CN213502296U - Automatic hook picking system for mine car - Google Patents

Abstract

The utility model provides an automatic couple system of plucking of mine car, place tray and mine car including control system, track, trailer device, arm, three-ring chain, the track be a style of calligraphy setting, be provided with sensor and car arrester on the track, the sensor include sensor one and sensor two, the car arrester include car arrester one and car arrester two, sensor one, car arrester two and sensor two from left to right establish on the track in proper order. The utility model discloses the control system controls the manipulator and the trailer device to perform corresponding operations, and the transportation of the mine car in series is completed; the fixing of the mine car is realized by arranging a car arrester; realize moving the accurate of mine car and fix a position through the trailer device, replace manual operation through the arm and realize the cluster car and promote the transportation, to the cluster car processing of plucking the couple, it is safe high-efficient, effectively improve the cluster car process, improve the conveying efficiency of mine car to reduce cost.

Description

Automatic hook picking system for mine car

Technical Field

The utility model belongs to inclined shaft transportation control system field especially relates to an automatic couple system of plucking of mine car.

Background

When the inclined shaft is transported, the tandem mine car is required to be pushed to a designated position, the bolt of each vehicle of the tandem mine car is pulled out by an operator, the three-ring chain is adopted for connection, the three-ring chain is inserted into the collision head of the vehicle, the bolt is inserted into the collision head bolt seat and is rotationally locked, so that the mine car is reliably connected with the three-ring chain, the other end of the three-ring chain is inserted into the collision head of the other vehicle to be connected, and the bolt is inserted into the collision head for locking, so that the two sections of mine cars are connected together. And connecting the mine cars to be connected one by one, connecting the mine cars with the traction hook head car to complete the inter-car connection, informing a signaler to carry out dotting, and promoting the inter-car connection transportation. The operation process is completed by manpower of operators, the labor cost is high, the efficiency is low, and certain potential safety hazards exist.

SUMMERY OF THE UTILITY MODEL

In order to overcome the problems of high labor cost, low efficiency and certain potential safety hazard, the utility model provides an automatic hook picking and connecting system for a mine car, which is characterized in that a sensor is arranged on a track to detect the concrete position of the mine car on the track to be transmitted to a control system, and the control system controls a mechanical arm and a trailer device to perform corresponding operation to complete the series transportation of the mine car; the fixing of the mine car is realized by arranging a car arrester; realize moving the accurate of mine car and fix a position through the trailer device, replace manual operation through the arm and realize the cluster car and promote the transportation, to the cluster car processing of plucking the couple, it is safe high-efficient, effectively improve the cluster car process, improve the conveying efficiency of mine car to reduce cost.

The utility model adopts the technical proposal that:

an automatic hook picking system for a mine car comprises a control system, a rail, a trailer device, a mechanical arm, a three-ring chain placing tray and the mine car, wherein the rail is arranged in a straight shape, a sensor and a car arrester are arranged on the rail, the sensor comprises a first sensor and a second sensor, the car arrester comprises a first car arrester and a second car arrester, the first sensor, the first car arrester, the second car arrester and the second sensor are sequentially arranged on the rail from left to right, and a hook hanging or picking area is arranged between the first car arrester and the second car arrester; a right parking area is formed between the second car arrester and the second sensor; a left parking area is formed between the first car arrester and the first sensor;

the mechanical arm is arranged on one side of the track; the three-ring chain placing tray is placed at a preset position on one side of the mechanical arm along the track direction, and the mine car is arranged on the track; the sensor, the mechanical arm, the car arrester and the trailer device are all in electric signal connection with the control system; the trailer device is arranged below the track.

The first sensor, the first car arrester, the second car arrester and the second sensor are fixedly connected with the track in a clamping mode.

The mechanical arm is provided with a gripper; the mechanical arm comprises a mechanical arm integral base support, a grabbing chain mechanical arm and a grabbing pin mechanical arm, wherein the grabbing chain mechanical arm and the grabbing pin mechanical arm are both arranged on the mechanical arm integral base support, and the mechanical arm is integrally positioned outside the track.

The front tail end of the grabbing pin mechanical arm is provided with two grippers which comprise a fixed gripper and a movable gripper, the fixed gripper is fixed on the grabbing pin mechanical arm, and the movable gripper can integrally move in the direction of increasing and decreasing the distance between the two grippers.

The front tail end of the chain grabbing mechanical arm is provided with three grippers, the three grippers comprise a middle gripper and two side grippers arranged on two sides of the middle gripper respectively, the middle gripper can rotate +/-90 degrees, the two side grippers are U-shaped, and a U-shaped opening can be opened and closed.

The mine car be a plurality of, and the head and the tail of every mine car all is provided with coupling assembling.

The connecting assembly comprises a bolt seat, a bolt, a three-ring chain and a collision head; the collision head and the bolt seat are fixedly connected with the mine car; the bolt seat is arranged at the upper end of the collision head; the bolt is arranged in the bolt seat; the three-ring chain is arranged between the two bolt seats through bolts.

The utility model has the advantages that:

the automatic picking and hooking system for the inclined shaft transportation mine car of the utility model detects the concrete position of the mine car on the track to be transmitted to the control system by arranging the sensor on the track, and the control system controls the mechanical arm and the trailer device to carry out corresponding operation, thus finishing the transportation of the mine car in series; the fixing of the mine car is realized by arranging a car arrester; realize moving the accurate of mine car and fix a position through the trailer device, replace manual operation through the arm and realize the cluster car and promote the transportation, to the cluster car processing of plucking the couple, it is safe high-efficient, effectively improve the cluster car process, improve the conveying efficiency of mine car to reduce cost.

The following will be further described with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic view of the structure of the automatic hook-picking system of the inclined shaft transportation mine car of the present invention.

FIG. 2 is a side view of the tramcar of the present invention in a cross-car state.

FIG. 3 is a schematic view of the connecting assembly of the mine car of the present invention.

Fig. 4 is a schematic view of a front-end gripper of a gripper chain mechanical arm.

Fig. 5 is a schematic view of the front end gripper of the gripper arm.

Wherein 1, a track; 2. the mechanical arm integral base support; 3. a three-link chain placing tray 3; 4. a second sensor; 5. a second car arrester; 6. a first car arrester; 7. a first sensor; 8. fixing the hand grip; 9. moving the handle 10 and the bolt; 11. a bolt seat; 12. a tricyclic chain; 13. bumping head; 14. a connecting assembly; 15. a mine car; 16. a chain grabbing mechanical arm; 17. a pin grabbing mechanical arm; 18. a trailer device; 19. a middle gripper; 20. and hand grips on two sides.

Detailed Description

Example 1:

in order to overcome the problems of high labor cost, low efficiency and certain potential safety hazard in the prior art, the utility model provides an automatic hook picking and connecting system for a mine car as shown in figures 1-5, the utility model detects the concrete position of the mine car on a track to be transmitted to a control system by arranging a sensor on the track, and the control system controls a mechanical arm and a trailer device to carry out corresponding operation, thereby completing the transportation of the mine car in series; the fixing of the mine car is realized by arranging a car arrester; realize moving the accurate of mine car and fix a position through the trailer device, replace manual operation through the arm and realize the cluster car and promote the transportation, to the cluster car processing of plucking the couple, it is safe high-efficient, effectively improve the cluster car process, improve the conveying efficiency of mine car to reduce cost.

An automatic hook picking system for a mine car comprises a control system, a track 1, a trailer device 18, a mechanical arm, a three-ring chain placing tray 3 and the mine car 15, wherein the track 1 is arranged in a straight shape, a sensor and a car arrester are arranged on the track 1, the sensor comprises a sensor I7 and a sensor II 4, the car arrester comprises a car arrester I6 and a car arrester II 5, the sensor I7, the car arrester I6, the car arrester II 5 and the sensor II 4 are sequentially arranged on the track 1 from left to right, and a hook hanging or picking area is arranged between the car arrester I6 and the car arrester II 5; a right parking area is formed between the second car arrester 5 and the second sensor 4; a left parking area is formed between the car arrester I6 and the sensor I7;

the mechanical arm is arranged on one side of the track 1; the three-ring chain placing tray 3 is placed at a preset position on one side of the mechanical arm along the direction of the track 1, and the mine car 15 is arranged on the track 1; the sensor, the mechanical arm, the car arrester and the trailer device 18 are all in electric signal connection with the control system; the trailer device 18 is arranged below the track 1.

The utility model discloses a set up the sensor on track 1 and detect the concrete position transmission of mine car 15 on track 1 to control system, control system control manipulator and trailer device 18 carry out corresponding operation, accomplish the transport of getting together of mine car 15; the fixing of the mine car is realized by arranging a car arrester; realize through trailer device 18 accurate removal and the location to the mine car, replace manual operation through the arm and realize the cluster car and promote the transportation, to the cluster car processing of plucking the couple, it is safe high-efficient, effectively improve the cluster car process, improve the conveying efficiency of mine car to reduce cost.

The middle trailer device 18 of the utility model at least comprises a driving mechanism, a trailer body and a clamping mechanism, wherein the driving mechanism is connected with the trailer body through chain transmission, and the driving mechanism drives the trailer body to move; the clamping mechanism is arranged on the trailer body and comprises a gripper and a control gripper, wherein the gripper is opened and closed. The driving mechanism is a driving motor. The driving mechanism and the trailer body can also adopt a pulley to match with a steel wire rope to realize the movement of the trailer body.

The utility model has the purpose of replacing underground workers to complete the work, automatically unhooking the series mine car and disconnecting the series mine car, and hooking the series mine car to perform the operation of connecting the series mine car to the vehicle; the utility model discloses reducible manpower is participated in, is improved work efficiency, is avoided the occurence of failure that human misoperation caused, promotes the security in the pit in the colliery.

Example 2:

based on embodiment 1, in this embodiment, preferably, the first sensor 7, the first car arrester 6, the second car arrester 5, and the second sensor 4 are fixedly connected to the track 1 in a clamping manner.

Preferably, the mechanical arm is provided with a gripper; the mechanical arm comprises an integral mechanical arm base support 2, a chain grabbing mechanical arm 16 and a pin grabbing mechanical arm 17, wherein the chain grabbing mechanical arm 16 and the pin grabbing mechanical arm 17 are both arranged on the integral mechanical arm base support 2, and the mechanical arm is integrally positioned on the outer side of the track 1.

Preferably, as shown in fig. 5, the front end of the gripper mechanical arm 17 is provided with two grippers including a fixed gripper 8 and a movable gripper 9, the fixed gripper 8 is fixed on the gripper mechanical arm 17, and the movable gripper 9 can move along the direction of increasing and decreasing the distance between the two grippers as a whole.

Preferably, as shown in fig. 4, the front end of the chain grabbing mechanical arm 16 is provided with three grippers, including a middle gripper 19 and two side grippers 20 respectively arranged at two sides of the middle gripper 19, the middle gripper 19 can rotate ± 90 °, the two side grippers 20 are U-shaped, and the U-shaped opening can be opened and closed.

Preferably, the mine car 15 is provided in plurality, and the connecting assembly is arranged at the head and the tail of each mine car 15.

Preferably, the connecting assembly comprises a bolt seat 11, a bolt 10, a three-ring chain 12 and a collision head 13; the collision head 13 and the bolt seat 11 are fixedly connected with the mine car 15; the bolt seat 11 is arranged at the upper end of the collision head 13; the bolt 10 is arranged in the bolt seat 11; the through bolt 10 of the three-link chain 12 is arranged between two bolt seats 11.

An automatic hooking and unhooking method for a mine car comprises the following specific steps: the control system controls the machine arm and the trailer device 18 to operate, and the series transportation of the mine cars 15 is completed; the mine car 15 is fixed by arranging a car arrester in the process of the train crossing; carrying out the operation of stringing and positioning the mine cars 15 through the trailer device 18; and finally, carrying out hook picking processing on the tandem through a mechanical arm.

In the utility model, the control system is the prior art, the control system is used for realizing the function of receiving the sensor signal, identifying the running direction of the mine car 15 and the entering of the mine car into a left or right parking area; controlling the corresponding car arrester to open and close; controls the trailer mechanism 18 and the robotic arm to initiate a hook/unhook operation. The track 1 is in a straight shape; the track 1 is provided with a sensor and a car arrester. The two sensors and the two car stoppers on the track 1 in the utility model are a sensor II 4, a car stopper II 5, a car stopper I6 and a sensor I7 in turn from right to left along the figure 1; a hook hanging or picking area is arranged between the first car arrester 6 and the second car arrester 5; a right parking area is formed between the second car arrester 5 and the second sensor 4; and a left parking area is formed between the first car arrester 6 and the first sensor 7. The front end of the grabbing pin mechanical arm 17 is provided with two grabs, wherein the position of one fixed grabs 8 is fixed relative to the grabbing pin mechanical arm 17, and the other movable grabs 9 can move along the direction of increasing and decreasing the distance between the two grabs. The chain grabbing mechanical arm 16 and the grabbing pin mechanical arm 17 are fixed on the mechanical arm integral base support 2, the mechanical arm is integrally arranged on the outer side of the track 1, and the middle vertical line of the connecting line of the midpoints of the first car arrester 6 and the second car arrester 5 is arranged.

As shown in figures 2 and 3, the mine cars 15 are provided with connecting assemblies 14 at the ends and the three-link chain 12 adopts an MT-244.1-2005-coal mine narrow-gauge vehicle connecting piece. In the implementation, the car arrester adopts ZZC1000, and the sensor adopts GS-20 ZD.

In specific implementation, the mechanical arm is arranged on one side of the wall of the roadway of the non-swing parking place and is 2 meters away from the center of the track 1; when the double tracks are used, the guide rail of the mechanical arm can move close to the track (which is convenient for the hook picking operation of the other track) to be in an initial state, namely that the car arrester is completely in a closed state. In the present embodiment, as shown in fig. 2 and 3, the pin seat three-link chain is inserted to a height H1; the inserting pin seat three-ring chain is inserted into the space by the depth S1; the maximum outer length LS1 of the three-link chain 12; the distance L between two mine cars is LS1 (mm); the distance L1 between the center of the bolt 10 and the mine car is equal to the distance between the diameter of the bolt hole/2 + the edge of the hole and the end of the mine car 15; the distance L2 between the center of the rear bolt of the mine car and the front edge of the mine car is equal to the length of the carriage of the mine car plus L1; the distance L3 between the center of the three-ring chain 12 and the front edge of the mine car is equal to the length of the mine car body + L/2; the height L4 of the mine car bolt seat is H1/2+320 mm; the height L5 of the mine car bolt ring from the track surface is equal to the bolt length +320 mm; the hook-off operation reference position L6 is (length of mine car + distance between two cars L) the number of mine cars before the operation position;

when the lifting transportation is needed, the electric locomotive is started to push the mine car 15 to be pushed in, the sensor II 4 detects the information of the mine car 15, the control system sends out a warning signal 'please slow down and park' after receiving the signal of the sensor II 4, a driver controls parking to place the car in a parking area, and the electric locomotive is withdrawn.

After the control system detects the signal of the second sensor 4, the control system analyzes and judges that the locomotive leaves (if the operator pushes the cart in, the signal is not available), and the control system controls the second car arrester 5 to be opened.

The trailer device 18 moves to move 2 meters towards the parking area, the clamping mechanism of the trailer device 18 moves the hand grip to the position of the No. 1 tramcar, when the hand grip touches the roller shaft of the No. 1 tramcar, the hand grip clamps the roller shaft of the No. 1 tramcar, the trailer device 18 drags the tramcar 15, drags the tramcar to the direction of the first 6 tramcar stoppers, and when the tramcar reaches the first 6 tramcar stoppers, the position information is memorized; the gripper of the trailer device loosens the roller shaft of the No. 1 tramcar, the clamping mechanism of the trailer device 18 moves, when the gripper of the trailer device reaches the roller shaft position of the No. 2 tramcar, the gripper of the trailer device clamps the roller shaft of the No. 2 tramcar, the gripper of the trailer device moves in the direction of the No. 1 tramcar, the movement is stopped to keep a distance when the gripper moves to the distance of the No. 1 tramcar L, at the moment, a perpendicular line from the whole center of the mechanical arm to a track 1 just passes through the position L3 (namely, the midpoint of a three-ring chain after installation), the position of the No. 1 tramcar at the moment is defined as a front car pick-up zero position, the position of the No. 2 tramcar is defined as a rear car pick-up zero position, the fixed gripper 8 and the movable gripper 9 which are moved to the gripper mechanical arm 17 are respectively positioned right above the No. 1 tramcar and the No. 2 pin shaft, the height of the, the height of H1 is pulled upwards, after the three-ring chain is pulled out to the proper position, the chain grabbing mechanical arm 16 grabs the three-ring chain 12 from the three-ring chain placing tray 3, rotates to the horizontal state (the included angle is 45 degrees with the track direction, and the distance space of S1 is required to be formed between the chain grabbing mechanical arm and the mine car), extends to the track center position, is the height from the track surface L4 to the track surface L5, and the position is defined as the working zero position of the chain grabbing mechanical arm (at the moment, the three-ring chain 12 is in the correct installation position, namely, two bolts just pin two ends of the three-ring chain 12 after being inserted), two grippers of the pin grabbing mechanical arm 17 are respectively inserted downwards into the bolt H1 in depth, after the chain grabbing mechanical arm is inserted to the proper position, rotates clockwise 90 degrees, after the chain grabbing mechanical arm is rotated to the proper position, the two grippers of the pin grabbing mechanical arm 17 release the bolts, the orientations of the grippers are respectively kept unchanged, the grippers of the trailer device 18 release, dragging the connected No. 1 and No. 2 mine cars to the No. 2 mine car left at the position of the zero position for detaching and attaching the front car, and finishing No. 3, No. 4 and No. 5 mine cars in sequence, when the holding mechanism of the trailer device 18 moves to the end of the slide way (20 meters) and does not touch the mine car 15 in the process, analyzing and considering that the number of the series cars is finished, namely determining the number of the running vehicles at this time and the maximum five mine cars 15.

After all the mine cars are strung together, the last mine car roller shaft on the right side is clamped by a hand grip of the trailer device, the whole tramcar is dragged rightwards, when the No. 1 mine car reaches the back picking and hanging zero position, dragging is stopped, the grabbing pin mechanical arm 17 moves from the picking and hanging operation reference position to the position of L2, the grabbing pin ring is grabbed at the distance of the height of the rail plane L5, the tramcar rotates anticlockwise for 90 degrees, the height of H1 is upwards pulled out, after the tramcar is pulled out to the place, the grabbing chain mechanical arm 16 is placed (fixed) from the roadway traction steel wire rope hook head to grab the traction steel wire rope hook head, the grabbing pin mechanical arm 17 is downwards inserted into the depth of the bolt H1 after moving to the work zero position, after the tramcar is inserted to the place, the tramcar rotates clockwise for 90 degrees, after the tramcar is rotated to. After the grabbing pin mechanical arm 17 moves to the zero working position of the grabbing pin mechanical arm, the pin shaft in front of the No. 1 mine car is grabbed and rotates 90 degrees anticlockwise, the height of the bolt H1 is upwards pulled out, after the bolt is pulled out in place, the grabbing chain mechanical arm 16 is placed (fixed) from a roadway safety rope hook head, after the safety rope hook head is grabbed, after the grabbing chain mechanical arm 16 moves to the zero working position of the grabbing chain mechanical arm, the bolt mechanical arm is downwards inserted into the depth of the bolt H1, after the bolt mechanical arm is inserted in place, the bolt is rotated 90 degrees clockwise, after the bolt mechanical arm rotates in place, the bolt mechanical arm loosens.

The chain grabbing mechanical arm 16 holds the safety rope along the hook head of the safety rope, the height of the safety rope is raised upwards by 1.5 meters, the center of the track is kept, the holding mechanism of the trailer device 18 moves to the No. 1 tramcar and clamps the roller shaft of the tramcar, the whole tandem tramcar is dragged leftwards by the distance of the number of the tandem tramcars (the length of the tramcar plus L) -L, and after the traction is in place, the chain grabbing mechanical arm 16 loosens the safety rope and withdraws the mechanical arm.

And after the mechanical arm is retracted, sending an opening control command of a first car arrester 6, keeping an opening state after the car arrester is opened in place, sending a dotting downlink (or uplink) signal, forwarding the lifting signal according to the regulation after the lifting signal is received, operating a winch and enabling the car to descend.

After the mine car is transported in place, the mine car 15 enters from the left side, the sensor I7 detects information, the control system sends a parking signal and simultaneously sends a first car arrester 6 control opening command, the opening is in place and kept, the mine car enters a picking and hooking area to park, the control system delays 5S (adjustable) according to the signal I7 to control the car arrester to be closed, and the second car arrester 5 keeps a closed state.

The left mine car is a No. 1 mine car, and the rightmost mine car is a No. 5 mine car; a gripping device of the trailer device clamps a No. 5 mine car roller shaft at the rightmost side, and pulls the whole tandem car rightwards to a No. 1 mine car which is at a rear car pick-up zero position; after the chain grabbing mechanical arm 16 moves to the chain grabbing mechanical arm work zero position, the safety rope hook head is grabbed by the tongs, the chain grabbing mechanical arm 17 moves to the pin grabbing mechanical arm work zero position, the bolt is grabbed to rotate 90 degrees anticlockwise, the height of the bolt H1 is upwards pulled out, after the bolt is pulled out in place, the chain grabbing mechanical arm 16 is retracted, the safety rope hook head is hung on a placing point and automatically returns to the coordinate zero point, the pin grabbing mechanical arm 17 is downwards inserted into the depth of the bolt H1, after the bolt is inserted in place, the bolt is clockwise rotated 90 degrees, after the bolt is rotated to place, the bolt is loosened by the pin grabbing mechanical arm 18.

After the chain grabbing mechanical arm 16 moves to the chain grabbing mechanical arm work zero position, the gripper grabs the steel wire rope hook head, the chain grabbing mechanical arm 17 moves to the chain grabbing mechanical arm work zero position, the gripper pin rotates 90 degrees anticlockwise, the height of the gripper pin H1 is upwards extracted, after the gripper pin is extracted in place, the chain grabbing mechanical arm 16 retracts to hang the steel wire rope hook head on a placing point and automatically returns to the coordinate zero point, the gripper pin mechanical arm 17 is downwards inserted into the depth of the gripper pin H1, after the gripper pin mechanical arm is inserted in place, the gripper pin rotates 90 degrees clockwise, and after the gripper pin mechanical arm 17 rotates to place, the gripper pin mechanical arm 17.

A holding mechanism of the trailer device 18 moves to the rightmost No. 5 tramcar, a gripper of the trailer device clamps a roller shaft of the No. 5 tramcar, and the tandem tramcar is integrally dragged rightwards to the state that the No. 5 tramcar is in a rear tramcar pick-up zero position;

the chain grabbing mechanical arm 16 moves to the working zero point of the chain grabbing mechanical arm, grabs the three-ring chain, after the grabbing is finished, the chain grabbing mechanical arm moves to the working zero point of the chain grabbing mechanical arm, grabs the pin ring, rotates 90 degrees anticlockwise, pulls the height of H1 upwards, after the grabbing is in place, the chain grabbing mechanical arm 16 takes out the three-ring chain 12 and puts the three-ring chain into a three-ring chain placing tray 3, the pin grabbing mechanical arm 17 is inserted downwards into the depth of the pin H1, after the pin grabbing mechanical arm is inserted into the place, rotates 90 degrees clockwise, after the pin grabbing mechanical arm rotates to the place, the pin grabbing mechanical arm 17 releases the pin and returns to the coordinate zero point, the trailer device 18 drags the No. 5 mine car to move to a mine car parking area (10 meters) in the winch direction, releases the hand grab, moves to the No. 4 mine car to the maximum, the hand; the unhooking among the No. 3, No. 2 and No. 1 mine cars is completed in sequence. And the control system sends a control command to control the second car arrester 5 to close and open the first car arrester 6.

The fixing of the mine car is realized by arranging a car arrester; realize through trailer device 18 accurate removal and the location to the mine car, replace manual operation through the arm and realize the cluster car and promote the transportation, to the cluster car processing of plucking the couple, it is safe high-efficient, effectively improve the cluster car process, improve the conveying efficiency of mine car to reduce cost.

The above examples are merely illustrations of the present invention, and do not constitute limitations to the scope of the present invention, and all designs identical or similar to the present invention belong to the scope of the present invention. The device structure and the method steps not described in detail in the present invention are prior art, and no further explanation will be given in the present invention.

Claims (7)

1. The utility model provides an automatic couple system of plucking of mine car which characterized in that: the device comprises a control system, a track (1), a trailer device (18), a mechanical arm, a three-ring chain placing tray (3) and a mine car (15), wherein the track (1) is arranged in a straight line shape, a sensor and a car arrester are arranged on the track (1), the sensor comprises a first sensor (7) and a second sensor (4), the car arrester comprises a first car arrester (6) and a second car arrester (5), the first sensor (7), the first car arrester (6), the second car arrester (5) and the second sensor (4) are sequentially arranged on the track (1) from left to right, and a hook hanging or picking area is arranged between the first car arrester (6) and the second car arrester (5); a right parking area is formed between the second car arrester (5) and the second sensor (4); a left parking area is formed between the first car arrester (6) and the first sensor (7);

the mechanical arm is arranged on one side of the track (1); the three-ring chain placing tray (3) is placed at a preset position on one side of the mechanical arm along the direction of the track (1), and the mine car (15) is arranged on the track (1); the sensor, the mechanical arm, the car arrester and the trailer device (18) are all in electric signal connection with the control system; the trailer device (18) is arranged below the track (1).

2. The automatic unhooking system for mine cars of claim 1, characterized in that: the sensor I (7), the car arrester I (6), the car arrester II (5) and the sensor II (4) are fixedly connected with the track (1) in a clamping mode.

3. The automatic unhooking system for mine cars of claim 1, characterized in that: the mechanical arm is provided with a gripper; the mechanical arm comprises a mechanical arm integral base support (2), a chain grabbing mechanical arm (16) and a pin grabbing mechanical arm (17), wherein the chain grabbing mechanical arm (16) and the pin grabbing mechanical arm (17) are arranged on the mechanical arm integral base support (2), and the mechanical arm is integrally positioned on the outer side of the track (1).

4. The automatic unhooking system for mine cars of claim 3, characterized in that: the front tail end of the grabbing pin mechanical arm (17) is provided with two grippers which comprise a fixed gripper (8) and a movable gripper (9), the fixed gripper (8) is fixed on the grabbing pin mechanical arm (17), and the movable gripper (9) can integrally move along the direction of increasing and decreasing the distance between the two grippers.

5. The automatic unhooking system for mine cars of claim 3, characterized in that: the front tail end of the chain grabbing mechanical arm (16) is provided with three grippers, the chain grabbing mechanical arm comprises a middle gripper (19) and two side grippers (20) respectively arranged on two sides of the middle gripper (19), the middle gripper (19) can rotate +/-90 degrees, the two side grippers (20) are U-shaped, and a U-shaped opening can be opened and closed.

6. The automatic unhooking system for mine cars of claim 1, characterized in that: the mine cars (15) are multiple, and the head and the tail of each mine car (15) are provided with connecting assemblies.

7. The automatic unhooking system for mine cars of claim 6, wherein: the connecting assembly comprises a bolt seat (11), a bolt (10), a three-ring chain (12) and a collision head (13); the collision head (13) and the bolt seat (11) are fixedly connected with the mine car (15); the bolt seat (11) is arranged at the upper end of the collision head (13); the bolt (10) is arranged in the bolt seat (11); the three-ring chain (12) is arranged between the two bolt seats (11) through bolts (10).

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