CN110863827A - Transferring manipulator for underground coal mining and using method - Google Patents
Transferring manipulator for underground coal mining and using method Download PDFInfo
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- CN110863827A CN110863827A CN201911077796.XA CN201911077796A CN110863827A CN 110863827 A CN110863827 A CN 110863827A CN 201911077796 A CN201911077796 A CN 201911077796A CN 110863827 A CN110863827 A CN 110863827A
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- E21—EARTH OR ROCK DRILLING; MINING
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- 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
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
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Abstract
The invention provides a transferring manipulator for underground coal mining and a using method thereof, the transferring manipulator comprises a bottom plate, a supporting seat is fixed at the top of the bottom plate, a sleeve upright post is fixed at the top of the supporting seat, a rotating shaft is supported in the sleeve upright post through rotating fit, a power device for driving the rotating shaft to rotate is installed at the bottom end of the rotating shaft, a top flange plate is fixed at the top of the rotating shaft, a top cross beam plate is fixedly installed on the top flange plate, a sliding block is installed at the bottom end of the top cross beam plate through a screw rod transmission mechanism, a pushing cylinder body is fixedly installed at the bottom end of the sliding block through an L-shaped connecting plate, and a bucket mechanism for shoveling coal and turning over and unloading coal is installed at the tail end of. The coal conveying device can be suitable for the underground severe operation environment in the coal mining process and is used for conveying coal, the coal after mining is conveyed to the conveying belt, the automatic conveying of the coal is further realized, the working efficiency is improved, and the labor intensity of operators is reduced.
Description
Technical Field
The invention relates to the field of coal mining equipment, in particular to a transferring manipulator for underground coal mining and a using method.
Background
China coal enterprises have achieved considerable automation in the aspects of coal mine collection and transfer. However, for some special cases, human labor is still required for handling. For example, after the coal is excavated by the roadheader, manual labor is required to transfer the coal to the conveyor belt. This working process is relatively simple, and the technical requirement to the staff is not very high moreover, but needs long-time repetition simple action, and this just leads to the high in labor strength of operation personnel, can't adapt to the operation demand of high strength, consequently, needs design a transportation manipulator to accomplish the transportation of coal after the exploitation.
Disclosure of Invention
The invention mainly aims to solve the defects in the background technology, and provides a transferring mechanical arm for underground coal mining, which can be applied to an underground severe operation environment in the coal mining process and is used for transferring coal, and the coal after mining is transferred to a conveying belt, so that the automatic transfer of the coal is realized, the work efficiency is improved, and the labor intensity of operators is reduced.
In order to achieve the technical features, the invention is realized as follows: the transportation manipulator of coal mining in pit, it includes the bottom plate, the top of bottom plate is fixed with the supporting seat, the top of supporting seat is fixed with the sleeve stand, the inside of sleeve stand supports there is the revolving axle through the normal running fit, the bottom of revolving axle is installed and is used for driving its pivoted power device, the top of revolving axle is fixed with the top flange board, fixed mounting has the top crossbeam board on the flange board of top, the slider is installed through lead screw drive mechanism in the bottom of top crossbeam board, the bottom of slider has the promotion cylinder body through L type connecting plate fixed mounting, the scraper bowl mechanism that is used for shovel coal and upset unloading coal is installed to the piston rod end that promotes the cylinder body.
The power device adopts a slider-crank mechanism and comprises a first cylinder body, the first cylinder body is fixed on the bottom plate through a first cylinder body fixing plate, a first piston rod of the first cylinder body is connected with a connecting rod through a pin shaft, the other end of the connecting rod is hinged with the rotary table, and the rotary table is fixed at the bottom end of the rotary shaft.
And a thrust ball bearing is arranged at the contact position of the bottom end surface of the rotating shaft and the bottom plate, and the rotating shaft is connected with the sleeve upright post in a matching way through a bearing.
The top cross beam plate is fixedly arranged at the top of the top flange plate through a positioning block and a flange bolt.
The lead screw drive mechanism is including fixing first vertical board and the vertical board of second in top crossbeam board bottom one end, installs the slide rail board between first vertical board and the vertical board of second, install the slider through sliding fit on the slide rail board, processing has the screw thread through-hole on the slider, the screw thread through-hole constitutes lead screw transmission cooperation with the lead screw, the both ends of lead screw are supported respectively on first vertical board and the vertical board of second, the end of lead screw passes through the shaft coupling and links to each other with the main shaft of motor, the motor passes through the motor mount pad to be fixed on the lateral wall of the vertical board of second.
The scraper bowl mechanism is including the upset cylinder body, the upset cylinder body passes through the connecting rod to be installed at the piston rod end that promotes the cylinder body, the top of connecting rod is connected with scraper bowl installation pole, the end of scraper bowl installation pole articulates through the round pin axle has the scraper bowl, be fixed with the upset pole on the back lateral wall of scraper bowl, it has the spout to process on the upset pole, the spout constitutes sliding fit with the piston rod end of upset cylinder body through the slider.
The automatic bucket turning device is characterized by further comprising a controller, wherein the controller is a PLC controller, and the PLC controller is respectively connected with a driver of the first cylinder body, a driver of a motor of the screw rod transmission mechanism, a driver of the pushing cylinder body and a driver of the turning cylinder body of the bucket mechanism through signal lines and controls corresponding actions of the drivers.
The use method of the transferring manipulator for underground coal mining is characterized by comprising the following steps:
step 1: fixing the transfer manipulator at a position where coal transfer is needed through a bottom plate;
step 2: setting the extension length of a piston rod of the first cylinder body, further adjusting the rotation angle of the rotating shaft, and ensuring that the rotating shaft can drive a top cross beam plate at the top to move back and forth between a coal mining surface and a discharging transmission belt;
step 3: starting a first cylinder body, driving a connecting rod through the first cylinder body, driving a rotary table through the connecting rod, and further driving a rotary shaft to rotate through the rotary table so that a top cross beam plate at the top of the rotary shaft rotates to a coal excavating position;
step 4: starting a screw rod transmission mechanism, driving a screw rod through a motor, driving a sliding block through the screw rod, and driving a bucket mechanism at the bottom end of the screw rod to be integrally close to the position of coal through the sliding block to slide along a sliding rail plate;
step 5: starting a pushing cylinder body, pushing the whole bucket mechanism to move forwards, and shoveling coal by a bucket;
step 6: after the bucket is full, the first cylinder body is started again to drive the rotating shaft to rotate and drive the top cross beam plate at the top of the rotating shaft to rotate, and then the whole bucket mechanism is driven to move right above the belt conveyor;
step 7: starting the turnover cylinder body, pushing the turnover rod through a piston rod of the turnover cylinder body, driving the bucket to turn around a pin shaft of the bucket through the turnover rod, realizing turnover coal unloading, unloading the coal onto a conveyor belt, and further finishing a coal unloading process;
step 8: the first cylinder body, the motor, the pushing cylinder body and the overturning cylinder body are controlled by the controller to repeat steps 2-Step 7, and then repeated coal unloading can be achieved.
The invention has the following beneficial effects:
1. through adopting foretell manipulator, can be used for coal exploitation in the pit in-process, the transportation of coal is used, and it can realize circulation repetitive motion under the controller effect, and then realizes circulation shovel coal and unload the coal action, replaces traditional artifical coal discharge action, and then great improvement work efficiency, reduced operation personnel's intensity of labour.
2. The power device can provide rotary power, so that the rotation of the rotary shaft is realized, and the aim of changing the position of the bucket mechanism is fulfilled.
3. The thrust ball bearing ensures that the rotating shaft can bear certain axial force, so that the normal rotating process of the rotating shaft is ensured, and in addition, the bearing ensures the rotating matching between the rotating shaft and the sleeve upright post, so that the normal rotating process of the rotating shaft is ensured.
4. The screw rod transmission mechanism can realize the integral extending action of the bucket mechanism, thereby ensuring the normal coal shoveling operation.
5. The bucket mechanism is mainly used for coal shoveling and unloading.
6. The controller can realize automatic control, thereby improving the control efficiency and reducing the labor intensity of operators.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a three-dimensional block diagram of the present invention.
Fig. 2 is a front view of the present invention.
In the figure: the device comprises a bottom plate 1, a supporting seat 2, a rotating shaft 3, a rotating disc 4, a first cylinder fixing plate 5, a first cylinder 6, a first piston rod 7, a pin shaft 8, a connecting rod 9, a sleeve upright post 10, a bearing 11, a top flange plate 12, a top cross beam plate 13, a positioning block 14, a first vertical plate 15, a slide rail plate 16, a pushing cylinder 17, an L-shaped connecting plate 18, a connecting rod 19, a slide block 20, a bucket mounting rod 21, a motor mounting seat 22, a motor 23, a turnover cylinder 24, a piston rod 25, a sliding groove 26, a turnover rod 27, a bucket 28, a thrust ball bearing 29 and a lead screw 30.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
referring to fig. 1-2, transportation manipulator of coal mining in pit, it includes bottom plate 1, the top of bottom plate 1 is fixed with supporting seat 2, the top of supporting seat 2 is fixed with sleeve stand 10, the inside of sleeve stand 10 has revolving axle 3 through normal running fit support, the bottom of revolving axle 3 is installed and is used for driving its pivoted power device, the top of revolving axle 3 is fixed with top flange board 12, fixed mounting has top crossbeam board 13 on the flange board 12 of top, slider 20 is installed through screw drive mechanism in the bottom of top crossbeam board 13, there is promotion cylinder body 17 bottom through L type connecting plate 18 fixed mounting in the bottom of slider 20, the scraper bowl mechanism that is used for shovel coal and upset unloading is installed to the piston rod end that promotes cylinder body 17. Through adopting foretell manipulator, can be used for coal exploitation in the pit in-process, the transportation of coal is used, and it can realize circulation repetitive motion under the controller effect, and then realizes circulation shovel coal and unload the coal action, replaces traditional artifical coal discharge action, and then great improvement work efficiency, reduced operation personnel's intensity of labour. In the specific working process, the power device drives the rotating shaft 3 to realize the rotating action of the top cross beam plate 13, so that the reciprocating swing between the coal bed and the transmission belt is realized, the screw rod transmission mechanism can drive the bucket mechanism to perform the telescopic action, and the bucket mechanism is matched to realize the coal shoveling action.
Furthermore, the power device adopts a slider-crank mechanism and comprises a first cylinder body 6, the first cylinder body 6 is fixed on the bottom plate 1 through a first cylinder body fixing plate 5, a first piston rod 7 of the first cylinder body 6 is connected with a connecting rod 9 through a pin shaft 8, the other end of the connecting rod 9 is hinged with the rotary table 4, and the rotary table 4 is fixed at the bottom end of the rotary shaft 3. The power device can provide rotary power, so that the rotary shaft 3 can rotate, and the aim of changing the position of the bucket mechanism is fulfilled. In the working process, the first cylinder 6 drives the first piston rod 7, the first piston rod 7 drives the connecting rod 9, the connecting rod 9 drives the turntable 4, and the turntable 4 drives the rotary shaft 3 to rotate.
Further, the first cylinder body 6 adopts an air cylinder or an oil cylinder, and the air cylinder or the oil cylinder is connected with a controller through a control valve so as to control the action of the controller and achieve the purpose of automatic control.
Furthermore, a thrust ball bearing 29 is arranged at the contact position of the bottom end surface of the rotating shaft 3 and the bottom plate 1, and the rotating shaft 3 is connected with the sleeve upright post 10 in a matching way through a bearing 11. The thrust ball bearing 29 described above ensures that the pivot shaft 3 can be subjected to a certain axial force, and thus ensures its normal rotation, and furthermore ensures the rotational fit between the pivot shaft 3 and the sleeve column 10 by means of the bearing 11, and thus ensures its normal rotation.
Further, the top beam plate 13 is fixedly mounted on the top of the top flange plate 12 through a positioning block 14 and a flange bolt. The connection strength is enhanced through the connection mode.
Further, screw drive mechanism installs slide rail board 16 including fixing the first vertical board 15 and the vertical board 31 of second in top crossbeam board 13 bottom one end between first vertical board 15 and the vertical board 31 of second, install slider 20 through sliding fit on the slide rail board 16, it has the screw through-hole to process on the slider 20, the screw through-hole constitutes screw drive cooperation with lead screw 30, the both ends of lead screw 30 support respectively on first vertical board 15 and the vertical board 31 of second, the end of lead screw 30 passes through the shaft coupling and links to each other with the main shaft of motor 23, motor 23 passes through motor mount pad 22 to be fixed on the lateral wall of the vertical board 31 of second. The screw rod transmission mechanism can realize the integral extending action of the bucket mechanism, thereby ensuring the normal coal shoveling operation. In the working process, the motor 23 drives the screw rod 30, and the screw rod 30 is matched with the threaded through hole on the sliding block 20, so that the sliding block 20 is driven to slide along the sliding rail plate 16, and the purpose of controlling the bucket mechanism to extend is achieved.
Further, the bucket mechanism includes upset cylinder body 24, upset cylinder body 24 passes through connecting rod 19 to be installed at the piston rod end that promotes cylinder body 17, the top of connecting rod 19 is connected with bucket installation pole 21, the end of bucket installation pole 21 articulates through the round pin axle has a bucket 28, be fixed with upset pole 27 on the back lateral wall of bucket 28, it has spout 26 to process on the upset pole 27, spout 26 constitutes sliding fit through the slider with the piston rod 25 end of upset cylinder body 24. The bucket mechanism is mainly used for coal shoveling and unloading. In the working process, after the bucket 28 contacts the coal bed under the action of the screw rod transmission mechanism, the pushing cylinder body 17 is started, the bucket 28 is driven to be pushed by the pushing cylinder body 17, in the process, the overturning cylinder body 24 is started synchronously, the overturning rod 27 is driven by the overturning cylinder body 24, then the bucket 28 is further driven by the overturning rod 27 to realize pitching action, the coal shoveling process is realized, after the coal shoveling is completed, the screw rod transmission mechanism and the bucket mechanism are started again, finally the bucket mechanism is reset, the bucket mechanism is rotated to be right above the conveying belt through the power device, the overturning cylinder body 24 is started again, the bucket 28 is driven to overturn by the overturning cylinder body 24, the coal is unloaded onto the conveying belt, and finally the coal unloading action is realized.
Further, the device also comprises a controller which adopts a PLC controller, wherein the PLC controller is respectively connected with a driver of the first cylinder 6, a driver of the motor 23 of the screw rod transmission mechanism, a driver of the pushing cylinder 17 and a driver of the overturning cylinder 24 of the bucket mechanism through signal lines and controls corresponding actions of the drivers. The controller can realize automatic control, thereby improving the control efficiency and reducing the labor intensity of operators.
The principle and the working process of the PLC are as follows: the PLC controller is used for controlling the coal shoveling and discharging device, an initialization program is arranged in the programmed PLC controller program, the rotating shaft is enabled to be in an initial position, the motor is in a rear position, if the rotating shaft is not in the rear position, a distance sensor is arranged, control information is transmitted to enable the motor to run to the rear position, the pushing cylinder body 17, namely a cylinder which finally pushes the bucket to shovel coal, is also initialized, the overturning cylinder body 24 is also initialized, after initialization is finished, the motor moves forwards and stops to the front position, the pushing cylinder body 17 pushes, the first cylinder body 6 retracts, the overturning cylinder body 24 topples, the overturning cylinder body 24 resets, the motor retracts, the top cross beam plate 13 resets, and then the operation is repeated, so that the circular coal shoveling and discharging actions can be realized.
Example 2:
the use method of the transferring manipulator for underground coal mining is characterized by comprising the following steps:
step 1: fixing the transfer manipulator at a position where coal transfer is needed through a bottom plate 1;
step 2: setting the extension length of a piston rod of the first cylinder body 6, further adjusting the rotation angle of the rotating shaft 3, and ensuring that the piston rod can drive a top cross beam plate 13 at the top to move back and forth between a coal mining surface and a discharging transmission belt;
step 3: starting the first cylinder body 6, driving the connecting rod 9 through the first cylinder body 6, driving the rotary table 4 through the connecting rod 9, and further driving the rotary shaft 3 to rotate through the rotary table 4 so that the top cross beam plate 13 at the top of the rotary shaft rotates to a coal excavating position;
step 4: starting a screw rod transmission mechanism, driving a screw rod 30 through a motor 23, driving a sliding block 20 through the screw rod 30, and driving the whole bucket mechanism at the bottom end of the sliding block 20 to be close to the position of coal through the sliding block 20 sliding along a sliding rail plate 16;
step 5: starting the pushing cylinder 17 to push the whole bucket mechanism to move forward, and shoveling coal by the bucket 28;
step 6: after the bucket 28 is fully shoveled, the first cylinder 6 is started again to drive the rotating shaft 3 to rotate, and the top cross beam plate 13 at the top of the rotating shaft is driven to rotate, so that the whole bucket mechanism is driven to move right above the belt conveyor;
step 7: starting the turnover cylinder body 24, pushing the turnover rod 27 through the piston rod 25 of the turnover cylinder body 24, further driving the bucket 28 to turn over around the pin shaft of the bucket through the turnover rod 27, realizing turnover coal unloading, unloading the coal on a conveyor belt, and further completing the one-time coal unloading process;
step 8: the first cylinder 6, the motor 23, the pushing cylinder 17 and the overturning cylinder 24 are controlled by the controller to repeat steps 2-7, so that repeated coal unloading can be realized.
Claims (8)
1. Transfer manipulator of coal mining in pit, its characterized in that: it includes bottom plate (1), the top of bottom plate (1) is fixed with supporting seat (2), the top of supporting seat (2) is fixed with sleeve stand (10), the inside of sleeve stand (10) supports through normal running fit has revolving axle (3), the bottom of revolving axle (3) is installed and is used for driving its pivoted power device, the top of revolving axle (3) is fixed with top flange board (12), fixed mounting has top crossbeam board (13) on top flange board (12), slider (20) are installed through screw drive mechanism to the bottom of top crossbeam board (13), there is promotion cylinder body (17) bottom through L type connecting plate (18) fixed mounting in the bottom of slider (20), the piston rod end that promotes cylinder body (17) is installed and is used for shovel coal and upset to unload the scraper bowl mechanism of coal.
2. The transfer robot for underground coal mining of claim 1, wherein: the power device adopts a slider-crank mechanism and comprises a first cylinder body (6), the first cylinder body (6) is fixed on the bottom plate (1) through a first cylinder body fixing plate (5), a first piston rod (7) of the first cylinder body (6) is connected with a connecting rod (9) through a pin shaft (8), the other end of the connecting rod (9) is hinged with the rotary table (4), and the rotary table (4) is fixed at the bottom end of the rotary shaft (3).
3. The transfer robot for underground coal mining of claim 2, wherein: the bottom end face of the rotating shaft (3) is provided with a thrust ball bearing (29) at the position where the bottom end face of the rotating shaft is contacted with the bottom plate (1), and the rotating shaft (3) is connected with the sleeve upright post (10) in a matching way through a bearing (11).
4. The transfer robot for underground coal mining of claim 1, wherein: the top cross beam plate (13) is fixedly arranged at the top of the top flange plate (12) through a positioning block (14) and a flange bolt.
5. The transfer robot for underground coal mining of claim 1, wherein: screw drive mechanism installs slide rail board (16) between first vertical board (15) and the vertical board of second (31) including fixing at top crossbeam board (13) bottom one end, install slider (20) through sliding fit on slide rail board (16), it has the screw through-hole to process on slider (20), the screw through-hole constitutes screw drive cooperation with lead screw (30), the both ends of lead screw (30) are supported respectively on first vertical board (15) and the vertical board of second (31), the end of lead screw (30) passes through the shaft coupling and links to each other with the main shaft of motor (23), motor (23) are fixed on the lateral wall of the vertical board of second (31) through motor mount pad (22).
6. The transfer robot for underground coal mining of claim 1, wherein: the scraper bowl mechanism is including upset cylinder body (24), the piston rod end at promotion cylinder body (17) is installed through connecting rod (19) in upset cylinder body (24), the top of connecting rod (19) is connected with scraper bowl installation pole (21), the end of scraper bowl installation pole (21) articulates through the round pin axle has scraper bowl (28), be fixed with upset pole (27) on the back lateral wall of scraper bowl (28), it has spout (26) to process on upset pole (27), spout (26) constitute sliding fit through the slider with piston rod (25) end of upset cylinder body (24).
7. The transfer robot for underground coal mining of claim 1, wherein: the hydraulic shovel loader further comprises a controller, wherein the controller is a PLC controller, and the PLC controller is respectively connected with a driver of the first cylinder body (6), a driver of a motor (23) of the screw rod transmission mechanism, a driver of the pushing cylinder body (17) and a driver of a turning cylinder body (24) of the shovel mechanism through signal lines and controls corresponding actions of the drivers.
8. Use of a transfer robot for underground coal mining according to any of claims 1-7, characterized in that it comprises the following steps:
step 1: fixing the transfer manipulator at a position where coal transfer is needed through a bottom plate (1);
step 2: setting the extension length of a piston rod of the first cylinder body (6), further adjusting the rotation angle of the rotating shaft (3) and ensuring that the piston rod can drive a top cross beam plate (13) at the top to move back and forth between a coal mining surface and a discharging transmission belt;
step 3: starting the first cylinder body (6), driving the connecting rod (9) through the first cylinder body (6), driving the rotary table (4) through the connecting rod (9), and further driving the rotary shaft (3) to rotate through the rotary table (4) so that the top cross beam plate (13) at the top of the rotary shaft rotates to a coal excavating position;
step 4: starting a screw rod transmission mechanism, driving a screw rod (30) through a motor (23), driving a sliding block (20) through the screw rod (30), and sliding along a sliding rail plate (16) through the sliding block (20) so as to drive the whole bucket mechanism at the bottom end of the sliding block to be close to the position of coal;
step 5: starting a pushing cylinder body (17), pushing the whole bucket mechanism to move forwards, and shoveling coal through a bucket (28);
step 6: after the bucket (28) is full, the first cylinder body (6) is started again to drive the rotating shaft (3) to rotate, and the top cross beam plate (13) at the top of the rotating shaft is driven to rotate, so that the whole bucket mechanism is driven to move right above the belt conveyor;
step 7: starting the turnover cylinder body (24), pushing the turnover rod (27) through a piston rod (25) of the turnover cylinder body (24), further driving the bucket (28) to turn over around a pin shaft of the bucket through the turnover rod (27), realizing turnover coal unloading, and unloading the coal on a conveyor belt, thereby completing a coal unloading process;
step 8: the first cylinder body (6), the motor (23), the pushing cylinder body (17) and the overturning cylinder body (24) are controlled by the controller to repeat steps 2-7, so that repeated coal unloading can be realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911077796.XA CN110863827B (en) | 2019-11-06 | 2019-11-06 | Transferring manipulator for underground coal mining and using method |
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| CN201911077796.XA CN110863827B (en) | 2019-11-06 | 2019-11-06 | Transferring manipulator for underground coal mining and using method |
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| CN118723546B (en) * | 2024-08-30 | 2024-10-29 | 烟台恒铭气动液压设备有限公司 | Hydraulic cylinder processing, assembling and conveying system |
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| CN115404742A (en) * | 2021-05-28 | 2022-11-29 | 邯郸市恒质公路建设集团有限公司 | Asphalt mixture production method and device based on milling material recycling |
| CN115404742B (en) * | 2021-05-28 | 2024-07-26 | 邯郸市恒质公路建设集团有限公司 | Asphalt mixture production method and device based on milling material recycling |
| CN118723546B (en) * | 2024-08-30 | 2024-10-29 | 烟台恒铭气动液压设备有限公司 | Hydraulic cylinder processing, assembling and conveying system |
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