CN210210399U - Mechanical arm device for underground coal mine - Google Patents
Mechanical arm device for underground coal mine Download PDFInfo
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- CN210210399U CN210210399U CN201920999752.1U CN201920999752U CN210210399U CN 210210399 U CN210210399 U CN 210210399U CN 201920999752 U CN201920999752 U CN 201920999752U CN 210210399 U CN210210399 U CN 210210399U
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Abstract
The utility model discloses a manipulator device used in underground coal mine, one end of a support column is rotatablely arranged on a base; one end of the large arm is connected with the other end of the support rod through a first pin shaft, the cylinder end of the first oil cylinder is connected with the side wall of the support rod through a shaft, and the piston rod end of the first oil cylinder is connected with the large arm; one end of the small arm is connected with the other end of the large arm through a second pin shaft, the cylinder end of a second oil cylinder is connected with the large arm through a shaft, and the piston rod end of the second oil cylinder is connected with one end of the small arm; the other end of hand claw subassembly and forearm passes through coupling assembling to be connected, and coupling assembling includes: the connecting rod, the first motor driving part and the second motor driving part; the paw component is arranged on the connecting rod; the first motor driving part is used for driving the connecting rod to rotate around the center of the connecting rod; the second motor driving part is used for driving the connecting rod to rotate in the pitching direction. The device can exert the advantage that hydraulic pressure is big, can reduce the volume and the load of claw again, and control is nimble and the precision is high.
Description
Technical Field
The utility model relates to a coal mining technology field especially relates to a be used for colliery manipulator device in pit.
Background
The existing underground coal mining mainly depends on manual operation of coal miners, the efficiency is low, the labor intensity is high, and the coal miners work in a humid and dust-filled severe environment for a long time and work under high load, so that the health of the coal miners is seriously influenced, and even the coal miners are in danger of life.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a manipulator device for colliery is in pit to solve current coal mining in the pit and mainly rely on the workman manual operation, it is inefficient, intensity of labour is big, dangerous high problem.
The embodiment of the utility model provides a be used for colliery manipulator device in pit, include: the device comprises a base, a support column, a large arm, a first oil cylinder, a small arm, a second oil cylinder, a gripper assembly and a connecting assembly; one end of the supporting column is rotatably arranged on the base; one end of the large arm is connected with the other end of the support column through a first pin shaft, the cylinder end of the first oil cylinder is connected with the side wall of the support column through a shaft, the piston rod end of the first oil cylinder is connected with the large arm, and the first oil cylinder drives the large arm to rotate around the first pin shaft; one end of the small arm is connected with the other end of the large arm through a second pin shaft, the cylinder end of the second oil cylinder is connected with the large arm through a shaft, the piston rod end of the second oil cylinder is connected with one end of the small arm, and the second oil cylinder drives the small arm to rotate around the second pin shaft; the gripper assembly with the other end of forearm passes through coupling assembling connects, wherein, coupling assembling includes: the connecting rod, the first motor driving part and the second motor driving part; the paw component is arranged on the connecting rod; the first motor driving part is used for driving the connecting rod to rotate around the center of the connecting rod; the second motor driving part is used for driving the connecting rod to rotate in the pitching direction.
Further, the connection assembly further includes: the connecting device comprises two oppositely arranged connecting plates and two first rotating shafts, wherein one ends of the two connecting plates are fixedly arranged on the connecting rod, the other ends of the two connecting plates are respectively connected with two side walls of the other end of the small arm through the two first rotating shafts in a shaft mode, and the other end of the small arm is located between the two connecting plates; the first motor driving part includes: the first motor is arranged on the connecting rod, the output end of the first motor is connected with the input end of the first speed reducer through a shaft, and the output end of the first speed reducer is connected with the center of the connecting rod; the second motor driving part includes: the second motor is arranged in a shell at the other end of the small arm, the output end of the second motor is connected with the input end of the second speed reducer through a shaft, the first synchronous belt wheel is sleeved on the output end of the second speed reducer, the first synchronous belt wheel is connected with the second synchronous belt wheel through the first synchronous belt, and the second synchronous belt wheel is sleeved on one end of the first rotating shaft at the same side.
Further, the connection assembly further includes: the two side walls of the quadrilateral connecting frame are in shaft connection with the other end of the small arm; the first motor driving part includes: a third motor, a third synchronous pulley, a fourth synchronous pulley, a second synchronous belt, a second rotating shaft, a first bevel gear, a second bevel gear and a third reducer, wherein the third motor is arranged in the shell at the other end of the forearm, the third synchronous pulley is sleeved on the output end of the third motor, the third synchronous pulley is connected with the fourth synchronous pulley through the second synchronous belt, the fourth synchronous pulley is sleeved on one end of the second rotating shaft, the second rotating shaft penetrates through one side wall of the quadrilateral connecting frame, the first bevel gear is sleeved on the other end of the second rotating shaft, the first bevel gear is meshed with the second bevel gear, the first bevel gear and the second bevel gear are positioned on the inner side of the quadrilateral connecting frame, and the third reducer is arranged on the surface of the quadrilateral connecting frame opposite to the connecting rod, the input end of the third speed reducer penetrates through the surface, opposite to the connecting rod, of the quadrilateral connecting frame, the second bevel gear is sleeved on the input end of the third speed reducer, and the output end of the third speed reducer is connected with the center of the connecting rod; the second motor driving part includes: the fourth motor is arranged in the shell of the other end of the small arm, the output end of the fourth motor is sleeved with the fifth synchronous belt wheel, the fifth synchronous belt wheel is connected with the sixth synchronous belt wheel through the third synchronous belt, the sixth synchronous belt wheel is sleeved on the input end of the fourth speed reducer, and the fourth speed reducer is arranged on the outer surface of the other side wall of the quadrilateral connecting frame.
Further, the manipulator device for coal mine underground also comprises: a hydraulic motor, a first gear and a second gear; the first gear and the second gear are located on the base, the first gear is sleeved on the output end of the hydraulic motor and meshed with the second gear, and one end of the supporting column is arranged on the second gear.
Further, the manipulator device for coal mine underground also comprises: the third gear is positioned on the base and meshed with the second gear, and the sensor is arranged on the third gear.
Further, the manipulator device for coal mine underground also comprises: the fixed subassembly of first hydro-cylinder, the fixed subassembly of first hydro-cylinder includes: the support column comprises two first fixing plates, two first oil cylinder clamping plates, two first piston rod clamping plates and two first guide shafts, wherein the two first fixing plates are oppositely arranged, one ends of the first fixing plates are fixedly arranged on the side walls of the support column, cylinder ends of the first oil cylinders are located between the two first fixing plates, the cylinder ends of the first oil cylinders are connected with the other ends of the first fixing plates through shafts, the first oil cylinder clamping plates are connected to the cylinder barrel of the first oil cylinder in a clamped mode, the first piston rod clamping plates are connected to the piston rod of the first oil cylinder in a clamped mode, one end of each first guide shaft is connected to the corresponding first piston rod clamping plate, and the other end of each first guide shaft penetrates through the corresponding first oil cylinder clamping plate.
Further, the large arm includes: first big arm section and second big arm section, the one end of first big arm section with the other end coupling of support column, the other end of first big arm section is connected the one end of second big arm section, the other end of second big arm section with the one end coupling of forearm, first big arm section with contained angle between the second big arm section is the obtuse angle.
Further, the manipulator device for coal mine underground also comprises: the fixed subassembly of second hydro-cylinder, the fixed subassembly of second hydro-cylinder includes: the hydraulic cylinder comprises a second oil cylinder clamping plate, a second piston rod clamping plate and a second guide shaft, wherein the cylinder barrel end of the second oil cylinder is connected with the other end of the first large arm section through a shaft, the second oil cylinder clamping plate is clamped on the cylinder barrel of the second oil cylinder, the second piston rod clamping plate is clamped on the piston rod of the second oil cylinder, one end of the second guide shaft is connected with the second piston rod clamping plate, and the other end of the second guide shaft penetrates through the second oil cylinder clamping plate.
Further, the gripper assembly comprises: the third oil cylinder, the transmission rack, the two fourth gears, the two third rotating shafts and the two claw parts; the piston rod end of the third oil cylinder is connected with one end of the transmission rack, two opposite side faces of the transmission rack are provided with tooth parts, two fourth gears are symmetrically arranged on two sides of the transmission rack, each fourth gear is meshed with the corresponding tooth part on one side of the transmission rack, each third rotating shaft penetrates through each fourth gear, two ends of each third rotating shaft are connected with two side walls of one end of each claw part, and the claw parts are arranged oppositely.
Further, the gripper assembly further comprises: two rubber plates, each of which is provided on a surface of each of the claw portions opposite to the other claw portion.
The utility model provides a be used for colliery manipulator device in pit, its subassembly can rotate in a plurality of dimensions to be convenient for adjust the state of the device according to actual demand, gather coal more efficiently; and because the hybrid power drive of the oil cylinder and the motor is adopted, the arm part is driven to rotate by the oil cylinder, and the claw part is driven to move by the motor, so that the advantage of large hydraulic output can be exerted, the volume and the load of the claw part can be reduced, and the control is flexible and high in precision.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic structural diagram of a manipulator device for a coal mine;
fig. 2 is a schematic structural view of a connection assembly of a robot apparatus for a coal mine according to a preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of the connecting assembly of the robot apparatus for a coal mine according to another preferred embodiment of the present invention;
fig. 4 is a schematic view of a transmission structure of a connecting assembly for a robot apparatus in a coal mine according to another preferred embodiment of the present invention;
fig. 5 is a schematic view of a connection structure of a base and a support column of the manipulator device for a coal mine;
fig. 6 is a schematic view of a guiding structure of an oil cylinder of a manipulator device used in a coal mine;
fig. 7 is a schematic structural diagram of an external shape of a gripper assembly of the manipulator device for coal mine;
fig. 8 is a schematic diagram of a transmission structure of a gripper assembly of a manipulator device for a coal mine.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The embodiment of the utility model discloses a manipulator device for colliery is in pit. As shown in fig. 1, the manipulator device for the coal mine underground includes: the hydraulic lifting device comprises a base 1, a support column 2, a large arm 3, a first oil cylinder 4, a small arm 5, a second oil cylinder 6, a gripper assembly 7 and a connecting assembly.
One end of the support column 2 is rotatably provided on the base 1 so that the support column 2 can rotate about the central axis of the support column 2. It should be understood that the central axis of the support column 2 is an axis extending along the length of the support column 2.
One end of the large arm 3 is connected with the other end of the support column 2 through a first pin shaft. The cylinder end of the first oil cylinder 4 is connected with the side wall shaft of the support column 2. The piston rod end of the first oil cylinder 4 is connected with the large arm 3. It should be understood that the connection position of the rod end of the first cylinder 4 and the large arm 3 may be set according to a desired rotation angle range of the large arm 3, a selection of types of the large arm 3, and the like. In a preferred embodiment of the present invention, the large arm 3 is in a zigzag shape, and the rod end of the first cylinder 4 is connected to the middle portion of the large arm 3. The first oil cylinder 4 drives the large arm 3 to rotate around the first pin shaft.
One end of the small arm 5 is connected with the other end of the large arm 3 through a second pin shaft. The cylinder end of the second oil cylinder 6 is connected with the large arm 3 through a shaft. It should be understood that the connection position of the cylinder end of the second cylinder 6 to the large arm 3 may be set according to the desired range of the rotation angle of the small arm 5, the selection of the type of the large arm 3, and the like. In a preferred embodiment of the present invention, the large arm 3 is in a zigzag shape, and the cylinder end of the second cylinder 6 is connected to the middle portion of the large arm 3 at positions around the middle portion. The piston rod end of the second oil cylinder 6 is connected with one end of the small arm 5. The second oil cylinder 6 drives the small arm 5 to rotate around a second pin shaft.
The paw component 7 is connected with the other end of the small arm 5 through a connecting component. The gripper assembly 7 is used to grip the coal. Preferably, the number of gripper units 7 is two.
Specifically, the coupling assembling includes: connecting rod 8, first motor drive portion and second motor drive portion. The gripper assembly 7 is arranged on a connecting rod 8. Preferably, the two gripper assemblies 7 are symmetrically arranged at both ends of the connecting rod 8. The first motor drive is used for driving the connecting rod 8 to rotate around the center of the connecting rod. It should be understood that the center of the connecting rod 8 refers to the central position in the length direction of the connecting rod 8. The second motor drive section is used for driving the connecting rod 8 to rotate in the pitch direction. It should be understood that the term rotation in the pitch direction refers to rotation in the vertical direction.
Through the structural design, the components of the manipulator device for the underground coal mine can rotate in multiple dimensions, so that the state of the device can be adjusted conveniently according to actual requirements, and coal can be collected more efficiently; and because the hybrid power drive of the oil cylinder and the motor is adopted, the arm part is driven to rotate by the oil cylinder, and the claw part is driven to move by the motor, so that the advantage of large hydraulic output can be exerted, the volume and the load of the claw part can be reduced, and the control is flexible and high in precision.
In a preferred embodiment of the present invention, as shown in fig. 2, the connecting assembly further includes: two oppositely arranged connecting plates 9 and two first rotating shafts. One end of the two connecting plates 9 is fixedly arranged on the connecting rod 8. The other ends of the two connecting plates 9 are respectively connected with two side walls of the other end of the small arm 5 through two first rotating shafts, and the other end of the small arm 5 is positioned between the two connecting plates 9.
The first motor driving part includes: a first motor 10 and a first reducer 11. The first motor 10 is provided on the connecting rod 8. The output of the first electric machine 10 is coupled to the input of a first reduction gear 11. The output of the first reducer 11 is connected to the center of the connecting rod 8. Preferably, a first motor protective case may be provided to protect the first motor 10 for safety.
Starting the first motor 10, the first motor 10 transmits to the first speed reducer 11, and the output end of the first speed reducer 11 rotates, so as to drive the connecting rod 8 to rotate around the center of the connecting rod 8, and thus the gripper assembly 7 can rotate on a plane parallel to the connecting rod 8.
The second motor driving part includes: a second motor 12, a second decelerator 13, a first timing pulley 14, a second timing pulley 15, and a first timing belt 16. A second motor 12 is provided in the housing at the other end of the small arm 5. The output of the second electric machine 12 is coupled to the input of a second reduction gear 13. A first synchronous pulley 14 is sleeved on an output end of the second speed reducer 13. The first timing pulley 14 is connected to the second timing pulley 15 via a first timing belt 16. The second synchronous pulley 15 is sleeved on one end of the first rotating shaft.
The second motor 12 is started, the second motor 12 transmits to the second speed reducer 13, the output end of the second speed reducer 13 rotates to drive the first synchronous belt wheel 14 to rotate, the first synchronous belt wheel 14 transmits to the first synchronous belt 16, the first synchronous belt 16 drives the second synchronous belt wheel 15 to rotate, the second synchronous belt wheel 15 drives the first rotating shaft to rotate, the first rotating shaft drives the connecting plate 9 to rotate around the first rotating shaft, and the connecting plate 9 drives the connecting rod 8 to rotate in the pitching direction, so that the rotation of the paw component 7 in the pitching direction is realized.
In addition, the second motor 12 is arranged in the shell of the small arm 5, so that the small arm 5 is utilized to protect the second motor 12, explosion prevention is realized, and the safety is improved; in addition, an outer shell of the second motor 12 does not need to be additionally arranged, the integral structure is simplified, the space is saved, and the underground use is facilitated.
In another preferred embodiment of the present invention, as shown in fig. 3 and 4, the connecting assembly further includes: a quadrangular linkage 17. Two side walls of the quadrilateral connecting frame 17 are connected with the other end of the small arm 5 through a shaft.
The first motor driving part includes: a third motor 18, a third synchronous pulley 19, a fourth synchronous pulley 20, a second synchronous belt 21, a second rotating shaft 22, a first bevel gear 23, a second bevel gear 24 and a third speed reducer 25. A third motor 18 is provided in the housing at the other end of the small arm 5. A third synchronous pulley 19 is sleeved on the output end of the third motor 18. The third timing pulley 19 and the fourth timing pulley 20 are connected by a second timing belt 21. The fourth timing pulley 20 is fitted around one end of the second rotating shaft 22. The second rotating shaft 22 passes through one side wall of the quadrangular connecting frame 17. A first bevel gear 23 is sleeved on the other end of the second rotating shaft 22. First bevel gear 23 meshes with second bevel gear 24. A first bevel gear 23 and a second bevel gear 24 are located inside the quadrangular connecting frame 17. A third speed reducer 25 is provided on the surface of the quadrangular coupling frame 17 opposite to the connecting rod 8. The input end of the third reducer 25 passes through the surface of the quadrangular connecting frame 17 opposite to the connecting rod 8, and a second bevel gear 24 is sleeved on the input end of the third reducer 25. The output of the third reducer 25 is connected to the center of the connecting rod 8.
The third motor 18 is started, the third motor 18 drives the third synchronous belt wheel 19 to rotate, the third synchronous belt wheel 19 transmits power to the second synchronous belt 21, the second synchronous belt 21 drives the fourth synchronous belt wheel 20 to rotate, the fourth synchronous belt wheel 20 drives the second rotating shaft 22 to rotate, the second rotating shaft 22 drives the first bevel gear 23 to rotate, the first bevel gear 23 drives the second bevel gear 24 to rotate, the second bevel gear 24 transmits power to the third speed reducer 25, and the third speed reducer 25 drives the connecting rod 8 to rotate around the center of the connecting rod 8, so that the paw component 7 can rotate on a plane parallel to the connecting rod 8.
The second motor driving part includes: a fourth motor 26, a fifth synchronous pulley 27, a sixth synchronous pulley 28, a third synchronous belt 29 and a fourth speed reducer 30. A fourth motor 26 is provided in the housing at the other end of the small arm 5. A fifth synchronous pulley 27 is sleeved on an output end of the fourth motor 26. The fifth timing pulley 27 and the sixth timing pulley 28 are connected by a third timing belt 29. The sixth timing pulley 28 is fitted to the input end of the fourth reduction gear 30. The fourth decelerator 30 is provided on the outer surface of the other side wall of the quadrangular coupling frame 17. The output end of the fourth decelerator 30 is connected to the outer surface of the other side wall of the quadrangular coupling frame 17.
The fourth motor 26 is started, the fourth motor 26 drives the fifth synchronous belt pulley 27 to rotate, the fifth synchronous belt pulley 27 transmits to the third synchronous belt 29, the third synchronous belt 29 drives the sixth synchronous belt pulley 28 to rotate, the sixth synchronous belt pulley 28 transmits to the fourth speed reducer 30, and the fourth speed reducer 30 drives the quadrilateral connecting frame 17 to rotate around the connecting shaft of the quadrilateral connecting frame 17 and the small arm 5, so that the quadrilateral connecting frame 17 drives the connecting rod 8 to rotate in the pitching direction, and the rotation of the paw assembly 7 in the pitching direction is realized.
In the preferred embodiment, because the third motor 18 and the fourth motor 26 are both arranged in the shell of the small arm 5, the small arm 5 is utilized to protect the third motor 18 and the fourth motor 26, and the explosion prevention is realized, the safety is improved, and the weight of the head is reduced; in addition, an outer shell of the motor is not required to be additionally arranged, the integral structure is simplified, the space is saved, and the underground use is facilitated.
Preferably, as shown in fig. 5, the manipulator device for the coal mine well further includes: a hydraulic motor 31, a first gear 32 and a second gear 33. The first gear 32 and the second gear 33 are located on the base 1. A first gear 32 is sleeved on an output end of the hydraulic motor 31. The first gear 32 meshes with the second gear 33. Functionally, the first gear 32 is a driving wheel and the second gear 33 is a driven wheel. One end of the support column 2 is disposed on the second gear 33. In a preferred embodiment of the present invention, the hydraulic motor 31 can be used in conjunction with a speed reducer, so that a large torque can be obtained with a small profile.
The hydraulic motor 31 is started to drive the first gear 32 to rotate, the first gear 32 drives the second gear 33 to rotate, and the second gear 33 drives the support post 2 to rotate. Preferably, the hydraulic motor 31 allows the support column 2 to rotate in the forward and reverse directions by 180 degrees.
Preferably, the manipulator device for coal mine underground further comprises: a third gear 34 and a sensor 35. The third gear 34 is located on the base 1, and is specifically coupled to the upper surface of the base 1. The third gear 34 meshes with the second gear 33. A sensor 35 is provided on the third gear 33.
Through the structural design, when the second gear 33 rotates, the third gear 34 can be driven to rotate, the sensor 35 on the third gear 34 can acquire the rotating angle and direction of the third gear 34 to obtain the rotating angle and direction of the second gear 33, so that the rotating angle and direction of the supporting column 2 can be accurately obtained, the rotating speed and direction of the hydraulic motor 31 can be controlled, finally, the rotating angle and direction of the supporting column 2 can be controlled, and the position of the gripper assembly 7 can be more accurately adjusted to mine coal.
It should be understood that respective protective casings may be provided to enclose the first gear 32, the second gear 33 and the third gear 34, etc. to protect them.
Preferably, as shown in fig. 6, the manipulator device for the coal mine well further includes: the first oil cylinder fixing component. Specifically, the fixed subassembly of first hydro-cylinder includes: two first fixed plates 36, a first cylinder catch plate 37, a first piston rod catch plate 38 and a first guide shaft 39 which are arranged oppositely. One ends of the two first fixing plates 36 are fixedly arranged on the side walls of the supporting column 2. The cylinder end of the first cylinder 4 is located between the two first fixing plates 36, and the cylinder end of the first cylinder 4 is connected with the other ends of the two first fixing plates 36 by a shaft, so that the first cylinder 4 can rotate around the shaft. The first cylinder catch plate 37 is fastened to the cylinder barrel of the first cylinder 4. The first piston rod clamping plate 38 is clamped on the piston rod of the first oil cylinder 4. One end of the first guide shaft 39 is connected to the first piston rod catch plate 38. The other end of the first guide shaft 39 passes through the first cylinder catch plate 37.
Through this structural design, the first piston rod catch plate 38 makes the piston rod of the first cylinder 4 unable to rotate about its central axis, thereby facilitating control of the boom 3. The first guide shaft 39 can move along with the movement of the piston rod of the first cylinder 4 under the driving of the first piston rod catch plate 38, which not only does not limit the movement of the piston rod of the first cylinder 4, but also can further prevent the piston rod of the first cylinder 4 from rotating around its central axis.
In a preferred embodiment of the present invention, the large arm 3 includes: a first large arm segment and a second large arm segment. One end of the first large arm section is connected with the other end of the support column 2 through a shaft. The other end of the first large arm section is connected with one end of the second large arm section. The other end of the second large arm section is connected with one end of the small arm 5 through a shaft. The included angle between the first large arm section and the second large arm section is an obtuse angle, and a fold line shape is formed.
Preferably, the manipulator device for coal mine underground further comprises: the second oil cylinder fixing component. The fixed subassembly of second hydro-cylinder includes: a second cylinder catch plate 40, a second piston rod catch plate 41 and a second guide shaft 42. The cylinder end of the second oil cylinder 6 is connected with the other end of the first large arm section through a shaft. The second oil cylinder clamping plate 40 is clamped on the cylinder barrel of the second oil cylinder 6. The second piston rod clamping plate 41 is clamped on the piston rod of the second oil cylinder 6. One end of the second guide shaft 42 is connected to the second piston rod catch plate 41. The other end of the second guide shaft 42 passes through the second cylinder catch plate 40.
Through the structural design, the second piston rod chuck plate 41 enables the piston rod of the second oil cylinder 6 not to rotate around the central axis thereof, thereby being beneficial to controlling the small arm 5. The second guide shaft 42 can be driven by the second piston rod chuck plate 41 to move along with the movement of the piston rod of the second cylinder 6, which not only does not limit the movement of the piston rod of the second cylinder 6, but also can further prevent the piston rod of the second cylinder 6 from rotating around the central axis thereof.
Preferably, the first and second cylinders 4 and 6 may be provided with wire displacement measuring sensors so that the displacement of the piston rods of the first and second cylinders 4 and 6 can be measured to more precisely control the rotation angles of the large and small arms 3 and 5.
Preferably, as shown in figures 3, 7 and 8, the gripper assembly 7 comprises: a third oil cylinder 43, a transmission rack 44, two fourth gears 45, two third rotating shafts and two claw parts 46. The rod end of the third cylinder 43 is connected to one end of the rack gear 44. An opposite side of the drive rack 44 has teeth. The two fourth gears 45 are symmetrically disposed on two sides of the driving rack 44, and each fourth gear 45 is engaged with the tooth portion on the corresponding side of the driving rack 44. Each third rotating shaft passes through each fourth gear 45, and both ends of each third rotating shaft are connected to both side walls of one end of each claw portion 46. The two claw portions 46 are disposed opposite to each other.
And starting the third oil cylinder 43, pushing the transmission rack 44 to move by the third oil cylinder 43, driving the two fourth gears 45 to synchronously rotate by the transmission rack 44, driving the two third rotating shafts to synchronously rotate by the two fourth gears 45 respectively, and driving the two claw parts 46 to open or close respectively by the two third rotating shafts to finish coal mining. Specifically, with reference to the orientation of FIG. 8, as the drive rack 44 moves downward, the two claw portions 46 open; when the drive rack 44 is moved upward, the two claw portions 46 are closed.
More preferably, the gripper assembly 7 further comprises: two rubber plates 47. Each rubber plate 47 is provided on a surface of each claw portion 46 opposite to the other claw portion 46.
By providing the rubber plate 47, not only the claw portion 46 can be protected, but also the friction force of the rubber is large, which is more favorable for the claw portion 46 to firmly grip the coal briquette.
Specifically, the gripper assembly 7 further includes: a hollow housing 48. The end faces of the two ends of the third shaft are fixed to two opposite inner side walls of the hollow housing 48. The drive rack 44 and the fourth gear 45 are located within a hollow housing 48. It will be appreciated that the other end of the finger 46 extends out of the hollow housing 48.
The hollow housing 48 may provide protection for the drive rack 44 and the fourth gear 45, etc. It should be understood that the shape of the hollow housing 48 may be designed according to the shape and the opening range of the claw portion 46 to avoid the hollow housing 48 from interfering with the movement of the claw portion 46.
Specifically, the gripper assembly 7 further includes: a bracket 49 is mounted. One side surface of the mounting bracket 49 is connected to one end of the connecting rod 8. The other side of the mounting bracket 49 is connected to an outer side wall of the hollow housing 48, thereby mounting the gripper unit 7 to the connecting rod 8.
More preferably, the gripper unit 7 further comprises: hollow connecting bracket 50. One outer side wall of the hollow linking bracket 50 is connected to the opposite side of the mounting bracket 49 to which the connecting rod 8 is connected, and one end of the outer side wall of the hollow housing 48 adjacent to the third cylinder 43 is connected to the inner side wall of the hollow linking bracket 50, thereby mounting the gripper assembly 7 on the connecting rod 8.
Preferably, the manipulator device for the underground coal mine further comprises: and a central control unit. The central control unit is used for coordinately controlling the first oil cylinder 4, the second oil cylinder 6, the third oil cylinder 43, the hydraulic motor 31, the first motor 10 (or the third motor 18) and the second motor 12 (or the fourth motor 26), so that coal can be collected more efficiently.
To sum up, the manipulator device used in the coal mine can replace manual work to carry out operations such as loading and unloading, and overcome the defects of manual work and unloading; the hybrid power manipulator device integrates electric drive and hydraulic drive, the body is hydraulically driven, the claw parts are driven by the motor, the advantage of large hydraulic output can be achieved, the size and the load of the claw parts are reduced, the control is flexible, and a brand new idea is developed for filling the blank technology in the field of coal mines.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A manipulator device for coal mine underground is characterized by comprising: the device comprises a base, a support column, a large arm, a first oil cylinder, a small arm, a second oil cylinder, a gripper assembly and a connecting assembly;
one end of the supporting column is rotatably arranged on the base;
one end of the large arm is connected with the other end of the support column through a first pin shaft, the cylinder end of the first oil cylinder is connected with the side wall of the support column through a shaft, the piston rod end of the first oil cylinder is connected with the large arm, and the first oil cylinder drives the large arm to rotate around the first pin shaft;
one end of the small arm is connected with the other end of the large arm through a second pin shaft, the cylinder end of the second oil cylinder is connected with the large arm through a shaft, the piston rod end of the second oil cylinder is connected with one end of the small arm, and the second oil cylinder drives the small arm to rotate around the second pin shaft;
the gripper assembly with the other end of forearm passes through coupling assembling connects, wherein, coupling assembling includes: the connecting rod, the first motor driving part and the second motor driving part; the paw component is arranged on the connecting rod; the first motor driving part is used for driving the connecting rod to rotate around the center of the connecting rod; the second motor driving part is used for driving the connecting rod to rotate in the pitching direction.
2. The manipulator device used in the coal mine well according to claim 1, wherein the connection assembly further comprises: the connecting device comprises two oppositely arranged connecting plates and two first rotating shafts, wherein one ends of the two connecting plates are fixedly arranged on the connecting rod, the other ends of the two connecting plates are respectively connected with two side walls of the other end of the small arm through the two first rotating shafts in a shaft mode, and the other end of the small arm is located between the two connecting plates;
the first motor driving part includes: the first motor is arranged on the connecting rod, the output end of the first motor is connected with the input end of the first speed reducer through a shaft, and the output end of the first speed reducer is connected with the center of the connecting rod;
the second motor driving part includes: the second motor is arranged in a shell at the other end of the small arm, the output end of the second motor is connected with the input end of the second speed reducer through a shaft, the first synchronous belt wheel is sleeved on the output end of the second speed reducer, the first synchronous belt wheel is connected with the second synchronous belt wheel through the first synchronous belt, and the second synchronous belt wheel is sleeved on one end of the first rotating shaft at the same side.
3. The manipulator device used in the coal mine well according to claim 1, wherein the connection assembly further comprises: the two side walls of the quadrilateral connecting frame are in shaft connection with the other end of the small arm;
the first motor driving part includes: a third motor, a third synchronous pulley, a fourth synchronous pulley, a second synchronous belt, a second rotating shaft, a first bevel gear, a second bevel gear and a third reducer, wherein the third motor is arranged in the shell at the other end of the forearm, the third synchronous pulley is sleeved on the output end of the third motor, the third synchronous pulley is connected with the fourth synchronous pulley through the second synchronous belt, the fourth synchronous pulley is sleeved on one end of the second rotating shaft, the second rotating shaft penetrates through one side wall of the quadrilateral connecting frame, the first bevel gear is sleeved on the other end of the second rotating shaft, the first bevel gear is meshed with the second bevel gear, the first bevel gear and the second bevel gear are positioned on the inner side of the quadrilateral connecting frame, and the third reducer is arranged on the surface of the quadrilateral connecting frame opposite to the connecting rod, the input end of the third speed reducer penetrates through the surface, opposite to the connecting rod, of the quadrilateral connecting frame, the second bevel gear is sleeved on the input end of the third speed reducer, and the output end of the third speed reducer is connected with the center of the connecting rod;
the second motor driving part includes: the fourth motor is arranged in the shell of the other end of the small arm, the output end of the fourth motor is sleeved with the fifth synchronous belt wheel, the fifth synchronous belt wheel is connected with the sixth synchronous belt wheel through the third synchronous belt, the sixth synchronous belt wheel is sleeved on the input end of the fourth speed reducer, and the fourth speed reducer is arranged on the outer surface of the other side wall of the quadrilateral connecting frame.
4. The manipulator device for use in a coal mine well according to claim 1, further comprising: a hydraulic motor, a first gear and a second gear; the first gear and the second gear are located on the base, the first gear is sleeved on the output end of the hydraulic motor and meshed with the second gear, and one end of the supporting column is arranged on the second gear.
5. The manipulator device for use in coal mines as set forth in claim 4, further comprising: the third gear is positioned on the base and meshed with the second gear, and the sensor is arranged on the third gear.
6. The manipulator device for use in a coal mine well according to claim 1, further comprising: the fixed subassembly of first hydro-cylinder, the fixed subassembly of first hydro-cylinder includes: the support column comprises two first fixing plates, two first oil cylinder clamping plates, two first piston rod clamping plates and two first guide shafts, wherein the two first fixing plates are oppositely arranged, one ends of the first fixing plates are fixedly arranged on the side walls of the support column, cylinder ends of the first oil cylinders are located between the two first fixing plates, the cylinder ends of the first oil cylinders are connected with the other ends of the first fixing plates through shafts, the first oil cylinder clamping plates are connected to the cylinder barrel of the first oil cylinder in a clamped mode, the first piston rod clamping plates are connected to the piston rod of the first oil cylinder in a clamped mode, one end of each first guide shaft is connected to the corresponding first piston rod clamping plate, and the other end of each first guide shaft penetrates through the corresponding first oil cylinder clamping plate.
7. The manipulator device for use in coal mines as claimed in claim 1, wherein the large arm comprises: first big arm section and second big arm section, the one end of first big arm section with the other end coupling of support column, the other end of first big arm section is connected the one end of second big arm section, the other end of second big arm section with the one end coupling of forearm, first big arm section with contained angle between the second big arm section is the obtuse angle.
8. The manipulator device for use in coal mines as claimed in claim 7, further comprising: the fixed subassembly of second hydro-cylinder, the fixed subassembly of second hydro-cylinder includes: the hydraulic cylinder comprises a second oil cylinder clamping plate, a second piston rod clamping plate and a second guide shaft, wherein the cylinder barrel end of the second oil cylinder is connected with the other end of the first large arm section through a shaft, the second oil cylinder clamping plate is clamped on the cylinder barrel of the second oil cylinder, the second piston rod clamping plate is clamped on the piston rod of the second oil cylinder, one end of the second guide shaft is connected with the second piston rod clamping plate, and the other end of the second guide shaft penetrates through the second oil cylinder clamping plate.
9. The manipulator device for use in coal mines as claimed in claim 1, wherein the gripper assembly comprises: the third oil cylinder, the transmission rack, the two fourth gears, the two third rotating shafts and the two claw parts; the piston rod end of the third oil cylinder is connected with one end of the transmission rack, two opposite side faces of the transmission rack are provided with tooth parts, two fourth gears are symmetrically arranged on two sides of the transmission rack, each fourth gear is meshed with the corresponding tooth part on one side of the transmission rack, each third rotating shaft penetrates through each fourth gear, two ends of each third rotating shaft are connected with two side walls of one end of each claw part, and the claw parts are arranged oppositely.
10. The manipulator device for use in underground coal mine of claim 9, wherein the gripper assembly further comprises: two rubber plates, each of which is provided on a surface of each of the claw portions opposite to the other claw portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920999752.1U CN210210399U (en) | 2019-06-30 | 2019-06-30 | Mechanical arm device for underground coal mine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920999752.1U CN210210399U (en) | 2019-06-30 | 2019-06-30 | Mechanical arm device for underground coal mine |
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| CN210210399U true CN210210399U (en) | 2020-03-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202562A (en) * | 2019-06-30 | 2019-09-06 | 山西科达自控股份有限公司 | Robot device for underground coal mine |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202562A (en) * | 2019-06-30 | 2019-09-06 | 山西科达自控股份有限公司 | Robot device for underground coal mine |
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