CN113460105B

CN113460105B - Transfer robot for coal mine transportation

Info

Publication number: CN113460105B
Application number: CN202110748835.5A
Authority: CN
Inventors: 李德永; 郭永存; 王爽; 杨豚; 童佳乐
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2021-07-02
Filing date: 2021-07-02
Publication date: 2022-08-26
Anticipated expiration: 2041-07-02
Also published as: CN113460105A

Abstract

The invention relates to the technical field of coal mining, in particular to a transfer robot for coal mine transportation, which comprises a transfer vehicle, wherein the top of the transfer vehicle is provided with a bearing plate, four sides of the outer wall of the bearing plate are respectively provided with a plurality of rectangular through grooves, the bottoms of the rectangular through grooves are provided with clamping devices, and one side of the inner wall of a box body is provided with a horizontal device; the clamping device comprises a clamping rod which is rotatably connected with the bearing plate in the rectangular through groove, and first swing rods are fixedly connected to two sides of the bottom end of the clamping rod. Make mining container self's gravity as driving power through clamping device, it is spacing to drive clamping device to carry out the centre gripping with mining container, accomplishes the installation between mining container and the loading board fast and places, need not the manual work and carries out the dismouting step, has reduced staff's input, when meeting with the arch simultaneously and leading to the carrier to take place the slope, if inclination is too big, clamping device can accomplish the auto-lock, it is spacing to prevent that the clamping bar from no longer carrying out the centre gripping to mining container, has improved the security.

Description

Transfer robot for coal mine transportation

Technical Field

The invention relates to the technical field of coal mining, in particular to a transfer robot for coal mine transportation.

Background

Coal mine transportation is divided into two categories: primary transport and secondary transport. The main transportation system undertakes the coal transportation task, and the auxiliary transportation undertakes the important tasks of transportation such as personnel, equipment and materials, and the tunnel country rock is mostly compound soft rock, and coal transportation tunnel roof breakage caving, bottom plate swell phenomenon are serious. The coal mine transportation carrying robot is a loading carrying vehicle, carries a mine container to transport coal out of the ground, and needs to be matched with a transferring device to carry the mine container to a loading carrying vehicle on another track, so that the transportation track is changed layer by layer to transport the coal out of the ground. The Tesla one-way valve is a one-way valve which can not allow liquid or gas to pass through quickly but only slowly due to the structure of the Tesla one-way valve when the liquid or gas passes through quickly.

At present, when the mining container transported on the transporting truck for coal mine transportation on the market is transshipped, the steps of placing and taking off need to accurately fix or disassemble the mining container and the transporting truck by a fixing device, which is complicated, has low safety and low transshipment efficiency, the mining container can not load a large amount of coal due to the large gradient of the individual road section for transportation, otherwise, the coal is scattered due to the climbing or descending of the carrier, the transportation efficiency needs to be improved, and when the carrier suddenly passes through the bulge, the carrier shakes, the mining container which is not fixed stably enough falls off to cause channel blockage, so that the manual operation is not needed, the transfer efficiency is high, can transport coal in a large number, the slope influence is less, and mining container is difficult to the haulage robot for coal mine transportation who drops when carrier suddenly passes through protruding department.

The above information disclosed in this background section is only for enhancement of understanding of the background of the disclosure and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a transfer robot for coal mine transportation.

The technical scheme adopted by the invention for solving the technical problems is as follows: a carrying robot for coal mine transportation comprises a carrying vehicle, wherein a bearing plate is arranged at the top of the carrying vehicle, a plurality of rectangular through grooves are formed in four sides of the outer wall of the bearing plate, a clamping device is arranged at the bottom of each rectangular through groove, and a horizontal device is arranged on one side of the inner wall of a box body of the carrying vehicle;

the clamping device comprises a clamping rod rotatably connected with a bearing plate in a rectangular through groove, first swing rods are fixedly connected to two sides of the bottom end of the clamping rod, a sliding groove is formed in the first swing rod, a transmission shaft is connected to the inside of the sliding groove in a rolling manner, a pressure-receiving rod is fixedly connected to the middle of the transmission shaft, the top end of the pressure-receiving rod penetrates through the bearing plate and is connected with the bearing plate in a sliding manner, a limiting disc is fixedly connected to the outer peripheral surface of the pressure-receiving rod, a spring is fixedly connected between the top surface of the limiting disc and the bottom surface of the bearing plate, two stop blocks are slidably connected between the rectangular through groove and the clamping rod, transmission rods are fixedly connected to the bottoms of the stop blocks, a first piston is fixedly connected to the bottom of the transmission rods, a first pipe is slidably connected to the outside of the first piston, the transmission rods penetrate through the first pipe and are slidably connected with the first pipe, and a second pipe is fixedly connected to one end, far away from the transmission rods, of the first pipe, a hanging rod is fixedly connected between the second pipe and the bearing plate, a second piston is connected inside the second pipe in a sliding mode, a ball is arranged on one side, away from the first pipe, of the second piston, and the ball is connected with the inner wall of the second pipe in a rolling mode.

Specifically, the horizontal device comprises a first shaft which is rotatably connected with the inner wall of the carrier, a first gear is fixedly connected to one end of the first shaft, which is far away from the carrier, a rotary switch is fixedly connected to the same side of the inner wall of the carrier, a second shaft is fixedly connected to the rotating end of the rotary switch, a second gear is fixedly connected to one end of the second shaft, which is far away from the rotary switch, an inner toothed belt is meshed with the outer peripheral surface of the second gear and the first gear, a second oscillating bar is fixedly connected to the bottom of the outer peripheral surface of the first shaft, a semicircular iron block is fixedly connected to the bottom of the second oscillating bar, an arc rod is fixedly connected to the bottom of the semicircular iron block, a third piston is fixedly connected to each of two ends of the arc rod, a third pipe is slidably connected to the outside of the third piston, a positioning block is fixedly connected to one end, which is close to the inner wall of the carrier, of the third pipe, one end, which is far away from the semicircular iron block, is fixedly connected with a tesla one-way valve, the top fixedly connected with batch oil tank of tesla check valve, batch oil tank and locating piece all with carrier fixed connection.

Specifically, carrier inner wall one side is rotated and is connected with the first pneumatic cylinder of two symmetric distributions, carrier inner wall opposite side is rotated and is connected with the second pneumatic cylinder of two symmetric distributions, first pneumatic cylinder and second pneumatic cylinder all with rotary switch electric connection, the output shaft of first pneumatic cylinder and second pneumatic cylinder all rotates with the loading board bottom surface and is connected.

Specifically, mining container has been placed at the loading board top, mining container bottom surface is opened there are a plurality of semicircle orifices, the inside sliding connection of semicircle orifice has spacing post, spacing post and loading board top surface fixed connection, mining container bottom surface is laminated with the pressure pole top.

Specifically, mining container bottom is the halfpace form, the clamping bar is close to mining container one end and opens there is the chamfer, clamping bar and the laminating of mining container outer wall.

Specifically, the bearing plate bottom fixedly connected with carrier block, the inside bearing axle that runs through and the swivelling joint of carrier block, the bearing axle both ends all with carrier inner wall fixed connection.

Specifically, water is filled between the first piston and the second piston in the first pipe and the second pipe, the force of the pressure generated by the water in the horizontal state of the bearing plate on one side of the second piston is equal to the force generated by the weight of the ball on the other side of the second piston, and hydraulic oil is filled at one end, close to the Tesla one-way valve, in the third pipe.

The invention has the beneficial effects that:

(1) according to the transfer robot for coal mine transportation, the gravity of the mining container is used as motive power through the clamping device, the clamping device is driven to clamp and limit the mining container, the mounting and the placement between the mining container and the bearing plate are rapidly completed, the manual dismounting step is not needed, the investment of workers is reduced, meanwhile, when the carrier inclines due to the fact that the bulge is encountered, if the inclination angle is too large, the clamping device can complete self-locking, the clamping rod is prevented from clamping and limiting the mining container, the safety is improved, meanwhile, the mining container only needs to be lifted when the mining container is taken down, and the transfer efficiency is improved.

(2) According to the transfer robot for coal mine transportation, when the transfer vehicle moves through the horizontal device and the angle of an upslope or a downslope is small, the mining container on the bearing plate can be kept horizontal, the situation that the mining container tends to be horizontal when the angle is large due to the fact that coal in the mining container inclines and slides off is prevented, and compared with the transfer vehicle in the prior art, the transfer robot for coal mine transportation can transport more coal, and transportation efficiency and loading capacity are improved.

(3) According to the transfer robot for coal mine transportation, the horizontal device and the clamping device are adopted, when the transfer vehicle suddenly passes through a place where the carrying vehicle shakes due to the fact that the carrying vehicle suddenly passes through a bulge and the like, the horizontal device can reduce the continuous shaking range of the bearing plate, and the clamping device can realize self-locking, so that the stability of a mining container on the bearing plate is guaranteed, and the mining container cannot fall off the bearing plate.

Drawings

For a clearer explanation of the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

FIG. 1 is a schematic view of the overall structure provided by the present invention;

FIG. 2 is a schematic view of the connection between the cart and the carrying plate according to the present invention;

FIG. 3 is a schematic view of the connection of the bottom structure of the carrier plate according to the present invention;

FIG. 4 is a partial cross-sectional view provided by the present invention;

FIG. 5 is a first perspective view of the clamping device and the carrier plate according to the present invention;

FIG. 6 is a second perspective view of the clamping device of the present invention connected to a carrier plate;

FIG. 7 is a cross-sectional view of a first perspective of a horizontal device provided by the present invention;

fig. 8 is a cross-sectional view of a second perspective of a horizontal device provided by the present invention.

In the figure: 1. carrier, 2, bearing plate, 3, rectangular through groove, 4, clamping device, 5, horizontal device, 6, clamping rod, 7, first swing rod, 8, sliding groove, 9, transmission shaft, 10, pressure rod, 11, limiting disc, 12, spring, 13, stop block, 14, transmission rod, 15, first piston, 16, first pipe, 17, second pipe, 18, suspension rod, 19, second piston, 20, ball, 21, first shaft, 22, first gear, 23, rotary switch, 24, second shaft, 25, second gear, 26, internal toothed belt, 27, second swing rod, 28, semicircular iron block, 29, circular arc rod, 30, third piston, 31, third pipe, 32, positioning block, 33, Tesla check valve, 34, oil storage box, 35, first hydraulic cylinder, 36, second hydraulic cylinder, 37, mining container, 38, limiting column, 39, bearing block, 40, bearing shaft, 41, bearing block, 40, Water, 42, hydraulic oil.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more example embodiments. In the following description, numerous specific details are provided to give a thorough understanding of example embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, steps, and so forth. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.

As shown in fig. 1-8, the transfer robot for coal mine transportation according to the present invention comprises a carrier 1, wherein a bearing plate 2 is disposed on the top of the carrier 1, a plurality of rectangular through grooves 3 are formed on four sides of the outer wall of the bearing plate 2, a clamping device 4 is disposed at the bottom of each rectangular through groove 3, a horizontal device 5 is disposed on one side of the inner wall of a box body of the carrier 1, when a mining container 37 is fixed on the bearing plate 2 by the clamping device 4, manual installation is not required, the mining container 37 can be automatically clamped only when the mining container 37 is placed on the bearing plate 2, when the carrier 1 suddenly vibrates due to a protrusion on a slope, the clamping device 4 is automatically locked to prevent the mining container 37 from falling off the bearing plate 2, and only when the bearing plate 2 is in a horizontal state, the mining container 37 can be lifted from the bearing plate 2, so as to reduce the number of operators, the safety and the transfer efficiency are improved, the carrier 1 can be ensured to be in a horizontal state when passing through a slope with a certain gradient through the horizontal device 5, and the inclination of the bearing plate 2 can be reduced when the gradient is larger, so that coal in the mining container 37 is not easy to fall due to inclination, the loading capacity of the coal is improved, and the transportation efficiency is improved;

the clamping device 4 comprises a clamping rod 6 which is rotatably connected with a bearing plate 2 in a rectangular through groove 3, two sides of the bottom end of the clamping rod 6 are fixedly connected with a first swing rod 7, a chute 8 is formed in the first swing rod 7, a transmission shaft 9 is connected in the chute 8 in a rolling manner, a compression rod 10 is fixedly connected in the middle of the transmission shaft 9, the top end of the compression rod 10 penetrates through the bearing plate 2 and is in sliding connection with the bearing plate 2, a limiting disc 11 is fixedly connected on the outer peripheral surface of the compression rod 10, a spring 12 is fixedly connected between the top surface of the limiting disc 11 and the bottom surface of the bearing plate 2, two stop blocks 13 are connected between the rectangular through groove 3 and the clamping rod 6 in a sliding manner, transmission rods 14 are fixedly connected at the bottoms of the stop blocks 13, first pistons 15 are fixedly connected at the bottoms of the transmission rods 14, first pipes 16 are connected outside the first pistons 15 in a sliding manner, the transmission rods 14 penetrate through the first pipes 16 and are in sliding connection with the first pipes 16, the end, far away from the transmission rod 14, of the first pipe 16 is fixedly connected with a second pipe 17, a suspender 18 is fixedly connected between the second pipe 17 and the bearing plate 2, a second piston 19 is connected inside the second pipe 17 in a sliding manner, a ball 20 is arranged on one side, far away from the first pipe 16, of the second piston 19, the ball 20 is connected with the inner wall of the second pipe 17 in a rolling manner, the pressed rod 10 drives the transmission shaft 9 and the limiting disc 11 to descend when the pressed rod 10 contacts the bottom of the mining container 37 and begins to descend, the limiting disc 11 drives the spring 12 to stretch, the transmission shaft 9 slides in the sliding groove 8 to drive the first swing rod 7 to rotate, the first swing rod 7 drives the clamping rod 6 to rotate, when the bottom of the mining container 37 contacts the top of the bearing plate 2, the clamping rod 6 clamps the mining container 37, when the bearing plate 2 inclines, the ball 20 in the bearing plate 2 drives the second piston 19 to slide, the second piston 19 drives the water 41 to be injected into the first pipe 16 from the second pipe 17, the water 41 jacks the first piston 15, the first piston 15 jacks the transmission rod 14 from the interior of the first pipe 16, the transmission rod 14 drives the stopper 13 to slide between the rectangular through groove 3 and the clamping rod 6, the clamping rod 6 can extrude the stopper 13 when rotating, and the clamping rod 6 cannot rotate, so that the mining container 37 cannot be taken down from the bearing plate 2 when the bearing plate 2 is inclined, the safety is improved, when the transfer robot slowly lifts the mining container 37, the spring 12 can drive the compression rod 10 and the clamping rod 6 to reset, the clamping rod 6 does not clamp the mining container 37, the mining container 37 does not need manual auxiliary fixing and dismounting during transfer, the number of operators is reduced, and the transfer efficiency is improved.

Specifically, the horizontal device 5 comprises a first shaft 21 rotatably connected with the inner wall of the carrier 1, a first gear 22 is fixedly connected to one end of the first shaft 21, which is far away from the carrier 1, a rotary switch 23 is fixedly connected to the same side of the inner wall of the carrier 1, a second shaft 24 is fixedly connected to the rotating end of the rotary switch 23, a second gear 25 is fixedly connected to one end of the second shaft 24, which is far away from the rotary switch, an inner toothed belt 26 is engaged with the outer peripheral surfaces of the second gear 25 and the first gear 22, a second oscillating bar 27 is fixedly connected to the bottom of the outer peripheral surface of the first shaft 21, a semicircular iron block 28 is fixedly connected to the bottom of the second oscillating bar 27, an arc rod 29 is fixedly connected to the bottom of the semicircular iron block 28, third pistons 30 are fixedly connected to both ends of the arc rod 29, third pipes 31 are slidably connected to the outer portions of the third pistons 30, and positioning blocks 32 are fixedly connected to one end of the third pipes 31, which is close to the inner wall of the carrier 1, a Tesla check valve 33 is fixedly connected to one end, far away from the semicircular iron block 28, of the third pipe 31, an oil storage tank 34 is fixedly connected to the top of the Tesla check valve 33, the oil storage tank 34 and the positioning block 32 are both fixedly connected to the truck 1, by the horizontal device 5, when the truck 1 starts to enter a down ramp and an up ramp, the semicircular iron block 28 drives the second swing rod 27 and the arc rod 29 to rotate due to gravity, the second swing rod 27 drives the first shaft 21 to rotate, the first shaft 21 drives the first gear 22 to rotate, the first gear 22 drives the second gear 25 to rotate through the internal toothed belt 26, the second gear 25 drives the second shaft 24 to rotate, the second shaft 24 drives the rotary switch 23 to rotate, the rotary switch 23 starts the first hydraulic cylinder 35 and the second hydraulic cylinder 36, and the extension or shortening lengths of the output shafts of the first hydraulic cylinder 35 and the second hydraulic cylinder 36 are controlled to change through different rotation angles of the rotary switch 23, therefore, the bearing plate 2 tends to be kept horizontal, the arc rod 29 drives the third piston 30 to slide in the third pipe 31, the third piston 30 slowly pushes the hydraulic oil 42 into the Tesla one-way valve 33, the carrier 1 suddenly shakes due to the bottom plate swelling phenomenon, the semicircular iron block 28 tends to swing quickly, liquid passing through the Tesla one-way valve 33 quickly passes through the Tesla one-way valve 33, the liquid cannot quickly flow due to the characteristic of the Tesla one-way valve 33, the third piston 30 cannot quickly flow, and therefore the bearing plate 2 is prevented from changing in a large angle under the condition that the carrier 1 suddenly shakes.

Specifically, 1 inner wall one side of carrier is rotated and is connected with the first pneumatic cylinder 35 of two symmetric distributions, 1 inner wall opposite side of carrier is rotated and is connected with the second pneumatic cylinder 36 of two symmetric distributions, first pneumatic cylinder 35 and second pneumatic cylinder 36 all with rotary switch 23 electric connection, the output shaft of first pneumatic cylinder 35 and second pneumatic cylinder 36 all rotates with the 2 bottom surfaces of loading board and is connected, drives rotary switch 23 when rotating through second axle 24 to start first pneumatic cylinder 35 and second pneumatic cylinder 36, utilize rotary switch 23 pivoted direction and angle difference, thereby drive the output shaft extension of first pneumatic cylinder 35 and second pneumatic cylinder 36 or shorten different distances, thereby guarantee that loading board 2 tends to the level.

Specifically, mining container 37 has been placed at 2 tops of loading board, mining container 37 bottom surface is opened there are a plurality of semicircle orifices, the inside sliding connection of semicircle orifice has spacing post 38, spacing

post

38 and 2 top surface fixed connection of loading board, the laminating of mining container 37 bottom surface and the 10 tops of pressure pole carries on spacingly through the semicircle orifice of a plurality of spacing posts 38 to mining container 37 bottom for when loading board 2 slopes, mining container 37 can not the landing, reduces the pressure burden to clamping device 4 simultaneously, has improved clamping device 4's life.

Specifically, mining container 37 bottom is the halfpace form, clamping bar 6 is close to mining container 37 one end and opens there is the chamfer, clamping bar 6 and the laminating of mining container 37 outer wall are the halfpace form bottom through mining container 37, and clamping bar 6 is close to mining container 37 one end and opens there is the chamfer for clamping bar 6 is spacing more reliable to mining container 37's clamp.

Specifically, bearing plate 2 bottom fixedly connected with carrier block 39, bearing block 39 is inside to run through and the swivelling joint has bearing axle 40, bearing axle 40 both ends all with carrier 1 inner wall fixed connection, it is spacing to support bearing block 39 through bearing axle 40, and bearing block 39 supports bearing plate 2 to reduce the support burden of first pneumatic cylinder 35 and second pneumatic cylinder 36, improved support stability.

Specifically, water 41 is filled between the first piston 15 and the second piston 19 in the first pipe 16 and the second pipe 17, the force of the pressure generated by the water 41 in the horizontal state of the bearing plate 2 on one side of the second piston 19 is equal to the force of the weight of the ball 20 on the other side of the second piston 19, hydraulic oil 42 is filled at one end of the third pipe 31 close to the tesla one-way valve 33, when the water 41 is pushed into the first pipe 16 by the second piston 19, the water 41 jacks up the first piston 15, so that the clamping rod 6 is clamped by the stopper 13, the flow rate of the hydraulic oil 42 pushed into the tesla one-way valve 33 by the third piston 30 cannot be too high, so that the first oscillating rod 7 cannot oscillate quickly, and the bearing plate 2 is subjected to a large-amplitude angle change under the condition that the carrier 1 is prevented from suddenly shaking, and the stability of the mining container 37 during transportation is improved.

The implementation mode is specifically as follows: a placing step: after the transferring device clamps and moves the mining container 37 to the position above the carrier 1, the mining container 37 is slowly put down, the mining container 37 presses the pressed rod 10 in the clamping device 4 downwards, at the moment, the clamping rod 6 in the clamping device 4 slowly rotates along with the descending of the mining container 37, when the bottom surface of the mining container 37 is attached to the top surface of the bearing plate 2, the mining container 37 is clamped and limited on the bearing plate 2 by the clamping rod 6, and at the moment, the limiting column 38 on the bearing plate 2 penetrates through a semicircular hole in the mining container 37 to limit the mining container 37;

a transportation stage: the carrier 1 carries the mining container 37 to move to a next target place, when an uphill slope or a downhill slope is encountered, the horizontal device 5 can adjust the angle of the bearing plate 2, so that the bearing plate 2 tends to be horizontal, when the gradient is too large, the bearing plate 2 inclines, if the bearing plate 2 suddenly shakes due to a bulge, the stop block 13 in the clamping device 4 can be inserted between the rectangular through groove 3 and the clamping rod 6, the clamping rod 6 is prevented from reversely rotating, only when the bearing plate 2 is horizontal, the stop block 13 can reset, the mining container 37 is prevented from falling off, meanwhile, the second swing rod 27 in the horizontal device 5 cannot rapidly swing back and forth, the angle of the bearing plate 2 is prevented from continuously changing to a large extent, only the angle of the bearing plate is continuously changed to a small extent, and the stability of the mining container 37 on the bearing plate 2 is ensured;

taking down the following steps: when the carrier 1 moves to a designated place, the bearing plate 2 is in a horizontal state, at the moment, the transferring device lifts the mining container 37 on the bearing plate 2 upwards, the pressure rod 10 is not pressed by the mining container 37, and the pressure rod starts to rise along with the resetting of the spring 12, so that the clamping rod 6 is driven to no longer clamp and limit the mining container 37;

has the advantages that: the gravity of the mining container 37 is used as motive power through the clamping device 4, the clamping device 4 is driven to clamp and limit the mining container 37, the installation and placement between the mining container 37 and the bearing plate 2 are completed quickly, manual disassembly and assembly steps are not needed, the investment of workers is reduced, when the carrier 1 is inclined due to the protrusion, if the inclination angle is too large, the clamping device 4 can complete self-locking, the clamping rod 6 is prevented from clamping and limiting the mining container 37 any more, the safety is improved, meanwhile, the mining container 37 is only required to be lifted when the mining container 37 is taken down, and the transferring efficiency is improved;

when the carrier 1 moves, the mining container 37 on the bearing plate 2 can be kept horizontal when the angle of the uphill slope or the downhill slope is small through the horizontal device 5, and the mining container 37 can be prevented from sliding off due to inclination and can be inclined to be horizontal when the angle is large, so that a larger amount of coal can be transported compared with the carrier 1 in the prior art, and the transportation efficiency and the loading capacity are improved;

through the horizontal device 5 and the clamping device 4, when the carrier 1 suddenly passes through a place causing shaking such as a bulge, the horizontal device 5 can reduce the continuous shaking amplitude of the bearing plate 2, the clamping device 4 can realize self-locking, thereby ensuring the stability of the mining container 37 on the bearing plate 2, the mining container 37 can not fall off from the bearing plate 2, the embodiment specifically solves the problems that the mining container 37 transported on the carrier 1 for coal mine transportation in the prior art needs to be accurately fixed or disassembled by a fixing device in the steps of placing and taking off, is tedious, has low safety and low transferring efficiency, the mining container 37 can not load a large amount of coal due to large gradient of a transported individual road section, otherwise, the coal is spilled due to climbing or descending of the carrier 1, transport efficiency remains to be improved to carrier 1 suddenly when the bellying, can take place to rock, does not have fixed enough stable mining container 37 and can drop, causes the passageway to block up, consequently needs one kind to need urgently and need not manual operation, reprints efficiently, can transport coal in a large number, and the slope influence is less, and mining container 37 is difficult to the problem of the mining transportation transfer robot that drops when carrier 1 suddenly passes the bellying.

While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and are not to be construed as limiting the scope of the invention.

The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," "connecting," and "connecting" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be directly connected, and "upper," "lower," "left," and "right" are only used to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;

and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.

Claims

1. The utility model provides a transfer robot is used in coal mine transportation which characterized in that: the automatic conveying vehicle comprises a conveying vehicle (1), wherein a bearing plate (2) is arranged at the top of the conveying vehicle (1), a plurality of rectangular through grooves (3) are formed in four sides of the outer wall of the bearing plate (2), a clamping device (4) is arranged at the bottom of each rectangular through groove (3), and a horizontal device (5) is arranged on one side of the inner wall of a box body of the conveying vehicle (1);

the clamping device (4) comprises a clamping rod (6) rotatably connected with the bearing plate (2) in the rectangular through groove (3), both sides of the bottom end of the clamping rod (6) are fixedly connected with first swing rods (7), a sliding groove (8) is formed in the first swing rod (7), a transmission shaft (9) is connected in the sliding groove (8) in a rolling manner, a pressed rod (10) is fixedly connected to the middle of the transmission shaft (9), the top end of the pressed rod (10) penetrates through the bearing plate (2) and is in sliding connection with the bearing plate (2), a limiting disc (11) is fixedly connected to the outer peripheral surface of the pressed rod (10), a spring (12) is fixedly connected between the top surface of the limiting disc (11) and the bottom surface of the bearing plate (2), two check blocks (13) are slidably connected between the rectangular through groove (3) and the clamping rod (6), and a transmission rod (14) is fixedly connected to the bottoms of the check blocks (13), the utility model discloses a bearing plate, including transfer line (14), first piston (15) of first piston (15) outside sliding connection have first pipe (16), transfer line (14) run through first pipe (16) and with first pipe (16) sliding connection, transfer line (14) one end fixedly connected with second pipe (17) are kept away from in first pipe (16), fixedly connected with jib (18) between second pipe (17) and bearing board (2), second pipe (17) inside sliding connection has second piston (19), second piston (19) are kept away from first pipe (16) one side and are equipped with ball (20), ball (20) and second pipe (17) inner wall rolling connection.

2. The transfer robot for coal mine transportation according to claim 1, characterized in that: the horizontal device (5) comprises a first shaft (21) rotatably connected with the inner wall of the carrier (1), one end, away from the carrier (1), of the first shaft (21) is fixedly connected with a first gear (22), the same side of the inner wall of the carrier (1) is fixedly connected with a rotary switch (23), the rotary end of the rotary switch (23) is fixedly connected with a second shaft (24), one end, away from the rotary switch, of the second shaft (24) is fixedly connected with a second gear (25), the outer peripheral surfaces of the second gear (25) and the first gear (22) are meshed with an inner toothed belt (26), the bottom of the outer peripheral surface of the first shaft (21) is fixedly connected with a second swing rod (27), the bottom of the second swing rod (27) is fixedly connected with a semicircular iron block (28), the bottom of the semicircular iron block (28) is fixedly connected with a circular arc rod (29), and both ends of the circular arc rod (29) are fixedly connected with a third piston (30), third piston (30) outside sliding connection has third pipe (31), third pipe (31) are close to carrier (1) inner wall one end fixedly connected with locating piece (32), semicircle iron plate (28) one end fixedly connected with Tesla check valve (33) are kept away from in third pipe (31), Tesla check valve (33) top fixedly connected with batch oil tank (34), batch oil tank (34) and locating piece (32) all with carrier (1) fixed connection.

3. The transfer robot for coal mine transportation according to claim 2, characterized in that: the utility model discloses a loading board, including carrier (1), carrier (1) inner wall one side rotation is connected with first pneumatic cylinder (35) of two symmetric distributions, carrier (1) inner wall opposite side rotation is connected with second pneumatic cylinder (36) of two symmetric distributions, first pneumatic cylinder (35) and second pneumatic cylinder (36) all with rotary switch (23) electric connection, the output shaft of first pneumatic cylinder (35) and second pneumatic cylinder (36) all rotates with loading board (2) bottom surface to be connected.

4. The transfer robot for coal mine transportation according to claim 1, characterized in that: mining container (37) have been placed at loading board (2) top, open mining container (37) bottom surface has a plurality of semicircle orifices, the inside sliding connection of semicircle orifice has spacing post (38), spacing post (38) and loading board (2) top surface fixed connection, mining container (37) bottom surface is laminated with on the top of receiving pressure pole (10).

5. The transfer robot for coal mine transportation according to claim 4, wherein: mining container (37) bottom is the halfpace form, clamping bar (6) are close to mining container (37) one end and open there is the chamfer, clamping bar (6) and the laminating of mining container (37) outer wall.

6. The transfer robot for coal mine transportation according to claim 1, characterized in that: bearing plate (2) bottom fixedly connected with carrier block (39), inside running through of carrier block (39) is connected with bearing axle (40) in the rotation, bearing axle (40) both ends all with carrier (1) inner wall fixed connection.

7. The transfer robot for coal mine transportation according to claim 2, characterized in that: water (41) is filled between the first piston (15) and the second piston (19) in the first pipe (16) and the second pipe (17), the force of pressure generated by the water (41) on one side of the second piston (19) in the horizontal state of the bearing plate (2) is equal to the force of the weight of the ball (20) on the other side of the second piston (19), and hydraulic oil (42) is filled at one end, close to the Tesla check valve (33), in the third pipe (31).