CN217735484U

CN217735484U - Underground mine ingate mechanical arm cart device

Info

Publication number: CN217735484U
Application number: CN202222130401.1U
Authority: CN
Inventors: 梁林; 王少宾; 孙旭; 田博龙; 任学福; 侯伟
Original assignee: Xi'an Engineering Investigation & Design Institute Of China National Nonferrous Metals Industry Co ltd
Current assignee: Xi'an Engineering Investigation & Design Institute Of China National Nonferrous Metals Industry Co ltd
Priority date: 2022-08-15
Filing date: 2022-08-15
Publication date: 2022-11-04
Anticipated expiration: 2032-08-15

Abstract

The utility model discloses a horsehead door mechanical arm cart device for an underground mine, which comprises a mechanical arm; the mechanical arm is connected with the mechanical arm track in a sliding manner through a roller, a gear and a rack on a chassis of the mechanical arm; the mechanical arm track is fixed above a roadway of the ingate; the mechanical arm is fixedly connected with the mine car through a mechanical arm; the mine car is positioned on the mine car track; and the tramcar track and the cage are overlapped through a cradle. The utility model provides an artifical shallow inefficiency, the mine car derail back lean on artifical the reset scheduling problem that wastes time and energy that exists among the prior art.

Description

Underground mine bridle door mechanical arm cart device

Technical Field

The utility model belongs to the technical field of mining machinery, a mine bridle door arm shallow device in underground is related to.

Background

In many small colored underground mines, the mining efficiency is mainly influenced by the lifting efficiency, the lifting modes are mostly cages, skips and inclined shaft mine car sets, wherein the cage lifting is the lifting mode adopted by the colored underground mines the most, the cage lifting people, mine cars and materials are adopted, most of the mines with the speed and the capacity are close to the upper limit value of the national standard, but the intermittent time occupies a large proportion, the gap time is mainly used for loading and unloading the cages in the lifting process, a few of the mines adopt car pushers for loading and unloading the mine cars, the flow is complicated, the existing car pushers can only push the mine cars onto the cages but cannot unload the mine cars from the cages, and the mine cars are easy to be pushed to derail due to loose connection, the speed is slower than that of manpower, the efficiency is low, the ribs have functions, therefore most of the mines adopt manual pushers, the manual pushers are limited in manpower and the accuracy of lifting equipment is low, the problem that the manual work cannot push the cages again due to large parking errors occurs, the efficiency is often low, and the production progress is influenced; because of the track wearing and tearing, can take place the mine car derail occasionally, traditional relies on the manpower crow bar to reset and takes trouble hard.

Disclosure of Invention

In order to achieve the purpose, the utility model provides an underground mine horse head door arm pusher gear has solved the artifical shallow inefficiency that exists among the prior art, mine car derail back and leans on artifical the reset scheduling problem that wastes time and energy.

In order to solve the technical problem, the technical scheme adopted by the utility model is that the mechanical arm pushing device of the horsehead door of the underground mine comprises a mechanical arm; the mechanical arm is connected with the mechanical arm track in a sliding manner through a roller, a gear and a rack on a chassis of the mechanical arm; the mechanical arm track is fixed above a roadway of the ingate; the mechanical arm is fixedly connected with the mine car through a mechanical arm; the mine car is positioned on the mine car track; and the tramcar track and the cage are overlapped through a cradle.

Furthermore, the mechanical arm track is composed of channel steel, and a rack is fixedly mounted on one side of the mechanical arm track; the gear is fixedly connected with the output end of the speed reducer; the input end of the speed reducer is fixedly connected with the motor; the motor is fixed below the chassis of the mechanical arm; the gear is meshed with the rack.

Furthermore, the mechanical arm further comprises a primary arm, a secondary arm and a mechanical arm; the primary arm and the chassis as well as the secondary arm are rotationally connected through a hydraulic motor; the manipulator is fixed in the end of the secondary arm.

Further, the manipulator comprises a support frame; the support frame is fixed at the tail end of the secondary arm, the hydraulic cylinder is fixed in the support frame, and the hydraulic rod is positioned in the hydraulic cylinder; one end of the support rod is rotatably connected to the tail end of the hydraulic rod, and the other end of the support rod is rotatably connected to the clamping jaw; the number of the supporting rods is consistent with that of the clamping jaws; the clamping jaw is rotatably connected to the support frame.

Furthermore, the mechanical arm further comprises a heavy object lifting hook, and the heavy object lifting hook is connected with the chassis through an electric hoist.

The utility model has the advantages that:

1. the intermittent time for lifting the cage is shortened, and the lifting efficiency is improved;

2. the working strength of workers is reduced, and industrial accidents are reduced;

3. the problems of inaccurate alignment of the tanks, easy clamping of the mine car, derailment and the like are solved through one device.

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 view of the overall structure of the cart device according to the embodiment of the present invention.

Fig. 2 is a schematic structural view of a manipulator according to an embodiment of the present invention.

Fig. 3 is a schematic view of a robot arm and a track according to an embodiment of the present invention.

Fig. 4 is a structure diagram of a rack and pinion according to an embodiment of the present invention.

Fig. 5 is a schematic view of a mechanical arm and a mechanical arm rail connection according to an embodiment of the present invention.

FIG. 6 is a schematic view of a robot-gripping mining car according to an embodiment of the present invention.

Fig. 7 is a schematic structural view of a robot arm according to an embodiment of the present invention.

In the figure, 1, a mechanical arm, 2, a mechanical arm rail, 3, a mine car, 4, a mine car rail, 5, a cage, 6, a cradle, 101, a chassis, 102, a weight lifting hook, 103, a primary arm, 104, a secondary arm, 105, a mechanical arm, 106, a hydraulic motor, 107, a gear, 108, a rack, 109, an electric motor, 110, a speed reducer, 1051, a supporting frame, 1052, a hydraulic cylinder, 1053, a hydraulic rod, 1054, a supporting rod and 1055, a clamping jaw.

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.

The utility model provides an underground mine horse head door arm pusher gear, as shown in fig. 1, including arm 1, arm track 2, mine car 3, mine car track 4, cage 5, cage 6. The utility model discloses a double track hangs (arm track 2) installation arm 1 at horse head door top, and arm 1 can be through chassis 101 back-and-forth movement on arm track 2 and around chassis 101 rotation, possess 2 sections and lean on hydraulic motor to provide the arm of power and a terminal manipulator 105. In the use, can clip the border or the handle of mine car 3, carry out the push-and-pull action to accomplish 3 loading and unloading to cage 5 of mine car, can show and promote shallow speed, can be overcome by the strength of arm 1 because of the artifical inaccurate error to the jar simultaneously, thereby reduce the shallow time promptly, reduce again to jar time, raise the efficiency by a wide margin shortens the intermittent type time, has good economic benefits to the mine enterprise.

In some embodiments, the robot arm 1 comprises a chassis 101, a weight lifting hook 102, a primary arm 103, a secondary arm 104 and a manipulator 105, as shown in fig. 7, wherein the arms are connected with a low-speed and high-torque hydraulic motor 106 through bearings and powered by the hydraulic motor; the manipulator 105 performs a gripping and releasing operation by means of the expansion and contraction of a small hydraulic device, and the structure thereof is shown in fig. 2; the primary arm 103 is rotatably connected with the chassis 101 and provides rotating power through a hydraulic motor 106, and the primary arm 103 can freely rotate on the chassis 101 under the action of the hydraulic motor 106; the primary arm 103 and the secondary arm 104 are rotatably connected through a hydraulic motor 106 and can rotate within +/-90 degrees, and all parts are matched together to complete various horsehead door operation tasks. In this embodiment, as shown in fig. 2, the manipulator 105 includes a support frame 1051, a hydraulic cylinder 1052, a hydraulic rod 1053, a support rod 1054, and a clamping jaw 1055, the support frame 1051 is fixed at the end of the secondary arm 104, the hydraulic cylinder 1052 is fixed inside the support frame 1051, the hydraulic rod 1053 is located in the hydraulic cylinder 1052, and the extension and retraction of the hydraulic rod 1053 are controlled by hydraulic pressure; one end of a supporting rod 1054 is rotatably connected with the tail end of the hydraulic rod 1053, and the other end of the supporting rod 1054 is rotatably connected with a clamping jaw 1055; the number of the supporting rods 1054 is the same as that of the clamping jaws 1055, and the number of the supporting rods 1054 is 2; the clamping jaw 1055 is rotatably connected to the support frame 1051; the manipulator 105 controls the hydraulic rod 1053 to extend and retract through the hydraulic cylinder 1052, and then drives the supporting rod 1054 to control the clamping of the clamping jaw 1055.

In some embodiments, the robot arm 1 further comprises a weight lifting hook 102, and the weight lifting hook 102 is fixed below the chassis 101 by an electric hoist. Since the manipulator 105 is difficult to lift the full-load mine car alone under the condition of keeping balance when the mine car 3 is derailed, the mine cars need to be lifted together by the aid of the heavy lifting hook 102; while the weight lifting hook 102 may also lift other downhole materials. In this embodiment, the weight lifting hook 102 is controlled to ascend and descend by an electric hoist.

In some embodiments, the robot track 2 is formed of a channel steel and has a rack 108 mounted on one side for movement by a gear 107 on the chassis 101 for horizontal movement of the robot 1 in the direction of the roadway at the top end of the adit. As shown in figure 3, the mechanical arm track 2 is fixed above the roadway through a C-shaped buckle plate and an anchor rod, and can be installed in a gantry supporting column mode if the mine car 3 is too heavy or has poor geological conditions. The gear 107 is fixedly connected with the output end of the reducer 110; the input end of the reducer 110 is fixedly connected with the motor 109; the motor 109 fixed below the chassis 101 drives the reducer 110 to further drive the gear 107, the gear 107 is engaged with the rack 108 fixed beside the mechanical arm track 2 to move back and forth, and the lower part of the chassis 101 is rotatably connected with the mechanical arm track 2 through 8 wheels to facilitate movement, and the structure of the mechanism is shown in fig. 4 and 5.

In this embodiment, the cradle 6 is a means for overlapping the cage 5 and the ingate tramway 4, making up for the gap and the height difference.

In some embodiments, the manipulator 105 may be adapted for various types of mine cars 3, and for handled, may be pushed and pulled by a gripping handle (see FIG. 6); the non-handholds may be pushed and pulled by gripping the car arms of the mine car with compliant rubber clamps on the manipulators 105.

In some embodiments, the cage 5 is single and double-decked and is used to pull empty cars 3 down the well and to lift full cars 3 up the well and to take care of the lifting of people and materials.

The utility model discloses a shallow process flow does:

001: the system self-check is completed, the empty mine car 3 is confirmed to be in the waiting area, and no dangerous factors exist in the working range;

002: the system receives an arrival instruction of the cage 5, confirms that the full-load tramcar 3 arrives, and waits for the cage 5 to open the safety door when the mechanical arm 1 goes to the wellhead along with the mechanical arm track 2;

003: the safety door is opened, the mechanical arm 1 clamps a full-load mine car 3, and the full-load mine car 3 is pulled to a waiting area parallel to the waiting area of the empty mine car 3;

004: the empty car 3 is pulled into the cage 5 by the mechanical arm 1, the safety door is locked, and the cage 5 descends;

005: the mechanical arm 1 finishes the automatic unloading of the full-load mine car 3 at the unloading point at the descending stage of the cage 5 and is pulled back to the waiting area;

006: and entering a standby mode and waiting for the next operation cycle.

The utility model discloses a 3 process flows of derail reset mine car:

001: remotely moving the mechanical arm 1 to the derailed mine car 3 to perform derailed reset operation;

002: the mine car 3 is lifted by clamping the heavy object lifting hook 102 and the mechanical arm 1, and is put down after being aligned with the mechanical arm track 2;

003: the reset operation is completed.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. The horsehead door mechanical arm cart device for the underground mine is characterized by comprising a mechanical arm (1); the mechanical arm (1) is in sliding connection with the mechanical arm track (2) through a roller, a gear (107) and a rack (108) on a chassis (101) of the mechanical arm (1); the mechanical arm track (2) is fixed above a roadway of the ingate; the mechanical arm (1) is fixedly connected with the mine car (3) through a mechanical arm (105); the mine car (3) is positioned on the mine car track (4); the tramcar track (4) and the cage (5) are overlapped through a cradle (6).

2. The underground mine horsehead mechanical arm cart device according to claim 1, characterized in that the mechanical arm track (2) is made of channel steel, and a rack (108) is fixedly mounted on one side of the mechanical arm track (2); the gear (107) is fixedly connected with the output end of the speed reducer (110); the input end of the speed reducer (110) is fixedly connected with the motor (109); the motor (109) is fixed below the chassis (101) of the mechanical arm (1); the gear (107) is meshed with the rack (108).

3. The underground mine horsehead mechanical arm cart device according to claim 1, characterized in that the mechanical arm (1) further comprises a primary arm (103), a secondary arm (104) and a mechanical arm (105); the primary arm (103) is rotationally connected with the chassis (101), and the primary arm (103) is rotationally connected with the secondary arm (104) through a hydraulic motor (106); a manipulator (105) is fixed to the end of the secondary arm (104).

4. An underground mine horsehead door mechanical arm trolley apparatus as claimed in claim 1 or claim 3, wherein the manipulator (105) comprises a support frame (1051); the support frame (1051) is fixed at the tail end of the secondary arm (104), the hydraulic cylinder (1052) is fixed inside the support frame (1051), and the hydraulic rod (1053) is positioned in the hydraulic cylinder (1052); one end of the supporting rod (1054) is rotatably connected with the tail end of the hydraulic rod (1053), and the other end of the supporting rod (1054) is rotatably connected with the clamping jaw (1055); the number of the supporting rods (1054) is the same as that of the clamping jaws (1055); the clamping jaw (1055) is rotatably connected to the supporting frame (1051).

5. The underground mine horsehead mechanical arm cart device according to claim 1 or 3, characterized in that the mechanical arm (1) further comprises a weight lifting hook (102), and the weight lifting hook (102) is connected with the chassis (101) through an electric hoist.