CN112623655B - Automatic coal mine tunnel coal conveying system - Google Patents
Automatic coal mine tunnel coal conveying system Download PDFInfo
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- CN112623655B CN112623655B CN202011497358.1A CN202011497358A CN112623655B CN 112623655 B CN112623655 B CN 112623655B CN 202011497358 A CN202011497358 A CN 202011497358A CN 112623655 B CN112623655 B CN 112623655B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/34—Devices for discharging articles or materials from conveyor
- B65G47/38—Devices for discharging articles or materials from conveyor by dumping, tripping, or releasing load carriers
- B65G47/40—Devices for discharging articles or materials from conveyor by dumping, tripping, or releasing load carriers by tilting conveyor buckets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/02—Transport of mined mineral in galleries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
Abstract
The invention relates to the technical field of coal mining, in particular to an automatic coal mine roadway coal conveying system. Grab coal system mainly includes control system, walking frame, snatchs mechanism, fixed plate, left side function case and right side function case, walking frame both sides are located the slide of tunnel both sides, and are equipped with first actuating mechanism on the walking frame, fixed plate and first actuating mechanism's output position fixed connection, snatch mechanism fixed connection in the middle part of fixed plate lower surface, left side function case and right side function case upper end all are fixed in on the lower surface of fixed plate, and are located the both sides of snatching the mechanism, walking frame, left side function case, right side function case and snatch mechanism and control system electric connection, this technical scheme is used for reducing the staff quantity of participating in the coal cinder transportation, reduces fortune coal staff's intensity of labour, and high-efficient safe transports the coal cinder in the coal mine tunnel to appointed position simultaneously.
Description
Technical Field
The invention relates to the technical field of coal mining, in particular to an automatic coal mine roadway coal conveying system.
Background
Coal is used as a conventional mineral energy source, and plays an irreplaceable important role in national economy and social development. Coal production has a long history, but the safe production of coal mines is always a worldwide problem. Coal mine production has special reasons of difficult field management, continuous change of working surface, complexity of underground water and coal bed distribution and the like, and objectively causes a plurality of difficulties of coal mine safety production management. China is a big coal producing country, but in terms of natural conditions, occurrence conditions of coal beds in China are generally unsatisfactory, most mine conditions are severe, and more potential safety hazards appear in the coal mining and coal block transportation processes, so that the labor intensity of coal mining workers is high, and the risk coefficient is higher.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide an automatic coal mine roadway coal conveying system, which is used for reducing the number of workers participating in the coal mine conveying process, reducing the labor intensity of the workers, and efficiently and safely conveying coal blocks in a coal mine roadway to a specified position.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an automatic coal mine roadway coal conveying system comprises a coal mine roadway, wherein two side walls of the coal mine roadway are provided with slideways, and the coal mine roadway is sequentially provided with a coal grabbing system, a conveyor belt system and a transfer system from inside to outside;
the coal grabbing system mainly comprises a control system, a walking frame, a grabbing mechanism, a fixed plate, a left side function box and a right side function box, wherein two sides of the walking frame are positioned in slideways on two sides of a roadway, the walking frame is provided with a first driving mechanism, the fixed plate is fixedly connected with the output part of the first driving mechanism, the grabbing mechanism is fixedly connected to the middle part of the lower surface of the fixed plate, the upper ends of the left side function box and the right side function box are fixed on the lower surface of the fixed plate and positioned on two sides of the grabbing mechanism, and the walking frame, the left side function box, the right side function box and the grabbing mechanism are electrically connected with the control system;
the transfer system mainly comprises a slide rail mechanism and a hopper mechanism, the slide rail mechanism comprises a slide rail, a material pouring baffle and a reset baffle are arranged on the slide rail, the lower ends of the material pouring baffle and the reset baffle are fixedly connected to the side surface of the slide rail, the hopper mechanism comprises a second driving mechanism and a mounting rack, the second driving mechanism is electrically connected with a control system, the mounting rack is in rolling connection with the slide rail, a hopper is arranged above the mounting rack, the hopper is of an eccentric structure and provided with a first balancing weight at the lower part, stand columns are symmetrically arranged on two sides of the mounting rack, the hopper is positioned between the two stand columns, the middle part of the hopper is hinged with the stand columns, a first arc-shaped plate is further arranged on one side of the hopper close to the conveyor belt, a stop block is arranged in the middle part of the first arc-shaped plate, support column and mounting bracket sliding connection, the upper surface edge of mounting bracket is equipped with first boss, first reset spring's one end and first boss fixed connection, just first reset spring's flexible direction is unanimous with the moving direction of the removal of mounting bracket on the slide rail, the hopper upper surface is close to the slide rail inboard and is equipped with the second arc, fixed surface is connected on second arc and the hopper.
The working principle of the technical scheme is as follows:
the grabbing mechanism is fixed on the output part of the first driving mechanism on the walking frame through the fixing plate, the first driving mechanism drives the grabbing mechanism to move in the coal roadway under the action of the control system, the grabbing mechanism is driven to the position above the coal blocks, the control system controls the grabbing mechanism at the moment, after the grabbing mechanism firmly grabs the coal, the control system controls the first driving mechanism on the walking frame to convey the grabbing mechanism to the position above the conveying belt, and then the control system controls the grabbing mechanism to loosen the coal blocks and place the coal blocks on the conveying belt.
The hopper mechanism of the transfer system catches the coal blocks of the conveyor belt, after the belt hopper is full, the control system controls the second driving framework to work, so that the hopper mechanism moves to a specified coal block stacking place, when the belt hopper reaches the place, the material pouring baffle is arranged on the sliding rail mechanism and acts on the supporting column, the supporting column can move behind the moving direction of the mounting frame due to the sliding connection between the supporting column and the mounting frame, after the supporting column moves out of the outer side of the first arc-shaped plate on the side wall of the hopper, due to the eccentric design of the hopper, the gravity of the coal blocks in the hopper faces to the outer side of the sliding rail, at the moment, the hopper overturns towards the outer side of the sliding rail under the action of the gravity of the coal blocks, the coal blocks are poured out to a specified position, then the hopper mechanism continuously slides on the sliding rail, because the first balancing weight is arranged at the bottom of the hopper, under the action of, namely, in the moving process, the second arc-shaped plate can contact with the reset baffle arranged on the sliding rail, the end part of the second arc-shaped plate on the reset baffle slides, when the reset baffle is positioned in the middle of the outer side surface of the non-opening end of the second arc-shaped plate, the hopper returns to the initial vertical state, the supporting column is pushed to the lower part of the first arc-shaped plate under the action of the first reset spring to support the hopper, and then the hopper mechanism continues to move to the lower part of the conveying belt system to receive the materials, so that the process is circulated.
The coal grabbing mechanism has the advantages that the output part of the first driving mechanism has multiple degrees of freedom, so that the grabbing range of the grabbing mechanism is enlarged, grabbing in a three-dimensional space is realized, meanwhile, coal blocks can be grabbed obliquely, and coal grabbing dead angles formed between the coal grabbing system and a coal mine roadway due to the size of equipment can be reduced.
Further inject, the left side function box includes left box, the first push rod motor of the upper portion fixedly connected with output installation down of left side box, the fixed extension piece that is equipped with on the output of first push rod motor, the extension piece orientation is equipped with first function piece articulated with it towards the one side lower part of snatching the mechanism, first function piece and extension piece articulated position are equipped with the rotating electrical machines.
Further inject, the right side function box includes right box, be equipped with the second push rod motor of output installation down in the box of the right side, the tip fixedly connected with L shape slide of second push rod motor, the output of second push rod motor and the bottom fixed connection of L shape slide, just the bottom of L shape slide is equipped with the directional third push rod motor who snatchs the mechanism of output, the output tip of third push rod motor is equipped with the push pedal.
The working principle of the left functional box and the right functional box is as follows: when a large coal block in a coal mine tunnel is grabbed by the grabbing mechanism, a certain amount of small coal blocks and coal cinder exist on the ground of the tunnel, the control system controls the output ends of a first push rod motor and a second push rod motor in a left side function box and a right side function box to extend downwards, an extension block in the left side function box moves towards the lower end of a left box body under the action of the first push rod motor and the second push rod motor, an L-shaped sliding plate of the right side function box moves towards the lower part of the right box body to convey a first function piece and a push plate to the lower part of the grabbing mechanism, the control system controls a rotating motor in the left side function box to rotate to enable the first function piece and the extension block to be vertical, then the first function piece and the push plate are arranged on the ground of the tunnel under the action of a first driving mechanism, the control system controls a third push rod motor to work to push the push plate towards the first function piece, in the motion process of push pedal, the push pedal can collect in the cinder propelling movement on the bottom surface is to first function piece, then drives first function piece to conveyor belt system's top under a actuating mechanism's effect, then the rotating electrical machines is rotatory downwards, emptys the cinder to conveyor belt system on, so circulation.
Further limiting, the grabbing mechanism comprises a middle stepped shaft, a clamping jaw and a movable sleeve, wherein a first step and a second step are arranged on the middle stepped shaft, the first step is positioned above the second step, a space is reserved between the first step and the second step, the diameter of the first step is larger than that of the second step, the clamping jaw at least comprises 3 clamping parts, the clamping parts are uniformly hinged on the side wall of the lower portion of the second step and can rotate up and down, a second boss is arranged at the bottom of the middle stepped shaft, a second reset spring is arranged between the second boss and the second step, the second reset spring is in a compression state, the upper end of the second reset spring is positioned on the outer side of the second step in a normal state, the movable sleeve is sleeved on the outer side of the second step, and the upper surface of the movable sleeve is at least provided with 3 fourth push rod motors which are uniformly distributed, and two ends of the fourth push rod motor are respectively fixed on the upper surfaces of the fixed plate and the movable sleeve.
The working principle of the grabbing mechanism is as follows: the first driving mechanism is used for covering the coal block driven by the grabbing mechanism, the angle relation between the grabbing mechanism, the clamping part and the coal block is adjusted, the coal block is covered by the clamping part, then the control system controls the output end of the fourth push rod motor to extend downwards, the movable sleeve is enabled to move downwards along the stepped shaft under the guiding action of the first step, in the downward movement process, the bottom end of the movable sleeve extrudes or compresses the upper end of the clamping part hinged on the side face of the lower end of the second step, the clamping part is tightened inwards through extrusion, the coal block can be clamped, then the clamping mechanism is driven to be arranged above the conveyor belt system by the first driving mechanism, the fourth push rod motor is retracted by the control system, the coal block falls on the conveyor belt system and is transported away, the extrusion force of the movable sleeve is lost, the upper end of the second reset spring extends upwards and acts on the hinged part of the clamping part, make the clamping part upwards rotatory, with the space increase between a plurality of clamping parts, be convenient for next time to the cladding of coal cinder and press from both sides the process of getting, so circulate, can carry the coal cinder.
Preferably, the mounting bracket is equipped with the second balancing weight on being located the inboard upper surface of slide rail, and its beneficial part lies in, sets up the second balancing weight on the mounting bracket of the one side of keeping away from the hopper, can offset because the hopper off-centre designs the overturning moment that forms for the mounting bracket, avoids the mounting bracket slope to cause the removal resistance grow of mounting bracket on the slide rail.
Preferably, the material of pouring the material baffle is the spring steel, and its beneficial part is in, after the hopper is emptyd and is accomplished, the continuation motion of mounting bracket can make the spring steel take place deformation to make the support column cross the mounting bracket, thereby avoid designing rotary mechanism on the support column, reduced the complexity of equipment.
Preferably, the inboard of slide rail is equipped with the limiting plate of restriction mounting bracket upset, the lower extreme of limiting plate is fixed on the inside wall of slide rail, the upper end of limiting plate is located the inboard of mounting bracket upper surface, and leaves the installation clearance between and the mounting bracket, and its useful part lies in, when the rotatory coal cinder that falls of hopper, can give the trend of the outside upset of mounting bracket, and the upper end of limiting plate is located the inboard of mounting bracket upper surface edge, can carry on spacingly to the mounting bracket, avoids the upset.
Preferably, the non-open end of the second arc-shaped plate points to the outer side of the sliding rail, and the non-open end of the second arc-shaped plate points to the outer side to guide the reset baffle plate, so that the hopper is gradually pushed to be right by the reset baffle plate.
The technical effects of the invention are as follows: (1) the coal mining machine has the advantages that the walking frame can move along with the excavation depth of a roadway by erecting the walking frame on the side wall of the coal mine roadway, the grabbing mechanism can be driven to move while moving, the grabbing mechanism can timely carry coal blocks in the roadway, and meanwhile, the first driving mechanism on the walking frame has multiple degrees of freedom of movement, so that when the grabbing mechanism is located at the same position, the coal blocks in a three-dimensional space can be grabbed, and coal grabbing dead corners caused by the installation volume of equipment in the roadway are reduced; (2) the grabbing mechanism grabs the larger coal briquettes, and can collect and transport the coal cinder and the smaller coal briquettes under the synergistic action of the left side function box and the right side function box, so that the coal grabbing system can grab the large coal briquettes and can also process the coal cinder and the small coal briquettes; (3) the transport system can realize non-autonomous dumping of coal blocks in the hopper under the interaction of the sliding rail mechanism and the hopper mechanism, and can also reset the hopper to carry out next coal conveying circulation after dumping, so that the danger of tipping the hopper manually is avoided while manpower is reduced.
In conclusion, the coal mining machine transports the coal blocks in the roadway to the designated position through the automation device, so that the coal transporting efficiency is improved, the human participation in the coal mine roadway is reduced, the labor intensity is reduced, and the safety of coal miners is guaranteed from multiple aspects.
Drawings
Fig. 1 is a schematic perspective view of a coal transportation system in this embodiment.
Fig. 2 is a schematic perspective view of a coal conveying system in another direction according to the present embodiment.
Fig. 3 is a schematic front view of a coal conveying system in this embodiment.
Fig. 4 is a schematic perspective view of a coal grabbing system in the present embodiment.
Fig. 5 is a perspective view of the grasping mechanism in this embodiment.
Fig. 6 is a schematic sectional view of the grasping mechanism in this embodiment.
Fig. 7 is a perspective view schematically illustrating a dump state of the hopper mechanism according to the present embodiment.
Fig. 8 is a perspective view illustrating a reset state of the hopper mechanism according to the present embodiment.
Fig. 9 is a schematic structural perspective view of a first driving structure in this embodiment.
Reference numerals
The coal grabbing system A, the walking frame A2, the left side function box A3, the right side function box A4, the grabbing mechanism A5, the conveyor belt system B, the transfer system C, the slide rail mechanism C1, the hopper mechanism C2, the coal mine roadway 1, the slide rail 11, the output part 12, the middle longitudinal beam rotating motor 13, the mounting beam 14, the middle longitudinal beam translation motor 15, the first reel 16, the second reel 17, the first fixed pulley 18, the second fixed pulley 19 and the steel rope 191;
the left box body 2, the right box body 21, the fixing plate 22, the fourth push rod motor 23, the middle stepped shaft 24, the clamping part 25, the second return spring 26, the movable sleeve 27, the first step 29, the second step 28, the first push rod motor 291, the extension block 292, the first functional piece 293, the second push rod motor 294, the L-shaped sliding plate 295, the third push rod motor 296, the push plate 297 and the supporting block 298;
the material pouring baffle plate 31, the reset baffle plate 32, the mounting frame 33, the upright column 34, the supporting column 35, the first boss 36, the first reset spring 37, the hopper 38, the first balancing weight 39, the first arc-shaped plate 391, the stop 392 and the second arc-shaped plate 393.
Detailed Description
The following is further detailed by way of specific embodiments:
as shown in fig. 1, fig. 2 and fig. 3, an automatic coal transporting system, mainly include the coal grabbing mechanism that sets up from inside to outside in coal mine tunnel 1, conveyor belt system B and transfer system C, both sides in coal mine tunnel 1 are equipped with slide 11, the both sides sliding connection of coal grabbing mechanism is in coal mine tunnel 1's slide 11, can slide according to coal mine tunnel 1's excavation depth, conveyor belt mechanism arranges in coal mine tunnel 1, and be located the below of coal grabbing mechanism, transfer system is located coal mine tunnel 1's the outside simultaneously, a coal cinder for transferring conveyor belt system B tip output, wherein in the in-process of constantly excavating in tunnel, the degree of depth in tunnel can be adapted to through the mode of concatenation conveyer belt. The conveyor belt system B is prior art, and is not described in detail in this embodiment, and the control system further includes a sensor system for acquiring images and information, so that a worker can control the coal grasping system a outside the coal mine roadway, and the control system is mature prior art, and is not described in detail herein.
As shown in fig. 4, 5 and 6, the coal grabbing mechanism mainly includes a control system for controlling a motor, a traveling frame a2 for realizing position change, a grabbing mechanism a5 for clamping coal briquettes, a fixing plate 22 for fixing the grabbing mechanism a5 on the traveling frame a2, and a left functional box A3 and a right functional box a4 for collecting and transferring fine coal cinder and coal briquettes, wherein the left functional box A3, the right functional box a4 and the grabbing mechanism a5 are all fixed on the fixing plate 22, the grabbing mechanism a5 is located in the middle of the fixing plate 22, the left functional box A3 and the right functional box a4 are located on both sides of the grabbing mechanism a5, and electrical components in the grabbing mechanism a5, the left functional box A3 and the right functional box a4 are electrically connected with the control system.
As shown in fig. 9, the walking frame a2 is composed of a plurality of cross beams and longitudinal beams, the number of the cross beams selected in this embodiment is 2, the number of the longitudinal beams is 3, the longitudinal beams are distributed at the two ends and the middle part of the cross beams, the middle longitudinal beam is located in the moving groove formed by the cross beams at the two sides, in order to facilitate the rotation of the middle longitudinal beam, the middle longitudinal beam is preferably cylindrical, the longitudinal beams at the two ends of the cross beams are fixedly connected with the end parts of the cross beams, the longitudinal beam in the middle is slidably connected with the inner side of the cross beam, a first driving mechanism is arranged on the walking frame a2, the first driving mechanism can drive the middle longitudinal beam to translate and rotate on the cross beams, and the axis of the rotation. The driving mechanism mainly comprises a longitudinal beam rotating motor 13 and an output part push rod motor which are positioned outside the middle part of one side transverse beam, the middle longitudinal beam rotating motor 13 is clamped on the longitudinal beam on one side through a first connecting seat, the output end of the middle longitudinal beam rotating motor 13 is fixedly connected with one end of the middle longitudinal beam, the first connecting seat can translate on the longitudinal beam on one side, and the upper end part and the lower end part of the first connecting seat extend towards the inner sides of the upper surface and the lower surface of the longitudinal beam, so that the first connecting seat can not rotate, the output part push rod motor is fixed on a second connecting seat, the second connecting seat is fixedly connected with the other end of the middle longitudinal beam, the output end of the output part push rod motor is fixedly connected with the output part, an installation beam 14 fixedly connected with the transverse beams on two sides is arranged right above the middle longitudinal beam, a middle longitudinal beam translation motor 15 is arranged on, the upper surface middle parts of two longerons that are located both ends are equipped with first fixed pulley 18 and second fixed pulley 19 respectively, be equipped with the steel cable 191 on first fixed pulley 18 and the second fixed pulley 19 respectively, the one end fixed connection of steel cable 191 is in the center department of middle part longeron, and pass first fixed pulley 18 and second fixed pulley 19 respectively and twine on first reel 16 and second reel 17, and the winding direction is opposite, such aim at, when carrying out the translation in one direction, the steel cable 191 of opposite side is in and removes the winding state, avoid mutual interference. Preferably, the output part 12 of the first driving mechanism can move up and down, back and forth and rotate in a vertical plane under the action of the control system, and the output part 12 of the first driving mechanism has multiple degrees of freedom, so that the grabbing range of the grabbing mechanism A5 is enlarged, grabbing in a three-dimensional space is realized, meanwhile, the coal blocks can be grabbed obliquely, and the coal grabbing dead angle formed between the coal grabbing system A and the coal mine tunnel 1 due to the volume of the equipment can be reduced.
The grasping mechanism a5 mainly includes an intermediate stepped shaft 24, the upper end of the intermediate stepped shaft 24 is fixed at the middle of the fixing plate 22, a first step 29 and a second step 28 are provided on the intermediate stepped shaft 24, the diameter of the first step 29 is 1-2.5 times of the diameter of the first step 29, in this embodiment, the diameter of the first step 29 is preferably 2 times of the diameter of the second step 28, a space is provided between the first step 29 and the second step 28, such that no vertical rotational interference is caused to the mounting part on the first step 29, the first step 29 is located at the upper part of the intermediate stepped shaft 24, the second step 28 is located at the lower part of the intermediate stepped shaft 24, a holding part 25 hinged thereto is provided on the bottom side of the first step 29, the number of the holding parts 25 is at least 3, and is uniformly distributed on the side of the second step 28, in this embodiment, the number of the holding parts 25 is 3, in order to enable the clamping part 25 to reset after clamping, a second boss is arranged at the bottom of the middle stepped shaft 24, the diameter of the second boss is located between the diameter of the first step 29 and the diameter of the second step 28, the diameter of the second boss selected in the embodiment is 1.7 times of the diameter of the second step 28, a second reset spring 26 is arranged between the second boss and the hinged end of the clamping part 25, and the second reset spring 26 has the function of pressing the clamping part 25 upwards in a normal state, so that the opening angle of the clamping part 25 is increased, and the clamping part 25 can better coat and clamp coal blocks.
The clamping of the clamping portion 25 is realized by sleeving a movable sleeve 27 on the outer side of the first step 29, wherein the upper end of the movable sleeve 27 is provided with a fourth push rod motor 23, the output end of the fourth push rod motor 23 is fixedly connected to the upper surface of the movable sleeve 27, and the fixed end of the fourth push rod motor 23 is fixedly connected to the fixed plate 22. When the control system moves the output end of the fourth push rod motor 23 downwards, the bottom end of the movable sleeve 27 extrudes the hinged end of the clamping portion 25, so that the clamping portion is collected inwards to clamp the coal briquettes. Preferably, a linkage mechanism is provided at the upper end of the second return spring 26 and inside the clamping portion 25, i.e., the lower end of the second return spring 26 contracts downward when the clamping portion is tightened inward, which is advantageous in that the second return spring 26 is prevented from being pressed outside the clamping portion 25 and the lower end of the second step 28, which interferes with the tightening of the clamping portion 25.
The left side function box A3 includes left box 2, and the upper portion fixedly connected with output end first push rod motor 291 of installation down of left box 2, fixed extension piece 292 that is equipped with on the output of first push rod motor 291, extension piece 292 are equipped with first function piece 293 articulated with it towards the one side lower part of grabbing mechanism A5, and first function piece 293 and extension piece 292 articulated position are equipped with the rotating electrical machines. The right side function box a4 includes right box 21, be equipped with the second push rod motor 294 of output installation down in the right box 21, the tip fixedly connected with L shape slide 295 of second push rod motor 294, the output of second push rod motor 294 and the bottom fixed connection of L shape slide 295, and the bottom of L shape slide 295 is equipped with the directional third push rod motor 296 who snatchs mechanism a5 of output, the output tip of third push rod motor 296 is equipped with push pedal 297, preferably, be equipped with supporting shoe 298 on the L shape slide 295, when can avoiding push pedal 297 to promote, L shape slide 295 takes place the slope in right box 21.
The working principle of the left functional box A3 and the right functional box A4 is as follows: when a large coal block in a coal mine tunnel 1 is grabbed by the grabbing mechanism A5, a certain amount of small coal blocks and coal cinder exist on the tunnel ground, at this time, the control system controls the output ends of the first push rod motor 291 and the second push rod motor 294 in the left side function box A3 and the right side function box A4 to extend downwards, under the action of the first push rod motor 291 and the second push rod motor 294, the extension block 292 in the left side function box A3 moves towards the lower end of the left box body 2, the L-shaped sliding plate 295 of the right side function box A4 moves towards the lower part of the right box body 21, the first function piece 293 and the push plate 297 are conveyed to the lower part of the grabbing mechanism A5, then the control system controls the rotating motor in the left side function box A3 to rotate, so that the first function piece 293 and the extension block 292 are vertical, then under the action of the first driving mechanism, the first function pieces 293 and the push plate 297 are placed on the tunnel ground, at this time, the control system controls the third push rod motor 296 to work, so as to push the push plate 297 to the first functional part 293, during the movement of the push plate 297, the push plate 297 pushes the cinder on the bottom surface into the first functional part 293 to be collected, then the first functional part 293 is driven to the upper side of the conveyor belt system B under the action of the first driving mechanism, and then the rotating motor rotates downwards, so as to dump the cinder onto the conveyor belt system B, and the process is circulated.
As shown in fig. 1, 7 and 8, the transfer system mainly includes two parts, namely a slide rail mechanism C1 and a hopper mechanism C2, the slide rail mechanism C1 mainly includes a common annular slide rail, at least 2 hopper mechanisms C2 are distributed on the slide rail, in this embodiment, 3 hopper mechanisms C2 are selected, and the hopper mechanism C2 moves on the slide rail.
The slide rails of the slide rail mechanism C1 are distributed at the designated transportation position of the coal briquette, the material pouring baffle 31 is arranged in front of the slide rail position corresponding to the transportation position and reaching the designated transportation position along the movement direction of the hopper mechanism C2, and the reset baffle 32 is arranged behind the transportation position corresponding to the slide rail direction, preferably, at least 2 reset baffles 32 are arranged, which is beneficial to ensure that the hopper mechanism C2 can reset and ensure that the hopper 38 structure can normally participate in the next circulation. The dumping baffle 31 is shaped like Contraband in this embodiment, the lower end of the dumping baffle 31 is fixed on the outer side surface of the slide rail, the protruding end of the upper end has a length larger than that of the lower end, and the upper end is located above the mounting frame 33 below the hopper mechanism C2, in this embodiment, the dumping baffle 31 is preferably made of spring steel, which has the advantage that after being blocked, the dumping baffle 31 bends along with the continuous movement of the hopper mechanism C2, so that the hopper mechanism C2 moves continuously over the dumping baffle 31. Preferably, the inboard of slide rail is equipped with the limiting plate of restriction mounting bracket 33 upset, the lower extreme of limiting plate is fixed on the inside wall of slide rail, the upper end of limiting plate is located the inboard of mounting bracket 33 upper surface, and leaves the installation clearance between with mounting bracket 33, and its beneficial part lies in, when hopper 38 is rotatory to fall the coal cinder, can give the motion trend of an outside upset of mounting bracket 33, and the upper end of limiting plate is located the inboard of mounting bracket 33 upper surface edge, can carry on spacingly to mounting bracket 33, avoids the upset.
The shape of the reset baffle 32 is the same as that of the dumping baffle 31, and the difference is that the lower end of the reset baffle 32 is fixed outside the slide rail, the upper end of the reset baffle 32 extends into the slide rail and contacts with the second arc-shaped plate 393 in the hopper mechanism C2, and the height of the reset baffle 32 is the same as that of the dumping mechanism during coal charging.
The hopper mechanism C2 mainly comprises a second driving mechanism and a mounting frame 33, rollers are arranged below the mounting frame 33, the rollers are positioned on slide rails and are in rolling connection with the slide rails, the second driving mechanism drives the mounting frame 33 to move on the slide rails, upright columns 34 are symmetrically arranged in the middle of the upper surface of the mounting frame 33, the upright columns 34 are fixedly connected with the upper surface of the mounting frame 33, a hopper 38 is arranged between the two upright columns 34, the hopper 38 is of an eccentric structure, after the coal mine is filled, the gravity center of the coal block is arranged at the upper end of the hopper 38, under the condition that no external force is interfered, the coal block tends to turn towards the outer side of the slide rails, the hopper 38 is hinged with the upright columns 34 at the two sides, the hinged position is positioned at the middle lower part of the hopper 38, the hopper 38 has a greater tendency to turn towards the outer side of the slide rails after being filled with the coal block, the purpose of the first counterweight 39 is to allow the hopper 38 to return to an inclined upward angle between the uprights 34 after the coal has been poured from the hopper.
In order to prevent the hopper 38 from turning over when coal is loaded, as shown in the shape and position of the hopper 38 in the figure, a first arc plate 391 is arranged on the outer side of the inclined plane of the hopper 38 close to the coal loading, the first arc plate 391 is installed with an opening facing upwards, a stop 392 is arranged in the middle of the lower surface of the first arc plate 391, a support pillar 35 is arranged at the lower end of the first arc plate 391, one end of the support pillar 35 is fixedly connected with the upper surface of the mounting frame 33, the other end of the support pillar 35 is in contact with the first arc plate 391 and is arranged in the middle of the first arc plate 391, in order to enable the support pillar 35 to have the function of resetting after leaving the first arc plate 391, a first boss 36 is arranged on the side surface of the mounting frame 33, the first boss 36 is arranged on the rear side surface in the advancing direction of the mounting frame 33, a first return spring 37 is arranged between the first boss 36 and the support pillar 35, and the first return spring, stop 392 limits the sliding displacement of support column 35 on mounting bracket 33 to the maximum travel to the middle of hopper 38.
Preferably, the stop 392 is positioned at a position where the hopper 38 intersects the mounting frame 33 at a position perpendicular to the central section of the first arcuate plate 391, which is beneficial in preventing the stop 392 from losing its limit on the support column 35 when the hopper 38 is tilted, so that the first return spring 37 pushes the support column 35 beyond its maximum travel.
In order to enable the hopper 38 to be automatically reset after the coal is dumped, a second arc-shaped plate 393 is arranged above the hopper 38, the middle part of the second arc-shaped plate 393 is positioned on the central section of the hopper 38, and preferably, the non-open end of the second arc-shaped plate 393 can guide the reset baffle 32 to enable the hopper 38 to be gradually pushed right by the reset baffle 32.
Preferably, the upper surface of mounting frame 33 on the inner side of the slide rail is provided with a second weight block, which is beneficial in that the second weight block is arranged on the mounting frame 33 on the side far away from hopper 38, so that the overturning moment formed on the mounting frame 33 by the eccentric design of hopper 38 can be offset, and the increase of the moving resistance of the mounting frame 33 on the slide rail caused by the inclination of the mounting frame 33 can be avoided.
In summary, the operating principle of the present disclosure is that the grabbing mechanism a5 is fixed on the output portion 12 of the first driving mechanism on the traveling frame a2 through the fixing plate 22, the first driving mechanism drives the grabbing mechanism a5 to move in the coal roadway under the action of the control system, the grabbing mechanism a5 is driven to the upper side of the coal briquette, at this time, the control system controls the grabbing mechanism a5, after the grabbing mechanism a5 grabs the coal firmly, the control system controls the first driving mechanism on the traveling frame a2 to convey the grabbing mechanism a5 to the upper side of the conveyor belt, and then the control system controls the grabbing mechanism a5 to loosen the coal briquette, and place the coal briquette on the conveyor belt.
The hopper mechanism C2 of the transfer system receives the coal blocks of the conveyor belt, after the hopper 38 is full, the control system controls the second driving framework to work, so that the hopper mechanism C2 moves to a designated coal block stacking place, when the place is reached, the material pouring baffle plate 31 is arranged on the sliding rail mechanism C1, the material pouring baffle plate 31 acts on the supporting column 35, the supporting column 35 can move towards the rear of the moving direction of the mounting frame 33 due to the sliding connection between the supporting column 35 and the mounting frame 33, after the supporting column 35 moves out of the outer side of the first arc-shaped plate 391 on the side wall of the hopper 38, due to the eccentric design of the hopper 38, the gravity of the coal blocks in the hopper 38 faces towards the outer side of the sliding rail, at the moment, the hopper 38 overturns towards the outer side of the sliding rail under the action of the gravity of the coal blocks, the coal blocks are poured to a designated position, then the hopper mechanism C2 continues to slide on the sliding rail, under the effect of first balancing weight, the top slope of hopper 38 is upwards, namely in the motion process, second arc 393 can with set up the reset baffle 32 contact on the slide rail, and second arc 393 slides at the tip that resets baffle 32, when reset baffle 32 is located the non-open end lateral surface middle part of second arc 393, hopper 38 returns initial vertical state, at this moment under the effect of first reset spring 37, push support column 35 to the below of first arc 391, support hopper 38, then hopper mechanism C2 continues to move the below of conveyer belt system B and connects the material, so circulation.
It should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are used broadly in the present invention, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. An automatic coal mine roadway coal conveying system comprises a coal mine roadway, wherein two side walls of the coal mine roadway are provided with slideways, and the automatic coal mine roadway coal conveying system is characterized in that the coal mine roadway is sequentially provided with a coal grabbing system, a conveyor belt system and a transfer system from inside to outside;
the coal grabbing system mainly comprises a control system, a walking frame, a grabbing mechanism, a fixed plate, a left side function box and a right side function box, wherein two sides of the walking frame are positioned in slideways on two sides of a roadway, the walking frame is provided with a first driving mechanism, the fixed plate is fixedly connected with the output part of the first driving mechanism, the grabbing mechanism is fixedly connected to the middle part of the lower surface of the fixed plate, the upper ends of the left side function box and the right side function box are fixed on the lower surface of the fixed plate and positioned on two sides of the grabbing mechanism, and the walking frame, the left side function box, the right side function box and the grabbing mechanism are electrically connected with the control system;
the transfer system mainly comprises a slide rail mechanism and a hopper mechanism, the slide rail mechanism comprises a slide rail, a material pouring baffle and a reset baffle are arranged on the slide rail, the lower ends of the material pouring baffle and the reset baffle are fixedly connected to the side surface of the slide rail, the hopper mechanism comprises a second driving mechanism and a mounting rack, the second driving mechanism is electrically connected with a control system, the mounting rack is in rolling connection with the slide rail, a hopper is arranged above the mounting rack, the hopper is of an eccentric structure and provided with a first balancing weight at the lower part, stand columns are symmetrically arranged on two sides of the mounting rack, the hopper is positioned between the two stand columns, the middle part of the hopper is hinged with the stand columns, a first arc-shaped plate is further arranged on one side of the hopper close to the conveyor belt, a stop block is arranged in the middle part of the first arc-shaped plate, support column and mounting bracket sliding connection, the upper surface edge of mounting bracket is equipped with first boss, be equipped with first reset spring between first boss and the support column, first reset spring's one end and first boss fixed connection, just first reset spring's flexible direction is unanimous with the moving direction of the removal of mounting bracket on the slide rail, the baffle of falling the material makes the support column break away from first arc through blockking the support column to make the hopper slope fall the material, the hopper upper surface is close to the slide rail inboard and is equipped with the second arc, surface fixed connection on second arc and the hopper, the baffle that resets makes the hopper upright gradually in the motion process through contacting with the second arc, thereby makes the support column reset to the middle part of first arc under the effect of first spring.
2. The automatic coal mine roadway coal conveying system of claim 1, wherein the output part of the first driving mechanism can move up and down, back and forth and rotate in a vertical plane under the action of the control system.
3. The automatic coal mine roadway coal conveying system of claim 1, wherein the left side function box comprises a left box body, a first push rod motor with an output end installed downwards is fixedly connected to the upper portion of the left box body, an extension block is fixedly arranged on the output end of the first push rod motor, a first function piece hinged to the extension block is arranged on the lower portion, facing the grabbing mechanism, of one side of the extension block, and a rotating motor is arranged at the hinged portion of the first function piece and the extension block.
4. The automatic coal mine roadway coal conveying system according to claim 1, wherein the right side function box comprises a right box body, a second push rod motor with an output end installed downwards is arranged in the right box body, an L-shaped sliding plate is fixedly connected to the end portion of the second push rod motor, the output end of the second push rod motor is fixedly connected with the bottom of the L-shaped sliding plate, a third push rod motor with an output end pointing to the grabbing mechanism is arranged at the bottom of the L-shaped sliding plate, and a push plate is arranged at the end portion of the output end of the third push rod motor.
5. The automatic coal mine roadway coal conveying system according to claim 1, wherein the grabbing mechanism comprises a middle stepped shaft, a clamping jaw and a movable sleeve, a first step and a second step are arranged on the middle stepped shaft, the first step is positioned above the second step, a space is reserved between the first step and the second step, the diameter of the first step is larger than that of the second step, the clamping jaw at least comprises 3 clamping parts, the clamping parts are uniformly hinged on the side wall of the lower portion of the second step and can rotate up and down, a second boss is arranged at the bottom of the middle stepped shaft, a second reset spring is arranged between the second boss and the second step, the second reset spring is in a compressed state, the upper end of the second reset spring is positioned on the outer side of the second step in a normal state, and the movable sleeve is sleeved on the outer side of the second step, and the upper surface of the movable sleeve is at least provided with 3 fourth push rod motors which are uniformly distributed, and two ends of each fourth push rod motor are respectively fixed on the upper surfaces of the fixed plate and the movable sleeve.
6. The automatic coal mine roadway coal conveying system of claim 5, wherein a second balancing weight is arranged on the upper surface of the mounting frame on the inner side of the sliding rail.
7. The automatic coal mine roadway coal conveying system of claim 1, wherein the material of the dumping baffle is spring steel.
8. The automatic coal mine roadway coal conveying system of claim 1, wherein a limiting plate for limiting the overturning of the mounting frame is arranged on the inner side of the sliding rail, the lower end of the limiting plate is fixed on the inner side wall of the sliding rail, the upper end of the limiting plate is located on the inner side of the upper surface of the mounting frame, and a mounting gap is reserved between the limiting plate and the mounting frame.
9. The automated coal mine roadway coal handling system of claim 1, wherein the non-open end of the second arcuate plate is directed outward of the slide rail.
10. The automatic coal mine roadway coal conveying system of claim 1, wherein the position of the stop block is fixed in the middle of the outer side surface of the non-open end of the first arc-shaped plate.
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