CN203228226U - Single-arm manipulator - Google Patents
Single-arm manipulator Download PDFInfo
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- CN203228226U CN203228226U CN 201320165971 CN201320165971U CN203228226U CN 203228226 U CN203228226 U CN 203228226U CN 201320165971 CN201320165971 CN 201320165971 CN 201320165971 U CN201320165971 U CN 201320165971U CN 203228226 U CN203228226 U CN 203228226U
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- lifting
- telescopic leg
- lift telescopic
- arm
- rotating seat
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Abstract
The utility model relates to the mechanical field, in particular to a single-arm manipulator which is used for assembling and disassembling various devices in an underground fully mechanized coal mining face and the like to solve the problems of poor flexibility, low labor efficiency, large worker labor intensity and the like in assembly and disassembly of various devices in the underground fully mechanized coal mining face. The single-arm manipulator comprises a rotating seat, a lifting telescopic leg, walking wheels, a main body platform and a hoisting arm. The specific structure is that the rotating seat is connected with the main body platform through a shaft and is in rotating fit with the main body platform, the hoisting arm is installed on the rotating seat, the lifting telescopic leg controlled by an oil cylinder to move up and down is installed on the main body platform, and the walking wheels are installed at the bottom of the main body platform. The walking wheels are controlled to move up and down through the oil cylinder. The single-arm manipulator adopts full-hydraulic control, assembly and disassembly work of various devices are finished under control of a hydraulic manipulation platform, and the single-arm manipulator provides reliable guarantee for the underground assembly and disassembly work.
Description
Technical field
The utility model relates to mechanical field, is specially a kind of single armed manipulator, is applicable to the installation, dismounting of various device in the fully-mechanized mining working of down-hole etc.
Background technology
At present, light instrument (as: pulling the calabash well-pulley) is generally used in installation and the dismounting of various device in the fully-mechanized mining working under domestic each coal mine, has following point:
1, the people must operated by under the heavy mail that lifts by crane, and safety is compromised;
2, to big by adjustment, decomposition, the assembly working difficulty of lifting object;
3, efficiency is low, and labor strength is big, and it is many to drop into the labour.
(patent No.: 91217179.0) disclose a kind of hydraulic support down-hole assembly platform, this patent adopts overhead traveling crane formula structure to China's utility model patent, need account for the bigger space of tool during the lifting thing; When lifting by crane object in addition, also occupy certain altitude (the accumulative total height is more than 1 meter) with single hook or double hook, lifting rope, reductor slideway etc.; In addition, lifting rope can not rise separately or fall for four jiaos, and because the restriction of down-hole height, thereby use this equipment to need assembling cavern in down-hole is dug deeply, namely be difficult for realizing in the down-hole.
The utilization of manipulator is increasingly extensive, and the running by manipulator greatly reduces human resources, and workload has also promoted a lot, but in many transportations, because the stroke of transportation is far away, manipulator is so not long, so certain limitation is arranged in transportation.
China's utility model patent (patent No.: 99237347.6) disclose the manipulator of a kind of automatic clamping, discharging, this device mainly comprises: mechanical paw, pivot pin, top board, mechanical wrist, friction pulley, roller, spring etc., after workpiece enters mechanical paw, under the effect of spring, top board contacts with manipulator and compresses downwards, forces mechanical paw to rotate and clamping work.Its weak point is, inefficiency is reliable to the clamping underaction of workpiece.And, because its balance is relatively poor, be not suitable for installation, the dismounting of the various device in the fully-mechanized mining working of down-hole.
The utility model content
The purpose of this utility model is to provide a kind of single armed manipulator, solve various device in the fully-mechanized mining working of down-hole installation, remove problem such as flexibility is relatively poor, and efficiency is low, and labor strength is big.
The technical solution of the utility model is:
A kind of single armed manipulator, this single armed manipulator comprises: rotating seat, lift telescopic leg, road wheel, main platform, lifting arm, concrete structure is as follows:
Rotating seat is connected by axle with main platform, and rotating seat cooperates with the main platform rotation, and lifting arm is installed on the rotating seat, and the lift telescopic leg by oil cylinder control lifting is installed on the main platform, and the road wheel by oil cylinder control lifting is installed in the main platform bottom.
Described single armed manipulator, lifting arm comprise principal arm, auxiliary, lifting head, and an end and the rotating seat of principal arm are hinged, and an end of the other end of principal arm and auxiliary is slidingly connected in the mode of plug-in mounting, and the other end of auxiliary is installed the lifting head.
Described single armed manipulator is equipped with hoist cylinder, telescopic oil cylinder on the lifting arm, an end and the rotating seat of hoist cylinder are hinged, and the other end and the principal arm of hoist cylinder are hinged; One end and the principal arm of telescopic oil cylinder are hinged, and the other end of principal arm is hinged with lifting.
Described single armed manipulator also comprises the lifting round-link chain, and the pulley of lifting round-link chain in the lifting head drawn, and the exit of lifting round-link chain is installed gib head.
Described single armed manipulator, the lift telescopic leg is four: lift telescopic leg I, lift telescopic leg II, lift telescopic leg III and lift telescopic leg IV, lift telescopic leg I, lift telescopic leg II, lift telescopic leg III and lift telescopic leg IV lay respectively at four jiaos of main platform.
Described single armed manipulator, road wheel are four, cooperate with rail.
The beneficial effects of the utility model are:
1, the utility model single armed manipulator has lifting arm, can be used for fully-mechanized mining equipment installation and dismounting under the coal mine, as: assembling and disassembling elevating conveyor head, tail, motor, reductor, drag conveyor etc. have characteristics such as the single armed lifting is flexible, balance is good, rotate freely, walking is safe, reliable, simple in structure, time saving and energy saving.
2, the utility model single armed manipulator is all-hydraulic control, by the control of hydraulic operation platform, finishes the assembling and disassembling work of various device, for install the down-hole, dismounting work provides reliable guarantee.
Description of drawings
Fig. 1 is the structural representation of the utility model single armed manipulator.
Fig. 2 is the vertical view of Fig. 1.
Among the figure, 1 lifting arm; 2 rotating seats; 3 lift telescopic leg I; 4 road wheels; 5 lift telescopic leg II; 6 principal arms; 7 auxiliarys; 8 hoist cylinders; 9 telescopic oil cylinders; 10 lifting heads; 11 lift telescopic leg III; 12 lift telescopic leg IV; 13 main platforms.
The specific embodiment
As Fig. 1-shown in Figure 2, the utility model single armed manipulator mainly comprises: lifting arm 1, rotating seat 2, lift telescopic leg I 3, road wheel 4, lift telescopic leg II 5, principal arm 6, auxiliary 7, hoist cylinder 8, telescopic oil cylinder 9, lifting 10, lift telescopic leg III 11, lift telescopic leg IV 12, main platform 13 etc., and concrete structure is as follows:
Rotating seat 2 is connected by axle with main platform 13, and rotating seat 2 cooperates with main platform 13 rotations, makes rotating seat 2 lifting arm 1 is installed on the rotating seat 2 in main platform 13 rotations, drives lifting arm 1 rotation by rotating seat 2.Lifting arm 1 comprises principal arm 6, auxiliary 7, lifting 10, one end and the rotating seat 2 of principal arm 6 are hinged, one end of the other end of principal arm 6 and auxiliary 7 is slidingly connected in the mode of plug-in mounting, auxiliary 7 can reciprocatingly slide along principal arm 6, the other end of auxiliary 7 is installed lifting 10, the pulley of lifting round-link chain in lifting 10 drawn, and the exit of lifting round-link chain is installed gib head, is used for lifting.Hoist cylinder 8, telescopic oil cylinder 9 are installed on the lifting arm 1, and an end and the rotating seat 2 of hoist cylinder 8 are hinged, and the other end of hoist cylinder 8 and principal arm 6 are hinged, drive lifting arm 1 lifting by hoist cylinder 8 control principal arms 6; One end and the principal arm 6 of telescopic oil cylinder 9 are hinged, and the other end of principal arm 6 is hinged with lifting 10, reciprocatingly slide along principal arm 6 by telescopic oil cylinder 9 control auxiliarys 7.
Lift telescopic leg (lift telescopic leg I 3, lift telescopic leg II 5, lift telescopic leg III 11 and lift telescopic leg IV 12) is installed on the main platform 13, lift telescopic leg I 3, lift telescopic leg II 5, lift telescopic leg III 11 and lift telescopic leg IV 12 lay respectively at four jiaos of main platform 13, by the lifting of oil cylinder control lift telescopic leg.Four liftable road wheels 4 are installed in main platform 13 bottoms, by 4 liftings of oil cylinder control road wheel.When the single armed manipulator was walked, road wheel 4 descended, and the lift telescopic leg lifts, and by winch traction main platform, the single armed manipulator was walked at rail by road wheel.In the installation of carrying out various device, when removing, road wheel 4 lifts, and the lift telescopic leg drops to ground, and lifting arm 1 is started working.
Design feature of the present utility model and operation principle are:
The utility model single armed manipulator is made up of lifting arm (principal arm, auxiliary), rotating seat, lift telescopic leg, road wheel and hydraulic control system thereof etc., and this equipment has four groups of liftable road wheels, can walk at the rail of 600mm gauge by road wheel; Road wheel is fallen, after by winch traction main platform the single armed manipulator being transported to working face, there is the lift telescopic leg of four groups of scalable liftings to stretch out ground connection, road wheel is regained, equipment connects the top, and lift telescopic leg and equipment body are hinged by hydraulic cylinder, and the equipment integral body of making can be at the orbital plane certain altitude that raises, the down-hole idler can be passed through under equipment, be convenient to that everything goes well with your work carries out.
The technical parameter of the utility model single armed manipulator is as follows:
The result shows, hinged lifting arm on the rotating seat of the utility model single armed manipulator, and integral body can be rotated 280 degree.Thereby, conveniently hang the workpiece of getting diverse location, working range is big, and applicability is more extensive.
Claims (6)
1. a single armed manipulator is characterized in that, this single armed manipulator comprises: rotating seat, lift telescopic leg, road wheel, main platform, lifting arm, and concrete structure is as follows:
Rotating seat is connected by axle with main platform, and rotating seat cooperates with the main platform rotation, and lifting arm is installed on the rotating seat, and the lift telescopic leg by oil cylinder control lifting is installed on the main platform, and the road wheel by oil cylinder control lifting is installed in the main platform bottom.
2. according to the described single armed manipulator of claim 1, it is characterized in that lifting arm comprises principal arm, auxiliary, lifting head, an end and the rotating seat of principal arm are hinged, one end of the other end of principal arm and auxiliary is slidingly connected in the mode of plug-in mounting, and the other end of auxiliary is installed the lifting head.
3. according to the described single armed manipulator of claim 1, it is characterized in that hoist cylinder, telescopic oil cylinder are installed on the lifting arm, and an end and the rotating seat of hoist cylinder are hinged, the other end and the principal arm of hoist cylinder are hinged; One end and the principal arm of telescopic oil cylinder are hinged, and the other end of principal arm is hinged with lifting.
4. according to the described single armed manipulator of claim 1, it is characterized in that, also comprise the lifting round-link chain, the pulley of lifting round-link chain in the lifting head drawn, and the exit of lifting round-link chain is installed gib head.
5. according to the described single armed manipulator of claim 1, it is characterized in that, the lift telescopic leg is four: lift telescopic leg I, lift telescopic leg II, lift telescopic leg III and lift telescopic leg IV, lift telescopic leg I, lift telescopic leg II, lift telescopic leg III and lift telescopic leg IV lay respectively at four jiaos of main platform.
6. according to the described single armed manipulator of claim 1, it is characterized in that road wheel is four, cooperates with rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320165971 CN203228226U (en) | 2013-04-03 | 2013-04-03 | Single-arm manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320165971 CN203228226U (en) | 2013-04-03 | 2013-04-03 | Single-arm manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203228226U true CN203228226U (en) | 2013-10-09 |
Family
ID=49284375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320165971 Expired - Fee Related CN203228226U (en) | 2013-04-03 | 2013-04-03 | Single-arm manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203228226U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552934A (en) * | 2013-11-14 | 2014-02-05 | 宁夏中远天晟科技有限公司 | Novel mechanical hand for assembling and moving coupler knuckle of wagon car coupler |
| CN107932552A (en) * | 2017-11-16 | 2018-04-20 | 庄玉琼 | A kind of special manipulator of tunnel mid-partition wall construction machine |
| CN108928780A (en) * | 2018-10-12 | 2018-12-04 | 辽宁威跃集团机械制造有限公司 | Coal mine hydraulic supporting recovery system |
| CN109571407A (en) * | 2018-12-26 | 2019-04-05 | 湖北三江航天红阳机电有限公司 | A kind of tunnel Operation Van and its snatch manipulator |
-
2013
- 2013-04-03 CN CN 201320165971 patent/CN203228226U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552934A (en) * | 2013-11-14 | 2014-02-05 | 宁夏中远天晟科技有限公司 | Novel mechanical hand for assembling and moving coupler knuckle of wagon car coupler |
| CN107932552A (en) * | 2017-11-16 | 2018-04-20 | 庄玉琼 | A kind of special manipulator of tunnel mid-partition wall construction machine |
| CN108928780A (en) * | 2018-10-12 | 2018-12-04 | 辽宁威跃集团机械制造有限公司 | Coal mine hydraulic supporting recovery system |
| CN108928780B (en) * | 2018-10-12 | 2023-08-22 | 辽宁威跃集团机械制造有限公司 | Colliery hydraulic support decomposes recovery system |
| CN109571407A (en) * | 2018-12-26 | 2019-04-05 | 湖北三江航天红阳机电有限公司 | A kind of tunnel Operation Van and its snatch manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131009 Termination date: 20160403 |