CN117506961B - Automatic replacing manipulator for cutting pick of heading machine and using method - Google Patents
Automatic replacing manipulator for cutting pick of heading machine and using method Download PDFInfo
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- CN117506961B CN117506961B CN202410009521.7A CN202410009521A CN117506961B CN 117506961 B CN117506961 B CN 117506961B CN 202410009521 A CN202410009521 A CN 202410009521A CN 117506961 B CN117506961 B CN 117506961B
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- fixedly connected
- motor
- pick
- cutting
- electric push
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- 238000005520 cutting process Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 72
- 238000005485 electric heating Methods 0.000 claims abstract description 34
- 239000007921 spray Substances 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 62
- 238000003860 storage Methods 0.000 claims description 40
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 26
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 26
- 241001330002 Bambuseae Species 0.000 claims description 26
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 26
- 239000011425 bamboo Substances 0.000 claims description 26
- 230000005641 tunneling Effects 0.000 claims description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 238000007599 discharging Methods 0.000 claims description 13
- 238000001125 extrusion Methods 0.000 claims description 12
- 238000004064 recycling Methods 0.000 claims description 9
- 238000007664 blowing Methods 0.000 claims description 8
- 210000003781 tooth socket Anatomy 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 7
- 238000011010 flushing procedure Methods 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 238000005086 pumping Methods 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 4
- 238000010438 heat treatment Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- 230000036346 tooth eruption Effects 0.000 abstract description 14
- 238000005065 mining Methods 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 description 11
- 230000007306 turnover Effects 0.000 description 9
- 230000018109 developmental process Effects 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001035 drying Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B21/00—Arrangements or duct systems, e.g. in combination with pallet boxes, for supplying and controlling air or gases for drying solid materials or objects
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Mining & Mineral Resources (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses an automatic replacing manipulator for a cutting pick of a heading machine and a using method thereof, and relates to the technical field of mining equipment. According to the automatic replacing manipulator for the cutting teeth of the heading machine and the using method, before the cutting teeth on the heading machine are replaced, water in the water tank is pumped out by the water pump, water is sprayed out from the spray head to flush the cutting teeth on the heading machine, in addition, air outside the cutting teeth is pumped into the inner cavity of the electric heating box by the blower, the air in the electric heating box is heated by the electric heating pipe, and the heated air is sprayed out from the spray head to clean and dry water stains on the cutting teeth, so that the working quality of replacing the cutting teeth is guaranteed.
Description
Technical Field
The invention relates to the technical field of mining equipment, in particular to an automatic replacing manipulator for a cutting pick of a heading machine and a using method.
Background
The heading machine is a machine for cutting a roadway under straight ground, and has multiple types: the method comprises the steps of dividing the working object into a common machine and a tunnel boring machine; the working mode is divided into an open type heading machine and a shield type heading machine. The development machine works through the cutting pick on the drill bit, but the cutting pick can continuously bear huge compressive stress, shearing stress and friction force for a long time when in work, and is influenced by temperature rise factors, so that the cutting pick material is softened and accelerated to wear, the consumption of the cutting pick is huge, once the cutting pick on the cutting head is worn out in a large amount, if the damaged cutting pick is not replaced in time, the cutting efficiency is greatly reduced, meanwhile, the service life of the development machine is also adversely affected, but the cutting pick replacement still stays in the manual replacement stage, the efficiency is lower, more soil can remain on the cutting pick, and the automatic replacement manipulator and the use method of the cutting pick of the development machine are inconvenient to detach.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an automatic replacing manipulator for a cutting pick of a heading machine and a use method, and solves the problems in the background art.
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides an automatic manipulator of changing of entry driving machine pick, includes the entry driving machine, the top of entry driving machine is provided with the containing box, be provided with tilting mechanism on the entry driving machine, tilting mechanism's tip is provided with the carriage, the carriage is located the inner chamber of containing box, carriage fixedly connected with first backup pad, carriage fixedly connected with second backup pad, the bottom surface fixed mounting of first backup pad has the third motor, the output shaft fixedly connected with rotating housing of third motor, be provided with the uninstallation mechanism to the pick dismantlement on the rotating housing, be provided with the loading mechanism to the pick on the rotating housing, the bottom of second backup pad is provided with two sets of storage mechanism to the pick, the bottom of second backup pad is provided with two sets of recovery mechanism to the pick after wearing and tearing, the top of second backup pad is provided with the washing mechanism to the pick after wearing and tearing, the top of second backup pad is provided with the dewatering mechanism to carry out drying to the pick after the washing.
Optionally, the flushing mechanism includes the water tank of fixed connection at the second backup pad top surface, the side fixed mounting of water tank has the water pump, the input fixedly connected with of water pump absorbs water the steel pipe, the one end of absorbing water the steel pipe extends to the inner chamber of water tank, the output fixedly connected with tee bend automatically controlled valve of water pump, the bottom fixedly connected with shower nozzle of tee bend automatically controlled valve, the outside of water tank has fixedly cup jointed the water pipe, the one end of water pipe extends to the outside of braced frame and screw thread installation screw plug.
Optionally, the dewatering mechanism includes the electric heating box of fixed connection at the second backup pad top surface, the inner chamber fixed mounting of electric heating box has a plurality of electrothermal tubes, the outside fixed mounting of electric heating box has the hair-dryer, the output of hair-dryer extends to the inner chamber of electric heating box, the fixed steel pipe that has cup jointed of side of electric heating box, the one end of steel pipe that blows is connected with the other end of tee bend automatically controlled valve.
Optionally, the uninstallation mechanism includes the first electric putter of fixed mounting on the rotation seat, the output fixedly connected with L shape support of first electric putter, the tip fixed sleeve of L shape support has first mount pad, fixed mounting has the second electric putter on the first mount pad, the output fixedly connected with first dwellings post of second electric putter, the inside fixed mounting of first dwellings post has the fifth motor, the output shaft of fifth motor extends to the outside of first dwellings post and fixedly connected with section of thick bamboo of unloading, first plug-in slot has been seted up to the terminal surface of section of thick bamboo of unloading, the storage tank has been seted up to the inner wall of first plug-in slot, the inner chamber fixed mounting of storage tank has the fourth electric putter, the output fixedly connected with kicking block of fourth electric putter, the outside fixed mounting of section of thick bamboo of unloading has a plurality of third electric putter, a plurality of the output of third electric putter all extends to the inner chamber and the fixedly connected with first extrusion board of first plug-in slot.
Optionally, the loading mechanism includes the fifth electric putter of fixed mounting on rotating the seat, the output fixedly connected with second mount pad of fifth electric putter, fixed mounting has the sixth electric putter on the second mount pad, the output fixedly connected with second rotation post of sixth electric putter, the inside fixed mounting of second rotation post has the sixth motor, the output shaft of sixth motor extends to the outside of second rotation post and fixedly connected with feed cylinder, the second slot has been seted up to the terminal surface of feed cylinder, feed cylinder's outside fixed mounting has a plurality of seventh electric putter, a plurality of the output of seventh electric putter all extends to the inner chamber and the fixedly connected with second stripper plate of second slot.
Optionally, storage mechanism includes the storage section of thick bamboo of fixed connection in second backup pad bottom surface and two rotating brackets of fixed connection in second backup pad bottom surface, the spout has been seted up in the outside of storage section of thick bamboo, the blowing groove has been seted up to the top surface of storage section of thick bamboo, two rotate between the rotating brackets and be connected with the lead screw, the outside screw thread of lead screw has cup jointed and has moved the seat, the one end that moves the seat runs through the spout and extends to the inner chamber and the fixedly connected with push pedal of storage section of thick bamboo, the side of push pedal is laminated with the inner wall of storage section of thick bamboo, one the outside fixed mounting of rotating bracket has the fourth motor, the output shaft of fourth motor is connected with the tip of lead screw, the both sides of removing the seat are fixedly connected with lead screw protective sheath respectively, two the tip of lead screw protective sheath is connected with the medial surface of two rotating brackets respectively, the outside at the lead screw is established to the lead screw protective sheath cover.
Optionally, the recovery mechanism includes a plurality of screw thread installation mount and the recovery section of thick bamboo of placing in the second backup pad bottom surface of second backup pad bottom surface, the side of recovery section of thick bamboo is laminated with the inner wall of installation mount mutually.
Optionally, tilting mechanism includes two support frames of fixed connection at tunneling machine top surface, two rotate between the support frame and be connected with the turnover seat, one the outside fixed mounting of support frame has first motor, the output shaft of first motor is connected with the one end of turnover seat pivot, the fixed two square support barrels that cup joint on the turnover seat, two square support barrel's inner chamber has all movably cup jointed square post, square post's tip extends to square support barrel's outside and is connected with the side of carriage, square support barrel's inner wall is laminated with square post's side, square support barrel's tip fixed mounting has the second motor, the output shaft of second motor extends to square support barrel's inner chamber and fixedly connected with threaded rod, the tip screw thread of threaded rod cup joints to square post's inside.
The application method of the mechanical arm for automatically replacing the cutting pick of the heading machine comprises the following steps:
s1, starting a second motor to drive a threaded rod to rotate, enabling a supporting frame positioned in an inner cavity of a storage box to move to the outside through cooperation between the threaded rod and a square column, starting the first motor to drive the supporting frame to rotate, simultaneously starting the second motor to drive the threaded rod to rotate reversely, and enabling the supporting frame to move to the position above a cutting pick to be replaced through cooperation between the threaded rod and the square column;
s2, pumping out water in the water tank through the water pump, spraying the water in the water tank from the spray head to flush a cutting pick on the tunneling machine, pumping external air into the inner cavity of the electric heating box through the blower, heating the air in the electric heating box through the electric heating pipe, and spraying the heated air from the spray head to clean and dry water stains on the cutting pick;
s3, enabling the first tooth socket on the discharge cylinder to correspond to the position of the cutting tooth to be replaced, driving the discharge cylinder to move through the second electric push rod so that the end part of the cutting tooth to be replaced is inserted into the first tooth socket, driving the first extrusion plate to move and extrude the fixed cutting tooth through the third electric push rod, and driving the cutting tooth to rotate through the fifth motor to detach the cutting tooth from the tunneling machine;
s4, enabling the discharging cylinder clamped with the cutting pick to move to the end part of the recovery cylinder, and utilizing a fourth electric push rod to drive the push block to move so as to move the cutting pick to the recovery cylinder for collection;
s5, enabling the charging barrel to move to the end part of the storage barrel, driving the pushing plate to move by utilizing the cooperation between the screw rod and the movable seat, pushing the unused cutting pick end part to be inserted into the inner cavity of the second tooth socket by utilizing the movement of the pushing plate, and extruding and fixing the cutting pick by utilizing the second extrusion plate;
s6, enabling the charging barrel clamped with the cutting pick to move to the end part of the assembly cutting pick on the tunneling machine, driving the cutting pick to move by utilizing the sixth electric push rod to insert the cutting pick into the cutting pick assembly part on the tunneling machine, and installing the cutting pick on the tunneling machine, so that a plurality of cutting picks on the tunneling machine are replaced.
The invention provides an automatic replacing manipulator for a cutting pick of a heading machine and a use method thereof, and the automatic replacing manipulator has the following beneficial effects:
1. according to the automatic replacing manipulator for the cutting teeth of the heading machine and the using method, before the cutting teeth on the heading machine are replaced, water in the water tank is pumped out by the water pump, water is sprayed out from the spray head to flush the cutting teeth on the heading machine, in addition, air outside the cutting teeth is pumped into the inner cavity of the electric heating box by the blower, the air in the electric heating box is heated by the electric heating pipe, and the heated air is sprayed out from the spray head to clean and dry water stains on the cutting teeth, so that the working quality of replacing the cutting teeth is guaranteed.
2. According to the automatic replacing manipulator for the cutting teeth of the heading machine and the using method, the position of the supporting frame can be adjusted through the cooperation between the threaded rod and the square column, meanwhile, the first motor drives the overturning seat and the supporting frame to rotate, so that the supporting frame moves to the upper part of a drill bit on the heading machine, in addition, the discharging cylinder can be adjusted to different positions through the rotating seat and the second electric push rod, in addition, the charging cylinder can be adjusted to different positions through the fifth electric push rod and the sixth electric push rod, and the cutting teeth at different positions on the heading machine drill bit can be replaced.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic cross-sectional view of the tilting mechanism of the present invention;
FIG. 3 is a schematic diagram of the turnover mechanism of the present invention;
FIG. 4 is a schematic cross-sectional view of a support frame of the present invention;
FIG. 5 is a schematic cross-sectional view of the unloading and loading mechanisms of the present invention;
FIG. 6 is a schematic view of a cartridge according to the present invention;
FIG. 7 is a schematic view of the structure of the storage box of the present invention;
FIG. 8 is an enlarged schematic view of the structure of the present invention at A in FIG. 2;
fig. 9 is an enlarged schematic view of the structure of the present invention at B in fig. 4.
In the figure: 1. tunneling machinery; 2. a turnover mechanism; 3. a storage box; 4. a support frame; 5. a first support plate; 6. a second support plate; 7. a third motor; 8. an unloading mechanism; 9. a loading mechanism; 10. a storage mechanism; 11. a recovery mechanism; 12. a flushing mechanism; 13. a water removal mechanism; 14. a support frame; 15. turning over the seat; 16. a first motor; 17. a square support cylinder; 18. square columns; 19. a second motor; 20. a threaded rod; 21. a rotating seat; 22. a first electric push rod; 23. an L-shaped bracket; 24. a first mount; 25. a second electric push rod; 26. a first rotating column; 27. a fifth motor; 28. a discharge cylinder; 29. a first slot; 30. a storage groove; 31. a third electric push rod; 32. a first pressing plate; 33. a fourth electric push rod; 34. a pushing block; 35. a fifth electric push rod; 36. a second mounting base; 37. a sixth electric push rod; 38. a second rotating column; 39. a sixth motor; 40. a charging barrel; 41. a second slot; 42. a seventh electric push rod; 43. a second pressing plate; 44. a storage cylinder; 45. a rotating frame; 46. a chute; 47. a screw rod; 48. a movable seat; 49. a push plate; 50. a fourth motor; 51. a screw rod protecting sleeve; 52. installing a fixing frame; 53. a recovery cylinder; 54. a water tank; 55. a water pump; 56. a water-absorbing steel pipe; 57. a three-way electric control valve; 58. a spray head; 59. an electric heating box; 60. a blower; 61. an electric heating tube; 62. a water supply pipe; 63. a threaded plug; 64. blowing a steel pipe; 65. and a discharge groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1 to 9, the present invention provides a technical solution: the utility model provides an automatic manipulator of changing of entry driving machine pick, includes entry driving machine 1, and entry driving machine 1's top is provided with containing box 3, is provided with tilting mechanism 2 on the entry driving machine 1, and tilting mechanism 2's tip is provided with braced frame 4, braced frame 4 is located the inner chamber of containing box 3, braced frame 4 fixedly connected with first backup pad 5, braced frame 4 fixedly connected with second backup pad 6, and first backup pad 5's bottom surface fixed mounting has third motor 7, and third motor 7's output shaft fixedly connected with rotating stand 21 is provided with the uninstalling mechanism 8 that dismantles the pick on the rotating stand 21, is provided with the loading mechanism 9 that installs the pick on the rotating stand 21, and second backup pad 6's bottom is provided with two sets of storage mechanism 10 that store the pick, and the bottom of second backup pad 6 is provided with two sets of recovery mechanism 11 that deposit the pick after wearing and tearing, and the top of second backup pad 6 is provided with the flushing mechanism 12 that washes the pick, and the top of second backup pad 6 is provided with the dewatering mechanism 13 that carries out drying to the pick after wearing and carries out in the bearing box 3, and when the pick 3, and the pick mechanism is carried out the direction upwards direction is changed to storage mechanism 12 and the bit 11, and the mechanism is upwards is washed to the storage mechanism 12 when the pick mechanism is carried out in the storage mechanism 12 and is turned towards the direction 13.
The flushing mechanism 12 comprises a water tank 54 fixedly connected to the top surface of the second supporting plate 6, cleaning water is arranged in an inner cavity of the water tank 54, a water pump 55 is fixedly arranged on the side surface of the water tank 54, an input end of the water pump 55 is fixedly connected with a water absorption steel pipe 56, one end of the water absorption steel pipe 56 extends to the inner cavity of the water tank 54, an output end of the water pump 55 is fixedly connected with a three-way electric control valve 57, a spray head 58 is fixedly connected to the bottom of the three-way electric control valve 57, a water adding pipe 62 is fixedly sleeved on the outer side of the water tank 54, one end of the water adding pipe 62 extends to the outer side of the supporting frame 4, a thread plug 63 is arranged in a thread mode, and cleaning water is added into the water tank 54 from the water adding pipe 62 by removing the thread plug 63.
Wherein, dewatering mechanism 13 includes electric heating box 59 of fixed connection at second backup pad 6 top surface, and electric heating box 59's inner chamber fixed mounting has a plurality of electrothermal tubes 61, utilizes electrothermal tube 61 to heat the air that enters into electric heating box 59, and electric heating box 59's outside fixed mounting has hair-dryer 60, and the output of hair-dryer 60 extends to electric heating box 59's inner chamber, and electric heating box 59's side is fixed to have cup jointed and has been blown steel pipe 64, and the one end of blowing steel pipe 64 is connected with the other end of tee bend automatically controlled valve 57.
The unloading mechanism 8 comprises a first electric push rod 22 fixedly installed on a rotating seat 21, an output end of the first electric push rod 22 is fixedly connected with an L-shaped support 23, an end part of the L-shaped support 23 is fixedly sleeved with a first installation seat 24, a second electric push rod 25 is fixedly installed on the first installation seat 24, an output end of the second electric push rod 25 is fixedly connected with a first rotating column 26, a fifth motor 27 is fixedly installed in the first rotating column 26, an output shaft of the fifth motor 27 extends to the outside of the first rotating column 26 and is fixedly connected with a unloading cylinder 28, a first slot 29 is formed in an end face of the unloading cylinder 28, a containing groove 30 is formed in an inner wall of the first slot 29, a fourth electric push rod 33 is fixedly installed in an inner cavity of the containing groove 30, an output end of the fourth electric push rod 33 is fixedly connected with a pushing block 34, a plurality of third electric push rods 31 are fixedly installed on the outer side of the unloading cylinder 28, and output ends of the plurality of the third electric push rods 31 extend to the inner cavity of the first slot 29 and are fixedly connected with a first extrusion plate 32.
The loading mechanism 9 includes a fifth electric push rod 35 fixedly mounted on the rotating base 21, an output end of the fifth electric push rod 35 is fixedly connected with a second mounting base 36, a sixth electric push rod 37 is fixedly mounted on the second mounting base 36, an output end of the sixth electric push rod 37 is fixedly connected with a second rotating column 38, a sixth motor 39 is fixedly mounted inside the second rotating column 38, an output shaft of the sixth motor 39 extends to the outside of the second rotating column 38 and is fixedly connected with a loading barrel 40, a second slot 41 is formed in an end face of the loading barrel 40, a plurality of seventh electric push rods 42 are fixedly mounted on the outer side of the loading barrel 40, and output ends of the seventh electric push rods 42 extend to an inner cavity of the second slot 41 and are fixedly connected with a second extrusion plate 43.
Wherein, storage mechanism 10 includes two rotating brackets 45 of fixed connection at storage section of thick bamboo 44 and fixed connection at the bottom surface of second backup pad 6 in the bottom surface of second backup pad 6, spout 46 has been seted up in the outside of storage section of thick bamboo 44, blowing groove 65 has been seted up to the top surface of storage section of thick bamboo 44, the inner chamber that the storage section of thick bamboo 44 was put into to the pick that does not have used through blowing groove 65, a plurality of picks that do not have used have been put into in the storage section of thick bamboo 44 simultaneously, rotationally connected with lead screw 47 between two rotating brackets 45, the outside screw thread of lead screw 47 has cup jointed movable seat 48, the one end of movable seat 48 runs through spout 46 and extends to the inner chamber of storage section of thick bamboo 44 and fixedly connected with push pedal 49, the side of push pedal 49 is laminated with the inner wall of storage section of thick bamboo 44 mutually, utilize the cooperation between push pedal 49 and the storage section of thick bamboo 44 to carry out spacing to push pedal 49, thereby inject the direction of movement of movable seat 48, make movable seat 48 and push pedal 49 only can move along the axial of lead screw 47, avoid movable seat 48 to take place the rotation, the outside fixed mounting of movable seat 48 has fourth motor output shaft 50, rotationally connected with lead screw 47, the outside protection sleeve 51 is connected with the lead screw 47 on the two protection sleeve 51 of the lead screw 47 and the two lead screw 47 are connected with the outside screw 47 respectively.
The recycling mechanism 11 comprises a plurality of mounting fixing frames 52 which are arranged on the bottom surface of the second supporting plate 6 in a threaded manner and recycling drums 53 which are arranged on the bottom surface of the second supporting plate 6, wherein the side surfaces of the recycling drums 53 are attached to the inner wall of the mounting fixing frames 52, and the recycling drums 53 are fixed on the top surface of the second supporting plate 6 through the mounting fixing frames 52.
The turnover mechanism 2 comprises two supporting frames 14 fixedly connected to the top surface of the tunneling machine 1, a turnover seat 15 is rotatably connected between the two supporting frames 14, a first motor 16 is fixedly installed on the outer side of one supporting frame 14, an output shaft of the first motor 16 is connected with one end of a rotating shaft of the turnover seat 15, two square supporting cylinders 17 are fixedly sleeved on the turnover seat 15, inner cavities of the two square supporting cylinders 17 are movably sleeved with square columns 18, the end portions of the square columns 18 extend to the outer portions of the square supporting cylinders 17 and are connected with the side surfaces of the supporting frames 4, the inner walls of the square supporting cylinders 17 are attached to the side surfaces of the square columns 18, the inner walls of the square supporting cylinders 17 are utilized to limit the square columns 18, the square columns 18 can only move along the axial direction of a threaded rod 20, in addition, the supporting strength of the square supporting cylinders 17 and the square columns 18 to the supporting frames 4 is guaranteed, the end portions of the square supporting cylinders 17 are fixedly installed with second motors 19, the output shafts of the second motors 19 extend to the inner cavities of the square supporting cylinders 17, the threaded rods 20 are fixedly connected with the end portions of the threaded rods 20, and the end portions of the threaded rods 20 are sleeved inside the square columns 18.
The application method of the mechanical arm for automatically replacing the cutting pick of the heading machine comprises the following steps:
s1, starting a second motor 19 to drive a threaded rod 20 to rotate, driving the square column 18 to shrink towards the inner cavity of the square supporting cylinder 17 by utilizing the cooperation between the threaded rod 20 and the square column 18, simultaneously enabling a supporting frame 4 positioned in the inner cavity of the storage box 3 to move to the outside, starting the first motor 16 to drive a turning seat 15, the square supporting cylinder 17, the square column 18 and the supporting frame 4 to rotate, enabling the supporting frame 4 to be flush with the direction of a drill bit on the tunneling machine 1, starting the second motor 19 to drive the threaded rod 20 to rotate reversely, and enabling the supporting frame 4 to move to the position above a cutting tooth to be replaced by utilizing the cooperation between the threaded rod 20 and the square column 18;
s2, controlling the three-way electric control valve 57 to enable the water pump 55 to be communicated with the spray head 58, starting the water pump 55 to pump water in the water tank 54, enabling the water in the water tank 54 to be sprayed out of the spray head 58 to flush picks on the tunneling machine 1, controlling the three-way electric control valve 57 again after flushing to enable the air blowing steel pipe 64 to be communicated with the spray head 58, starting the blower 60 to pump external air into the inner cavity of the electric heating box 59, heating the air in the electric heating box 59 by utilizing the electric heating pipe 61, and enabling the heated air to be sprayed out of the spray head 58 to clean and dry water stains on the picks;
s3, starting a third motor 7 to drive a rotating seat 21 and a discharging cylinder 28 to rotate, simultaneously using a first electric push rod 22 to drive the discharging cylinder 28 to move, so that a first tooth socket 29 on the discharging cylinder 28 corresponds to a cutting tooth position to be replaced, starting a second electric push rod 25 to drive the discharging cylinder 28 to move, so that the cutting tooth end to be replaced is inserted into the first tooth socket 29, starting a third electric push rod 31 to drive a first extrusion plate 32 to move and extrude a fixed cutting tooth, and starting a fifth motor 27 to drive the discharging cylinder 28 and the cutting tooth to rotate, so that the cutting tooth is detached from the tunneling machine 1;
s4, starting a third motor 7 to enable the discharging cylinder 28 clamped with the cutting pick to move to the end part of the recovery cylinder 53, starting a third electric push rod 31 to drive the first extrusion plate 32 to move to release the fixation of the cutting pick, and starting a fourth electric push rod 33 to drive the push block 34 to move to enable the cutting pick on the discharging cylinder 28 to move to the recovery cylinder 53 to be collected;
s5, starting a third motor 7 to drive a charging barrel 40 to rotate, simultaneously starting a fifth electric push rod 35 to drive the charging barrel 40 to move to the end part of a storage barrel 44, starting a fourth motor 50 to drive a screw rod 47 to rotate, driving a push plate 49 to move by utilizing the cooperation between the screw rod 47 and a movable seat 48, pushing the unused pick end part to be inserted into the inner cavity of a second slot 41 by utilizing the movement of the push plate 49, and starting a seventh electric push rod 42 to drive the second extrusion plate 43 to move so as to extrude and fix the pick inserted into the second slot 41;
s6, starting a third motor 7 to enable a charging barrel 40 clamped with a cutting pick to move to the end part of the tunneling machine 1 where the cutting pick is assembled, starting a sixth electric push rod 37 to drive the charging barrel 40 and the cutting pick to move, enabling the cutting pick to be inserted into a cutting pick assembling position on the tunneling machine 1, driving the charging barrel 40 and the cutting pick to rotate by utilizing a sixth motor 39, enabling the cutting pick to be installed on the tunneling machine 1, and starting a seventh electric push rod 42 to drive a second extrusion plate 43 to be far away from the fixing of the cutting pick after the cutting pick is installed, resetting the charging barrel 40, and replacing a plurality of cutting picks on the tunneling machine 1.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (2)
1. The utility model provides an automatic manipulator of changing of entry driving machine pick, includes entry driving machine (1), its characterized in that: the top of tunneling machine (1) is provided with containing box (3), be provided with tilting mechanism (2) on tunneling machine (1), tilting mechanism's (2) tip is provided with braced frame (4), braced frame (4) are located the inner chamber of containing box (3), braced frame (4) fixedly connected with first backup pad (5), braced frame (4) fixedly connected with second backup pad (6), the bottom surface fixed mounting of first backup pad (5) has third motor (7), the output shaft fixedly connected with rotation seat (21) of third motor (7), be provided with on rotation seat (21) and carry out uninstalling unloading mechanism (8) to the pick, be provided with loading mechanism (9) of installing to the pick on rotation seat (21), the bottom of second backup pad (6) is provided with two sets of storage mechanism (10) to the pick, the bottom of second backup pad (6) is provided with two sets of mechanism (11) to deposit after wearing and tearing, the bottom of second backup pad (6) is provided with the second mechanism (12) of rinsing mechanism (12) to the pick after wearing and tearing, rinsing mechanism (13) are carried out on the top of pick;
the flushing mechanism (12) comprises a water tank (54) fixedly connected to the top surface of a second supporting plate (6), a water pump (55) is fixedly arranged on the side surface of the water tank (54), a water absorption steel pipe (56) is fixedly connected to the input end of the water pump (55), one end of the water absorption steel pipe (56) extends to the inner cavity of the water tank (54), a three-way electric control valve (57) is fixedly connected to the output end of the water pump (55), a spray head (58) is fixedly connected to the bottom of the three-way electric control valve (57), a water adding pipe (62) is fixedly sleeved on the outer side of the water tank (54), and a threaded plug (63) is arranged on one end of the water adding pipe (62) in a threaded manner and extends to the outer side of the supporting frame (4);
the water removing mechanism (13) comprises an electric heating box (59) fixedly connected to the top surface of the second supporting plate (6), a plurality of electric heating pipes (61) are fixedly arranged in the inner cavity of the electric heating box (59), a blower (60) is fixedly arranged on the outer side of the electric heating box (59), the output end of the blower (60) extends to the inner cavity of the electric heating box (59), an air blowing steel pipe (64) is fixedly sleeved on the side surface of the electric heating box (59), and one end of the air blowing steel pipe (64) is connected with the other end of the three-way electric control valve (57);
the unloading mechanism (8) comprises a first electric push rod (22) fixedly arranged on a rotating seat (21), an L-shaped bracket (23) is fixedly connected to the output end of the first electric push rod (22), a first mounting seat (24) is fixedly sleeved at the end part of the L-shaped bracket (23), a second electric push rod (25) is fixedly arranged on the first mounting seat (24), a first rotating column (26) is fixedly connected to the output end of the second electric push rod (25), a fifth motor (27) is fixedly arranged in the first rotating column (26), an output shaft of the fifth motor (27) extends to the outside of the first rotating column (26) and is fixedly connected with an unloading cylinder (28), a first inserting tooth groove (29) is formed in the end surface of the unloading cylinder (28), a containing groove (30) is formed in the inner wall of the first inserting tooth groove (29), a fourth electric push rod (33) is fixedly arranged in the inner cavity of the containing groove, a pushing block (34) is fixedly connected to the output end of the fourth electric push rod (25), and a plurality of extruding plates (31) are fixedly connected to the outer sides of the unloading cylinder (28);
the loading mechanism (9) comprises a fifth electric push rod (35) fixedly installed on the rotating seat (21), the output end of the fifth electric push rod (35) is fixedly connected with a second installation seat (36), a sixth electric push rod (37) is fixedly installed on the second installation seat (36), the output end of the sixth electric push rod (37) is fixedly connected with a second rotating column (38), a sixth motor (39) is fixedly installed in the second rotating column (38), the output shaft of the sixth motor (39) extends to the outer part of the second rotating column (38) and is fixedly connected with a loading barrel (40), a second inserting tooth groove (41) is formed in the end face of the loading barrel (40), a plurality of seventh electric push rods (42) are fixedly installed on the outer side of the loading barrel (40), and the output ends of the seventh electric push rods (42) extend to the inner cavity of the second inserting tooth groove (41) and are fixedly connected with a second extrusion plate (43);
the storage mechanism (10) comprises a storage cylinder (44) fixedly connected to the bottom surface of a second supporting plate (6) and two rotating frames (45) fixedly connected to the bottom surface of the second supporting plate (6), a sliding groove (46) is formed in the outer side of the storage cylinder (44), a discharging groove (65) is formed in the top surface of the storage cylinder (44), a screw rod (47) is rotatably connected between the two rotating frames (45), a movable seat (48) is sleeved on the outer side thread of the screw rod (47), one end of the movable seat (48) penetrates through the sliding groove (46) to extend to the inner cavity of the storage cylinder (44) and is fixedly connected with a push plate (49), the side surface of the push plate (49) is attached to the inner wall of the storage cylinder (44), a fourth motor (50) is fixedly arranged on the outer side of one rotating frame (45), an output shaft of the fourth motor (50) is connected with the end portions of the screw rod (47), screw rod protection sleeves (51) are fixedly connected to the two sides of the inner side of the movable seat (48), and the two protection sleeves (51) are respectively connected with the screw rod protection sleeves (51) on the outer sides of the screw rod protection sleeves (45);
the recycling mechanism (11) comprises a plurality of mounting fixing frames (52) which are arranged on the bottom surface of the second supporting plate (6) in a threaded manner and recycling drums (53) which are arranged on the bottom surface of the second supporting plate (6), and the side surfaces of the recycling drums (53) are attached to the inner walls of the mounting fixing frames (52);
the utility model provides a tilting mechanism (2) is including two support frames (14) of fixed connection in tunneling machine (1) top surface, two rotate between support frame (14) and be connected with tilting seat (15), one the outside fixed mounting of support frame (14) has first motor (16), the output shaft of first motor (16) is connected with the one end of tilting seat (15) pivot, fixed cup joint two square support section of thick bamboo (17) on tilting seat (15), two square support section of thick bamboo (17)'s inner chamber has all movably cup jointed square post (18), square support section of thick bamboo (17)'s tip extends to square support section of thick bamboo (17) outside and is connected with the side of carriage (4), the inner wall of square support section of thick bamboo (17) is laminated with square support section of thick bamboo (18) side, square support section of thick bamboo (17)'s tip fixed mounting has second motor (19), the output shaft of second motor (19) extends to square support section of thick bamboo (17)'s inner chamber and fixedly connected with threaded rod (20), the tip of threaded rod (20) cup joints inside post (18).
2. The method of using the automatic replacing manipulator for the cutting pick of the heading machine according to claim 1, comprising the following steps:
s1, starting a second motor (19) to drive a threaded rod (20) to rotate, enabling a supporting frame (4) positioned in an inner cavity of a storage box (3) to move to the outside through cooperation between the threaded rod (20) and a square column (18), starting a first motor (16) to drive the supporting frame (4) to rotate, simultaneously starting the second motor (19) to drive the threaded rod (20) to rotate reversely, and enabling the supporting frame (4) to move to the position above a cutting pick to be replaced through cooperation between the threaded rod (20) and the square column (18);
s2, pumping out water in the water tank (54) through the water pump (55), spraying the water in the water tank (54) from the spray head (58) to flush a cutting pick on the tunneling machine (1), pumping external air into an inner cavity of the electric heating box (59) through the blower (60), heating the air in the electric heating box (59) through the electric heating tube (61), and spraying the heated air from the spray head (58) to clean and dry water stains on the cutting pick;
s3, enabling the first tooth socket (29) on the discharging cylinder (28) to correspond to the cutting tooth position to be replaced, driving the discharging cylinder (28) to move through the second electric push rod (25) so that the cutting tooth end to be replaced is inserted into the first tooth socket (29), driving the first extrusion plate (32) to move and extrude the cutting tooth to be fixed through the third electric push rod (31), and driving the cutting tooth to rotate through the fifth motor (27) so as to detach the cutting tooth from the tunneling machine (1);
s4, enabling the discharging cylinder (28) clamped with the cutting pick to move to the end part of the recycling cylinder (53), and utilizing the fourth electric push rod (33) to drive the push block (34) to move so as to move the cutting pick to the recycling cylinder (53) for collection;
s5, enabling the charging barrel (40) to move to the end part of the material storage barrel (44), driving the push plate (49) to move by utilizing the cooperation between the screw rod (47) and the movable seat (48), pushing the unused cutting pick end part to be inserted into the inner cavity of the second tooth socket (41) by utilizing the movement of the push plate (49), and extruding and fixing the cutting pick by utilizing the second extrusion plate (43);
s6, enabling a charging barrel (40) clamped with a cutting pick to move to the end portion of the tunneling machine (1) where the cutting pick is assembled, driving the cutting pick to move by using a sixth electric push rod (37) to insert the cutting pick into the cutting pick assembling position on the tunneling machine (1), and installing the cutting pick on the tunneling machine (1), so that a plurality of cutting picks on the tunneling machine (1) are replaced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410009521.7A CN117506961B (en) | 2024-01-04 | 2024-01-04 | Automatic replacing manipulator for cutting pick of heading machine and using method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410009521.7A CN117506961B (en) | 2024-01-04 | 2024-01-04 | Automatic replacing manipulator for cutting pick of heading machine and using method |
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| CN117506961A CN117506961A (en) | 2024-02-06 |
| CN117506961B true CN117506961B (en) | 2024-03-08 |
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| DE2401196A1 (en) * | 1974-01-11 | 1975-07-24 | Ruhrkohle Ag | Loading and cutting machine for driving underground galleries - has horizontally and vertically movable loader head and single-chain conveyor |
| US4652056A (en) * | 1984-05-04 | 1987-03-24 | Minnovation Limited | Mineral cutting device |
| CA2336200A1 (en) * | 1998-06-19 | 1999-12-29 | Mine Site Technologies Pty. Ltd. | Tunnel boring machinery |
| CN103912272A (en) * | 2012-12-28 | 2014-07-09 | 方瑜 | Heading machine |
| CN111266834A (en) * | 2020-03-26 | 2020-06-12 | 辽宁工程技术大学 | Automatic cutter replacing manipulator of coal mine underground coal mining machine and using method |
| CN111347440A (en) * | 2020-03-26 | 2020-06-30 | 辽宁工程技术大学 | Automatic cutting tooth replacing mechanical arm of heading machine and using method |
| CN111878105A (en) * | 2020-07-31 | 2020-11-03 | 邱鑫侨 | Tunnel boring machine |
-
2024
- 2024-01-04 CN CN202410009521.7A patent/CN117506961B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2401196A1 (en) * | 1974-01-11 | 1975-07-24 | Ruhrkohle Ag | Loading and cutting machine for driving underground galleries - has horizontally and vertically movable loader head and single-chain conveyor |
| US4652056A (en) * | 1984-05-04 | 1987-03-24 | Minnovation Limited | Mineral cutting device |
| CA2336200A1 (en) * | 1998-06-19 | 1999-12-29 | Mine Site Technologies Pty. Ltd. | Tunnel boring machinery |
| WO1999067506A1 (en) * | 1998-06-19 | 1999-12-29 | Mine Site Technologies Pty. Ltd. | Tunnel boring machinery |
| CN103912272A (en) * | 2012-12-28 | 2014-07-09 | 方瑜 | Heading machine |
| CN111266834A (en) * | 2020-03-26 | 2020-06-12 | 辽宁工程技术大学 | Automatic cutter replacing manipulator of coal mine underground coal mining machine and using method |
| CN111347440A (en) * | 2020-03-26 | 2020-06-30 | 辽宁工程技术大学 | Automatic cutting tooth replacing mechanical arm of heading machine and using method |
| CN111878105A (en) * | 2020-07-31 | 2020-11-03 | 邱鑫侨 | Tunnel boring machine |
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| CN117506961A (en) | 2024-02-06 |
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