CN212866122U - Be applicable to narrow and small space hoisting device for manipulator in pit - Google Patents

Abstract

The utility model discloses a be applicable to narrow and small space hoisting device for manipulator in pit, including fixing the backup pad on flexible arm, fixed U type stiffener in the backup pad, U type stiffener below is equipped with the scissors mechanism, the scissors mechanism includes two lists of scissors, be connected with the parallel bar between the node of two lists of scissors respectively, two scissors nodes of one of them side in scissors mechanism top articulate in the backup pad, two scissors nodes of the other side in scissors mechanism top articulate in U type stiffener and a parallel bar adjacent below this pin joint articulates with hydraulic cylinder flexible end, the cylinder bottom of hydraulic cylinder articulates in the backup pad, the scissors nodes of scissors mechanism lower extreme both sides all articulate in the grab bucket mechanism, this device can be applicable to narrow and small workspace in pit, can effectively improve the rigidity of hoisting system; when the grab bucket is lifted and lowered, the radial shaking caused by the operation can be effectively reduced.

Description

Be applicable to narrow and small space hoisting device for manipulator in pit

Technical Field

The utility model relates to a manipulator field in the pit, concretely relates to be applicable to narrow and small space hoisting device for manipulator in pit.

Background

The guniting support is the main part of mine rock roadway support, but in the process flow, because proper mechanical equipment is lacked, the spraying machine is mainly fed by manpower, the labor intensity is high, and the working efficiency is low. On the other hand, as underground excavation faces are dispersed and the space of a roadway is narrow, a ground stirring station is mostly adopted to prepare dry-mixed aggregate during the construction of the foundation, and then the dry-mixed aggregate is transported to each excavation face by a mine car.

Meanwhile, underground sump of coal mine and various slime water sedimentation tanks (pits) are important facilities for ensuring safe production and preventing mine flood. The underground water sump has severe working conditions, the water content in the sludge is large, the sludge is often changed into a semi-fluid state or a fluid state after being stirred, the traditional sump cleaning mode has high labor intensity, low working efficiency and long sump cleaning period, and the safety production is influenced. Therefore, the efficient dredging device for the mine sump has important practical significance for reducing the labor intensity of workers, improving the cleaning speed of the sump and the capability of the sump to resist flood disasters and ensuring the safe production of the mine.

SUMMERY OF THE UTILITY MODEL

In view of the technical deficiencies, the utility model aims to provide a lifting device for a mechanical arm suitable for a narrow space in a well, which is suitable for a narrow working space in a well and can effectively improve the rigidity of a lifting system; when the grab bucket is lifted and lowered, the radial shaking caused by the operation can be effectively reduced.

In order to solve the technical problem, the utility model adopts the following technical scheme:

the utility model provides a lifting device for a manipulator suitable for a narrow space under a well, which comprises a supporting plate fixed on the extending end of a telescopic arm, a U-shaped reinforcing frame is fixed on the supporting plate, a scissor fork mechanism is arranged below the U-shaped reinforcing frame, the scissor mechanism comprises two rows of scissor forks which are arranged in parallel and are symmetrical with each other, parallel rods are connected between the nodes of the two rows of scissor forks, the projection of the scissor mechanism in the vertical direction is positioned in the projection frame of the U-shaped reinforcing frame, two scissor nodes on one side of the top end of the scissor mechanism are hinged on the supporting plate, two scissor nodes on the other side of the top end of the scissor mechanism are hinged on the U-shaped reinforcing frame, and an adjacent parallel rod below the hinged point is hinged with the telescopic end of the hydraulic oil cylinder, the bottom of the hydraulic oil cylinder is hinged to the supporting plate, and the shearing fork nodes on two sides of the lower end of the shearing fork mechanism are hinged to the grab bucket mechanism.

Preferably, the hydraulic oil cylinder is hinged with the supporting plate through an oil cylinder bracket.

Preferably, the supporting plate is provided with a first ear plate, and the scissors mechanism is hinged to the first ear plate through a first pin.

Preferably, a second ear plate is arranged on the U-shaped reinforcing frame, and the scissors mechanism is hinged to the second ear plate through a second pin.

Preferably, a plurality of third ear plates are arranged on the grab bucket mechanism, and nodes on two sides of the lower end of the scissors mechanism are respectively hinged to the corresponding third ear plates through third pins.

The beneficial effects of the utility model reside in that: the device connects the telescopic arm with the grab bucket mechanism through the scissor fork, and provides lifting power through the hydraulic oil cylinder, so that the requirement of operation in a narrow space under a well is met, and the rigidity of a lifting system can be effectively improved; when the grab bucket is lifted and lowered, the radial shaking caused by the operation can be effectively reduced; the actual operation efficiency and accuracy are improved, and the service life of the manipulator working device is prolonged.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, 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 creative efforts.

Fig. 1 is a schematic structural view of a walking type material handling device suitable for a narrow space of a roadway according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an arm support system according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present invention.

Description of reference numerals:

1. a crawler traveling device; 1-2, a support oil cylinder; 2. a power system; 3. a hydraulic system; 4. a boom system; 41. a telescopic arm; 42. a base; 43. a support; 44. a cylinder support; 45. a large arm; 46. an oil cylinder; 47. a telescopic arm support; 48. a connecting rod; 411. a first shaft pin; 412. a second shaft pin; 5. a lifting mechanism; 51. a support plate; 52. a U-shaped reinforcing frame; 53. a first ear plate; 54. shearing a fork; 55. a parallel bar; 56. a third ear panel; 6. a grab bucket mechanism; 7. a swing mechanism; 8. a translation mechanism; 13. a slewing mechanism.

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 only some embodiments of the present invention, not all embodiments. 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.

As shown in fig. 1, a be applicable to narrow and small space hoisting device in pit for manipulator, the walking material handling device who is applicable to the narrow and small space in tunnel, this discharge apparatus is including the crawler running gear 1 that is equipped with the frame, the frame up end passes through 8 sliding connection automobile bodies of translation mechanism, the front end of automobile body is equipped with rotation mechanism 13, rotation mechanism 13 upper end is equipped with the cantilever crane system 4 that can vertical range and horizontal extension, the flexible end of level of cantilever crane system 4 passes through hoisting mechanism 5 and connects grab bucket mechanism 6, the rear end of automobile body is equipped with the hydraulic system 3 that provides power for crawler running gear 1, cantilever crane system 4, hoisting mechanism 5, grab bucket mechanism 6, rotation mechanism 7 and translation mechanism 8, still be equipped with power device 2 that provides kinetic energy for hydraulic system 3 on the automobile body.

Referring to fig. 2, the boom system 4 comprises a four-bar linkage system and a telescopic boom 41, the four-bar linkage system comprises a base 42, a bracket 43 is fixed on the base 42, a connecting rod 48, a large arm 45 and an oil cylinder 46 are respectively hinged at the upper end, the middle end and the lower end of the bracket 43 from left to right, a telescopic arm support 47 is fixed at the lower end of the bottom arm of the telescopic arm 41, the left side and the right side of the lower end of the telescopic arm support 47 are respectively hinged with a connecting rod 48 and a big arm 45, the connecting line of the hinge points at the two ends of the big arm 45 is parallel to the connecting line of the hinge points at the two ends of the connecting rod 48, the upper end of the big arm 45 is also hinged with the telescopic end of the oil cylinder 46, the connecting lines of the hinge points at the two ends of the oil cylinder 46 are parallel to the connecting lines of the hinge points at the two ends of the connecting rod 48, and the distance between the two hinge points of the bracket 43, the telescopic arm bracket 47 and the large arm 45 is the same as the distance between the hinge points at the two ends of the connecting rod 48.

Referring to fig. 3, the lifting mechanism 5 includes a support plate 51 fixed to the extended end of the telescopic arm 41, a U-shaped reinforcing frame 52 is fixed on the supporting plate 51, a scissor fork mechanism is arranged below the U-shaped reinforcing frame 52, the scissor mechanism comprises two rows of scissor forks 54 which are arranged in parallel and are symmetrical with each other, a parallel rod 55 is connected between the nodes of the two rows of scissor forks 54, the projection of the scissor mechanism in the vertical direction is positioned in the projection frame of the U-shaped reinforcing frame 52, two scissor nodes on one side of the top end of the scissor mechanism are hinged on the supporting plate 51, two scissor joints on the other side of the top end of the scissor mechanism are hinged on the U-shaped reinforcing frame 52, and an adjacent parallel rod 55 below the hinged joint is hinged with the telescopic end of the hydraulic oil cylinder 2, the bottom of the hydraulic oil cylinder 2 is hinged on the supporting plate 51, and the shearing fork nodes on two sides of the lower end of the shearing fork mechanism are hinged on the grab bucket mechanism 6.

The translation mechanism 8 comprises a linear guide rail fixed on the frame, a sliding block matched with the linear guide rail is fixed at the bottom of the vehicle body, a moving oil cylinder is hinged on the frame, and the extending end of the moving oil cylinder is hinged at the bottom of the vehicle body and controls the moving of the moving oil cylinder.

Two supporting oil cylinders are symmetrically arranged at the front end and the rear end of the frame respectively, and the supporting oil cylinders are connected with the oil circuit of the hydraulic system 3.

The working principle of the four-bar mechanism in the device is as follows: when no work is needed, the stroke of the oil cylinder 46 on the four-connecting-rod system is at the maximum, and the large arm 45 and the connecting rod 48 are vertical to the ground; when the coal slurry dredging operation is carried out, the height of the telescopic arm 41 needs to be reduced to the minimum so as to facilitate dredging of the water sump below the ground. At this time, the hydraulic system on the manipulator is adopted to drive the oil cylinder 46, so that the stroke of the oil cylinder 46 is reduced, the oil cylinder 46 drives the telescopic arm 41 to move downwards, the angle between the large arm 45 and the connecting rod 48 and the ground is gradually reduced under the drive of the telescopic arm 41, and the lengths of the large arm 45 and the connecting rod 48 are kept unchanged, so that two hinge points on the large arm 45, hinge points at two ends of the connecting rod 48 and four points always keep a parallelogram, and the telescopic arm 41 and the base 42 always keep a parallel. When the stroke of the oil cylinder 46 reaches the minimum, the telescopic arm 41 reaches the lowest position, and then the grab bucket mechanism 15 on the manipulator is lowered into the water sump below the ground through the lifting mechanism 14, so that the water sump can be dug. After the excavation operation is completed, the cylinder 46 is driven to increase its stroke, and the vehicle can return to the initial position.

When the material is taken, guniting aggregate (yellow sand and stones) is conveyed to a tunneling working surface by a mine car, then the device drives the crawler traveling device 1 through the power system 2 to enable the device to travel in a roadway, and when the device travels to a position parallel to the mine car, the device stops traveling. Then putting down the support oil cylinder 1-2 to ensure that the vehicle body is stable, and driving the slewing mechanism 13 to rotate through the hydraulic system 3 after the operation is started so as to enable the grab bucket mechanism 6 to be transported and rotated above the mine car; and then the arm support system 4 is extended to grab the materials through the grab bucket mechanism 6. After the material is grabbed, the grab bucket mechanism 5 is lifted by the lifting mechanism 5, the position of the grab bucket mechanism 5 is adjusted to the feeding port of the guniting machine through the swing mechanism 12 and the arm support system 4, and finally the grab bucket mechanism 6 is opened to send the material out, so that one-time operation is completed. After the materials are loaded and unloaded through multiple operations, the crawler traveling device 1 can move to the next working surface to perform the operation.

When the coal slime is dug, the device is firstly driven to the front of a sump, the mine car runs to be parallel to the device, then the supporting leg oil cylinders 1-2 are put down to keep the car body stable, and the four-connecting-rod system on the arm support system 4 is driven by the hydraulic system 3 to reduce the height of the telescopic arm 41 to the minimum; then simultaneously driving the translation mechanism 8 and the extension joints of the telescopic arms 41 to enable the grab bucket mechanism 6 to move forwards to be right above the water sump; and then, the coal slime grabbing part is completed by extending out and utilizing the grab bucket mechanism 6. After the coal grabbing is finished, the lifting mechanism 5 is contracted, and then the telescopic arm 41 is returned to the highest position by the four-connecting-rod system on the arm support system 4; and finally, driving the translation mechanism 8 to retreat and return, and the telescopic joint of the telescopic arm 41 to contract and retreat to enable the telescopic joint to recover to the initial position to be parallel to the mine car, driving the swing mechanism 13 to enable the grab bucket mechanism 5 to run right above the mine car, and then opening the grab bucket mechanism 6 to discharge coal slime to complete one-time operation. It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (5)

1. The utility model provides a be applicable to narrow and small space hoisting device for manipulator in pit which characterized in that: the telescopic fork mechanism comprises a supporting plate (51) fixed on the extending end of a telescopic arm (41), a U-shaped reinforcing frame (52) is fixed on the supporting plate (51), a scissor fork mechanism is arranged below the U-shaped reinforcing frame (52), the scissor fork mechanism comprises two rows of scissor forks (54) which are arranged in parallel and are mutually symmetrical, parallel rods (55) are connected between nodes of the two rows of scissor forks (54), the projection of the scissor fork mechanism in the vertical direction is positioned in a projection frame of the U-shaped reinforcing frame (52), two scissor fork nodes on one side of the top end of the scissor fork mechanism are hinged on the supporting plate (51), two scissor fork nodes on the other side of the top end of the scissor fork mechanism are hinged on the U-shaped reinforcing frame (52), a parallel rod (55) adjacent to the lower side of the hinged point is hinged with the telescopic end of a hydraulic oil cylinder (2), and the cylinder bottom of the hydraulic oil cylinder (2) is hinged on the, the shearing fork nodes on the two sides of the lower end of the shearing fork mechanism are hinged to the grab bucket mechanism (6).

2. The lifting device for the manipulator suitable for the narrow space in the pit of claim 1, characterized in that: the hydraulic oil cylinder (2) is hinged with the support plate (51) through an oil cylinder support.

3. The lifting device for the manipulator suitable for the narrow space in the pit of claim 1, characterized in that: the supporting plate (51) is provided with a first ear plate (53), and the scissors mechanism is hinged on the first ear plate (53) through a first pin.

4. The lifting device for the manipulator suitable for the narrow space in the pit of claim 1, characterized in that: and a second ear plate is arranged on the U-shaped reinforcing frame (52), and the scissors mechanism is hinged on the second ear plate through a second pin.

5. The lifting device for the manipulator suitable for the narrow space in the pit of claim 1, characterized in that: the grab bucket mechanism is provided with a plurality of third ear plates (56), and nodes on two sides of the lower end of the scissor fork mechanism are hinged to the corresponding third ear plates (56) through third pins respectively.

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