the driving mechanism is used for driving the upper position mechanism and the lower position mechanism to respectively rotate and swing; the upper position mechanism is used for supporting the wall of the coal bunker to position and is provided with at least two elastic transverse supporting arms, and the free ends of the transverse supporting arms are provided with contact parts with sharp objects; the lower position mechanism is used for shoveling coagulum of the wall of the coal bunker and is provided with at least two elastic transverse operating arms, and the free ends of the transverse operating arms are provided with coal shovels which can reciprocate upwards and downwards; and the camera is used for shooting the on-site situation of the wall of the coal bunker and is connected with a monitor arranged outside the coal bunker. An operator can only correspondingly operate the underground coal bunker cleaning robot by an electric control system, and the like outside the coal bunker to complete cleaning tasks of the vertical walls and a lower shrinking hole of the whole underground coal bunker, thus manpower and material resources are reduced to realize the mechanization of underground coal bunker cleaning.
Description
Technical field
The present invention relates to a kind of SUPPLEMENTARY UNLOADING GRAIN that is used for down-hole coal bunker (downhole gangue storehouse) cleaning, particularly wherein a kind of underground coal bunker cleaning robot.
Background technology
The down-hole coal bunker is the raw coal storage device that is used under the coal mine, is generally the tubular structure of reducing up and down, and superstructure is last reducing, and polycrystalline substance is following reducing coal discharge outlet.Under coal mine in the recovery process, constantly there is new raw coal to add the down-hole coal bunker, raw coal flows out to belt conveyer by coal discharge outlet in the storehouse simultaneously, be transported to the vertical shaft hoisting machine by belt conveyer, coal is risen to the ground coal bunker, be transported to all trades and professions of national economy by pack into train or automobile of ground coal bunker again.The down-hole coal bunker uses through long-term, and a certain amount of raw coal coagulation just can condense on the coal bunker wall.These coagulative existence cause the retardance of coal stream on the one hand, have significantly reduced the storage capacity of down-hole coal bunker; For preventing that the coal bunker coagulation from dropping, must after bringing down stocks, could overhaul on the other hand equipment such as the crushing engine bottom the coal bunker, elevating conveyors for guaranteeing safety.Must regularly manually bring down stocks like this, root out the rib coagulation the down-hole coal bunker.Bring down stocks manually that not only efficiency is low, and coal dust harm constructor; The down-hole coal bunker is general dark to reach 18～30 meters, and rarefaction of air and very dim in the storehouse is manually cleaned rib and also have serious potential safety hazard except labour intensity is big.Equally, the downhole gangue storehouse also will need regularly to clean as the down-hole coal bunker, and the cleaning difficulty is bigger than coal bunker.That does not see coal bunker (waste bin) bulkhead that is used to open a hole down in the prior art brings down stocks equipment (device).
Summary of the invention
The invention reside in and overcome the above-mentioned technological deficiency that the existing technology of manually bringing down stocks exists, a kind of underground coal bunker cleaning robot is provided, its mechanical component part can satisfy the needs of the coal bunker that opens a hole down (waste bin).
Its technical solution is:
A kind of underground coal bunker cleaning robot comprises:
Be used for the suspension gear that is connected with the pull-cord of winding plant outside the storehouse;
Be used to drive following upper structure and the next mechanism driving mechanism of rotary oscillation respectively;
Be used to support the upper structure that bulkhead positions; Above-mentioned upper structure is provided with three retractable cross binding arms, and the free end of cross binding arm is provided with the contact site that has sharp shaped material;
Be used to root out the coagulative the next mechanism of bulkhead; Above-mentioned the next mechanism is provided with the horizontal working arm of two flexibles and symmetric arrangement, the coal shovel that the free end setting of horizontal working arm can up and down reciprocatingly be moved;
At least one camera that is used to absorb the bulkhead on-site situation, camera is connected with monitor outside the storehouse.
Above-mentioned three cross binding arms are upwards uniform by 120 ° in week, every the cross binding arm comprises retractable supports arm main body and support arm hydraulic cylinder, the support arm main body is taked the body of rod structure be made up of more piece parallelogram radial type unit, the tailpiece of the piston rod of support arm hydraulic cylinder is in transmission connection with the first a certain suitable toggle that saves in the radial type unit, and the support arm hydraulic cylinder drives elongation of support arm main body and retraction; Above-mentioned every horizontal working arm comprises scalable working arm main body and working arm hydraulic cylinder, the working arm main body is taked the body of rod structure be made up of more piece parallelogram radial type unit, the tailpiece of the piston rod of working arm hydraulic cylinder is in transmission connection with a certain suitable toggle of first joint radial type unit, and the working arm hydraulic cylinder drives elongation of working arm main body and retraction; Free end at horizontal working arm is provided with the coal shovel hydraulic cylinder, and coal shovel is fixedly connected at the tailpiece of the piston rod of coal shovel hydraulic cylinder; Above-mentioned cross binding arm respectively is provided with disconnecting apparatus with horizontal working arm, and this disconnecting apparatus can make the arm main body rotate also around fixed axis and vertically put down.
Above-mentioned camera comprises camera on first precedence and/or the camera on second precedence; Camera on first precedence is arranged on the pull-cord, and the camera on second precedence is fixed on the suitable position of upper structure or the next mechanism; Described camera is a rotatable camera head.
Be provided with a flat part in the bottom of the next mechanism, flat part both can be used as brings down stocks the upright basic body of robot, can be used as the strike body of gathering coal in the cracking cabin, conducting coal discharge outlet again.
Free end at above-mentioned horizontal working arm also is provided with stopping means, and the horizontal contact lever end of stopping means is equipped with and judges whether to touch the bulkhead touch switch.
Above-mentioned driving mechanism comprises flame-proof electric motor, explosion-proof gear pump and oscillating motor, and oscillating motor disposes the rotary angle transmitter that is used to measure the anglec of rotation; Above-mentioned horizontal working arm all disposes the telescopic location sensor that is used to judge this arm telescopic location; Above-mentioned coal shovel hydraulic cylinder disposes and is used to judge this hydraulic cylinder piston rod status detection position sensor that stretches.
Above-mentioned driving mechanism is by the first power transmission shaft driving coupling upper structure, by the next mechanism of the second power transmission shaft driving coupling; First power transmission shaft is vertical hollow shaft, and second power transmission shaft passes first power transmission shaft.
Between above-mentioned upper structure and the next mechanism, be provided with hold-fast body, hold-fast body comprises hydraulic cylinder, kinematic link, the brake portion of holding tightly, wherein hold hydraulic cylinder tightly and be fixed on the bottom of first power transmission shaft in the upper structure by the fixture body, brake portion is arranged on the axis of centres top of the next mechanism, holds the action of hydraulic cylinder by kinematic link control brake portion tightly; Described support arm hydraulic cylinder is controlled by solenoid operated directional valve separately, and its plunger shaft is provided with unidirectional lock and safety valve.
Above-mentioned underground coal bunker cleaning robot configuration hydraulic power unit, hydraulic power unit is positioned at the Hatch Opening outside, is connected with hydraulic pressure execution device in above-mentioned each mechanism by entering go back to the liquid road, and hydraulic pressure execution device disposes explosion-proof solenoid valve, hydraulic lock and safety valve.
The present invention can realize: control increasing progressively from top to bottom by the car hauler system of coal bunker (waste bin) axial length by configuration corresponding explosion-proof electric-control system, hydraulic system and winding plant (hoister system) etc.; The hydraulic energy source that provides with Hydraulic Station drives and then realizes the rotation bit selecting of upper structure and control support and the location of support arm transversal stretching to bulkhead, and realizes that the next operating mechanism rotates bit selecting, the working arm transversal stretching puts in place and coal shovel moves back and forth shovel in the vertical and cuts etc.The operator can finish the clean up task at whole down-hole coal bunker (waste bin) wall and contraction mouth place thereof as long as by electric-control system etc. underground coal bunker cleaning robot is carried out corresponding operating the storehouse outside, can reduce manpower and materials, the mechanization that bring down stocks the realization down-hole.
Description of drawings
Figure is one embodiment of the present invention structural principle schematic diagram.
The present invention will be described below in conjunction with accompanying drawing:
The specific embodiment
In conjunction with the accompanying drawings, a kind of underground coal bunker cleaning robot comprises: be used for the suspension gear 1 that is connected with the pull-cord of winding plant outside the storehouse; Be used to drive following upper structure and the next mechanism driving mechanism 2 of rotary oscillation respectively; Be used to support the upper structure 3 that bulkhead positions, upper structure 3 is provided with three retractable cross binding arms 4, and the free end of cross binding arm 4 is provided with the contact site 5 that has sharp shaped material; Be used to root out the coagulative the next mechanism 6 of bulkhead, the next mechanism is provided with two retractable horizontal working arms 7, the coal shovel 8 that the free end setting of horizontal working arm can up and down reciprocatingly be moved; Camera 9 on two second precedences that are used to absorb the bulkhead on-site situation, camera 9 is connected with monitor outside the storehouse.Specify as follows:
Driving mechanism 2 comprises flame-proof electric motor, explosion-proof gear pump and oscillating motor; Driving mechanism 2 is vertical hollow shaft by the first power transmission shaft driving coupling upper structure 3 by the next mechanism of the second power transmission shaft driving coupling 6, the first power transmission shafts, and second power transmission shaft passes first power transmission shaft.Upper structure 3 is provided with three cross binding arms 4, article three, cross binding arm 4 is upwards uniform by 120 ° in week, every the cross binding arm comprises retractable supports arm main body 401 and support arm hydraulic cylinder 402, support arm main body 401 is taked the body of rod structure be made up of more piece parallelogram radial type unit, the tailpiece of the piston rod of support arm hydraulic cylinder 402 is in transmission connection with the first a certain suitable toggle that saves in the radial type unit, and support arm hydraulic cylinder 402 drives 401 elongations of support arm main bodys and retraction.The next mechanism 6 is provided with two horizontal working arms 7, article two, horizontal working arm 7 symmetric arrangement, every horizontal working arm 7 comprises scalable working arm main body 701 and working arm hydraulic cylinder 702, working arm main body 701 is taked the body of rod structure be made up of more piece parallelogram radial type unit, the tailpiece of the piston rod of working arm hydraulic cylinder 702 is in transmission connection with a certain suitable toggle of first joint radial type unit, and working arm hydraulic cylinder 702 drives elongation of working arm main body and retraction; Free end at horizontal working arm 7 is provided with coal shovel hydraulic cylinder 10, and coal shovel 8 is fixedly connected at the tailpiece of the piston rod of coal shovel hydraulic cylinder 10; Be provided with a flat part 11 in the bottom of the next mechanism, flat part 11 both can be used as brings down stocks the upright basic body of robot, can be used as the strike body of gathering coal in the cracking cabin, conducting coal discharge outlet again; Free end at above-mentioned horizontal working arm also is provided with stopping means, and the horizontal contact lever end of stopping means is equipped with the touch switch that judges whether to touch bulkhead.Between above-mentioned upper structure 3 and the next mechanism 6, be provided with hold-fast body, hold-fast body comprises hydraulic cylinder 12, kinematic link 13 and the brake portion of holding tightly, wherein hold hydraulic cylinder tightly and be fixed on the bottom of first power transmission shaft in the upper structure by the fixture body, brake portion is arranged on the axis of centres top of the next mechanism, holds the action of hydraulic cylinder by kinematic link control brake portion tightly.
In the above-mentioned embodiment, the horizontal all configurable telescopic location sensor of judging this arm telescopic location that is useful on of working arm, coal shovel hydraulic cylinder dispose and are used to judge this hydraulic cylinder piston rod status detection position sensor that stretches.In the above-mentioned embodiment, the support arm hydraulic cylinder is controlled by solenoid operated directional valve separately, and its plunger shaft is provided with unidirectional lock and safety valve; When hanging is not placed in the middle, can adjust, protect cross binding arm and coal bunker bulkhead.
In the above-mentioned embodiment, upper structure 3 also can be provided with liquid medium storage box body 14, and above-mentioned each relevant hydraulic cylinder connects liquid medium storage box body 14 by corresponding control pipeline.
In the above-mentioned embodiment, camera also comprises the camera on first precedence, and the camera on first precedence is arranged on the pull-cord.Above-mentioned camera all can be selected rotatable camera head for use.Above-mentioned set-up mode is convenient to comprehensive observation and is brought down stocks relative position between robot body and the coal bunker.
In the above-mentioned embodiment, three cross binding arms and two each telescopic arms such as horizontal working arm are provided with disconnecting apparatus.The landslide accident that runs into vertical coal bunker axis when having work, telescopic arm smashes or hydraulic system fault can not be finished when withdrawing, and disconnecting apparatus can make this telescopic arm rotate vertically around fixed axis and put down (sagging), is convenient to bringing down stocks robot body proposition Hatch Opening.
Further specify as follows again to above-mentioned each mechanism:
One, suspension gear
Winding stair is to transfer according to top-down order when manually bringing down stocks, and needs a car hauler cooperating, and the general deadweight of underground coal bunker cleaning robot is about 2 tons.On the wall of coal bunker center, beat anchor pole, and below anchor pole, pulley be set, with winch pull-cord (wire rope) by pulley with after suspension gear links to each other, carry out manually or automatically transferring along the coal bunker axis direction in order to the realization underground coal bunker cleaning robot.
When subsiding appears in the position that runs into storehouse internal face injustice or have, underground coal bunker cleaning robot can utilize the next mechanism temporarily to support, upper structure cross binding arm bounces back under the corresponding drive of support arm hydraulic cylinder and drives contact site disengaging wall, drive the upper structure rotation and break away from the position that subsides, upper structure cross binding arm stretches under the corresponding drive of support arm hydraulic cylinder and drives the contact site bulkhead of holding and support then, and the next mechanism can return to duty.
Two, driving mechanism
The hydraulic power unit of the power resources of each motion of underground coal bunker cleaning robot outside Hatch Opening is connected with hydraulic pressure execution device in each mechanism by entering go back to the liquid road, hydraulic pressure execution device configuration explosion-proof solenoid valve, hydraulic lock and safety valve.The employed working media of hydraulic system can be selected the anti-wear hydraulic oil that meets the underground equipment instructions for use for use.
Three, upper structure
The telescopic variation scope of cross binding arm is chosen as 2500mm to 5000mm, and when the coal shovel of the next mechanism was rooted out on the rib coagulation, upper structure can be realized supporting reliably.When running into the coal bunker wall and have pit to be difficult to support, the next mechanism suspends to be rooted out action and is converted to interim support, and upper structure is selected other suitable support zones by rotation, and after selected support zone carried out secure support, action recovered to root out in the next mechanism.Camera is the extension of human eyes function, the operator can judge coagulative accurate position on the wall at well head by monitor, by automatic/hand coagulation is rooted out totally then, camera 90 degree that can pivot also can be seen the running of upper structure and the next mechanism clearly by monitor.Article three, the cross binding arm is uniform by 120 degree, can realize reliable support, prevents the fuselage distortion, influences job stability.
Four, the next mechanism
After above-mentioned upper structure puts support in place, the selected station of rooting out of the next mechanism rotation, oscillating cylinder is imported and exported and can be adopted reversible lock to control, and the work of flutter effect operating mechanism occurs in order more effectively to prevent the next mechanism after rotation, takes hold-fast body to carry out Collaborative Control.Laterally working arm is delivered to by the stretching handle coal shovel and is rooted out station, and coal shovel is realized up and down reciprocatingly moving in order to root out bulkhead coagulation etc. by the coal shovel hydraulic cylinder.For preventing that the next mechanism bump bulkhead from destroying the coal shovel part, be provided with stopping means, can protect the part of shoveling coal by the electromagnetic valve outage of control coal shovel hydraulic cylinder.
Among the present invention, the main body of scalable cross binding arm and scalable horizontal working arm can be taked other suitable telescopic rod body structures etc. in the prior art.
Under the instruction of this manual, what those skilled in the art can make is conspicuous such as variation patterns such as replacement, increase, minimizings, should be considered to fall into equally protection scope of the present invention.
Claims (9)
1. underground coal bunker cleaning robot, feature is to comprise:
Be used for the suspension gear that is connected with the pull-cord of winding plant outside the storehouse;
Be used to drive following upper structure and the next mechanism driving mechanism of rotary oscillation respectively;
Be used to support the upper structure that bulkhead positions; Above-mentioned upper structure is provided with three retractable cross binding arms, and the free end of cross binding arm is provided with the contact site that has sharp shaped material;
Be used to root out the coagulative the next mechanism of bulkhead; Above-mentioned the next mechanism is provided with the horizontal working arm of two flexibles and symmetric arrangement, the coal shovel that the free end setting of horizontal working arm can up and down reciprocatingly be moved;
At least one camera that is used to absorb the bulkhead on-site situation, camera is connected with monitor outside the storehouse.
2. underground coal bunker cleaning robot according to claim 1, it is characterized in that: described upper structure is provided with three cross binding arms, article three, the cross binding arm is upwards uniform by 120 ° in week, every the cross binding arm comprises retractable supports arm main body and support arm hydraulic cylinder, the support arm main body is taked the body of rod structure be made up of more piece parallelogram radial type unit, the tailpiece of the piston rod of support arm hydraulic cylinder is in transmission connection with the first a certain suitable toggle that saves in the radial type unit, and the support arm hydraulic cylinder drives elongation of support arm main body and retraction; Above-mentioned the next mechanism is provided with two horizontal working arms, article two, horizontal working arm is upwards uniform by 180 ° in week, every horizontal working arm comprises scalable working arm main body and working arm hydraulic cylinder, the working arm main body is taked the body of rod structure be made up of more piece parallelogram radial type unit, the tailpiece of the piston rod of working arm hydraulic cylinder is in transmission connection with a certain suitable toggle of first joint radial type unit, and the working arm hydraulic cylinder drives elongation of working arm main body and retraction; Free end at horizontal working arm is provided with the coal shovel hydraulic cylinder, and coal shovel is fixedly connected at the tailpiece of the piston rod of coal shovel hydraulic cylinder; Described cross binding arm respectively is provided with disconnecting apparatus with horizontal working arm, and this disconnecting apparatus can make the arm main body rotate also around fixed axis and vertically put down.
3. underground coal bunker cleaning robot according to claim 2 is characterized in that: described camera comprises camera on first precedence and/or the camera on second precedence; Camera on first precedence is arranged on the pull-cord, and the camera on second precedence is fixed on the suitable position of upper structure or the next mechanism; Described camera is a rotatable camera head.
4. underground coal bunker cleaning robot according to claim 1, it is characterized in that: be provided with a flat part in the bottom of the next mechanism, flat part both can be used as brings down stocks the upright basic body of robot, can be used as the strike body of gathering coal in the cracking cabin, conducting coal discharge outlet again.
5. underground coal bunker cleaning robot according to claim 1 is characterized in that: the free end at described horizontal working arm also is provided with stopping means, and the horizontal contact lever end of stopping means is equipped with the touch switch that judges whether to touch bulkhead.
6. underground coal bunker cleaning robot according to claim 1 is characterized in that: described driving mechanism comprises flame-proof electric motor, explosion-proof gear pump and oscillating motor, and oscillating motor disposes the rotary angle transmitter that is used to measure the anglec of rotation; Described horizontal working arm all disposes the telescopic location sensor that is used to judge this arm telescopic location; Described coal shovel hydraulic cylinder disposes and is used to judge this hydraulic cylinder piston rod status detection position sensor that stretches.
7. underground coal bunker cleaning robot according to claim 1 is characterized in that: described driving mechanism is by the first power transmission shaft driving coupling upper structure, by the next mechanism of the second power transmission shaft driving coupling; First power transmission shaft is vertical hollow shaft, and second power transmission shaft passes first power transmission shaft.
8. underground coal bunker cleaning robot according to claim 1, it is characterized in that: between described upper structure and the next mechanism, be provided with hold-fast body, hold-fast body comprises hydraulic cylinder, kinematic link, the brake portion of holding tightly, wherein hold hydraulic cylinder tightly and be fixed on the bottom of first power transmission shaft in the upper structure by the fixture body, brake portion is arranged on the axis of centres top of the next mechanism, holds the action of hydraulic cylinder by kinematic link control brake portion tightly; Described support arm hydraulic cylinder is controlled by solenoid operated directional valve separately, and its plunger shaft is provided with unidirectional lock and safety valve.
9. underground coal bunker cleaning robot according to claim 1, it is characterized in that: described underground coal bunker cleaning robot configuration hydraulic power unit, hydraulic power unit is positioned at the coal bunker Hatch Opening outside, be connected hydraulic pressure execution device configuration explosion-proof solenoid valve, hydraulic lock and safety valve with hydraulic pressure execution device in above-mentioned each mechanism by entering go back to the liquid road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100200115A CN101526007B (en) | 2009-03-23 | 2009-03-23 | Underground coal bunker cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100200115A CN101526007B (en) | 2009-03-23 | 2009-03-23 | Underground coal bunker cleaning robot |
Publications (2)
| Publication Number | Publication Date |
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| CN101526007A CN101526007A (en) | 2009-09-09 |
| CN101526007B true CN101526007B (en) | 2011-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100200115A Expired - Fee Related CN101526007B (en) | 2009-03-23 | 2009-03-23 | Underground coal bunker cleaning robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173445B (en) * | 2015-09-14 | 2017-10-24 | 中国矿业大学 | A kind of all-hydraulic conveyer for emptying warehouse of center steering formula and its method of work |
| CN106807655B (en) * | 2017-01-20 | 2019-04-12 | 山西戴德测控技术有限公司 | It is a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash |
| CN109129431B (en) * | 2018-10-09 | 2022-02-18 | 山东科技大学 | Large-scale coal bunker blockage cleaning robot |
| CN109747987B (en) * | 2018-12-10 | 2020-04-28 | 山东科技大学 | Clear storehouse manipulator and clear stifled robot of coal bunker |
| CN110589265A (en) * | 2019-10-30 | 2019-12-20 | 浙江量大智能科技有限公司 | Intelligent foot type walking coal bunker cleaning robot |
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| CN2492542Y (en) * | 2001-07-09 | 2002-05-22 | 大屯煤电(集团)有限责任公司 | Automatic hydraulic circular warehouse clearing machine |
| CN2729014Y (en) * | 2004-09-08 | 2005-09-28 | 赵东楼 | Bulkhead emptying machine |
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2009
- 2009-03-23 CN CN2009100200115A patent/CN101526007B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2492542Y (en) * | 2001-07-09 | 2002-05-22 | 大屯煤电(集团)有限责任公司 | Automatic hydraulic circular warehouse clearing machine |
| CN2729014Y (en) * | 2004-09-08 | 2005-09-28 | 赵东楼 | Bulkhead emptying machine |
Non-Patent Citations (2)
| Title |
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| 巩琦.煤仓疏通技术及便携式疏通机的研究.《中国煤炭》.2008,第34卷(第8期),67-69. * |
| 张跃锋等.介休洗煤厂受煤坑四棱锥底清仓器的改进设计.《煤炭技术》.2005,第24卷(第12期),64-65. * |
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