CN218862612U - A slag removal device suitable for treating blasting residues in sloped tunnels - Google Patents

Abstract

The utility model discloses a take off sediment device suitable for handle slope tunnel blasting residue. The slag removing machine comprises a slag removing actuating mechanism, a mechanical arm main body, a base mechanism, a guide rail system and a winch; the slag-raking executing mechanism is connected with the mechanical arm main body through a connecting rod, the mechanical arm main body is installed on the base mechanism, the base mechanism moves on the guide rail system through wheels, the specially-made guide rail system is laid in the gradient tunnel, and the winch is placed on a flat ground outside the gradient tunnel and is connected with the base mechanism through the traction rope. The utility model discloses a take off sediment device has the multi-angle, and multi-control, advantage that factor of safety is high.

Description

A slag removal device suitable for treating blasting residues in sloped tunnels

technical field

The utility model relates to a device for treating residues in tunnels in the field of inclined shaft construction projects, in particular to a slag removal device suitable for processing blasting residues in sloped tunnels.

Background technique

In many fields such as railway construction, highway construction, mineral collection, pumped storage, etc., tunneling and inclined shaft operations will be required. And these operations are often very dangerous. Uncertain factors such as gravel after blasting have great hidden dangers to the collapse of the mine, the opening of the tunnel, and the secondary operations of later personnel. At present, blasting residues such as gravel are basically handled manually, which will easily cause personal safety problems for construction workers, and if the tunnel collapses accidentally, everything will come to naught.

Utility model content

In order to deal with the problem that gravel etc. existing after tunnel blasting are easy to fall and cause danger to the lives of construction workers, the utility model provides a slag removal device suitable for processing blasting residues in sloped tunnels, which can replace manual processing of tunnel blasting residues It helps to reduce potential safety hazards of personnel and unnecessary property losses, and ensures the safety of construction. It has the advantages of multi-angle, multi-control, and high safety factor.

For realizing above-mentioned object, the technical scheme that the utility model adopts is:

The utility model comprises a slag-removing actuator, a main body of a mechanical arm, a base mechanism, a guide rail system and a hoist; The wheels move on the guide rail system, and the special guide rail system is laid in the slope tunnel, and the winch is placed on the flat ground outside the slope tunnel and connected to the base mechanism through a traction rope.

The guide rail system is mainly composed of a fixed horizontal plate and a U-shaped guide rail fixed on the fixed horizontal plate. The wheels move in the U-shaped guide rail, and the U-shaped guide rail is evenly spaced along the direction of its own guide rail. Movement limit hole.

The base mechanism is mainly composed of a base tray, a wheel connecting frame, and a base connecting frame. The annular base tray is arranged on the guide rail system, and the base tray is provided with base connecting frames along both sides and front and rear sides of the guide rail system; the bases on both sides are connected The frame is also equipped with a wheel connecting frame, and the wheel is installed on the wheel connecting frame. Install a limit hole recognizer on the base connecting frame at the moving device.

The brake device is mainly composed of a brake housing, a spring control device, a spring and a brake lever. The brake housing is fixed on the base connecting frame, a spring is installed in the brake housing, and the inner end of the brake lever is controlled by the spring. The device is connected with the spring, and the outer end moves through the base connecting frame to be inserted into the stopper hole of the U-shaped guide rail of the guide rail system.

The wheel includes a "plum blossom" type brake control connector, a control motor and a control connection outer groove wheel disc; The control connector is connected with the coaxial connection of the outer groove wheel wheel.

The main body of the mechanical arm is mainly composed of a turntable, a mechanical connecting arm and a support arm. The turntable is located at the bottom, and a rotating motor is installed in the middle of the turntable. The output shaft of the rotating motor is connected to the frame below the turntable; A support arm is hingedly installed, and the output shaft of the motor is connected to the lower end of the support arm through a drive turntable to drive the support arm to rotate. A stepper motor is installed on the upper end of the support arm, and the output shaft of the stepper motor is fixedly connected to one end of the mechanical connection arm through a connecting rod. At the same time, the end of the mechanical connecting arm is connected to the upper end of the hydraulic push rod, the lower end of the hydraulic pushing rod is connected to the turntable, and the other end of the mechanical connecting arm is connected to the slag removal actuator.

The slag removal actuator includes a stepper motor, a connecting rod, a hydraulic limit lever, a limit hole, a detachable tray and a slag removal shovel; the stepper motor is installed at the end of the mechanical connection arm of the main body of the mechanical arm, and the The output shaft is fixedly connected with the slag-removing shell through the connecting rod. There is a rotary motor inside the slag-removing shell. A ring-shaped detachable tray is set on the lower part of the slag-removing shell. The rotary motor is connected to the detachable tray. The detachable tray passes through the rotary motor Driven to rotate around the outer circumference of the slag-removing shell, the lower end of the detachable tray is fixedly connected to the slag-removing shovel; the outer wall of the slag-removing shell is equipped with a telescopic movable hydraulic limit rod, and the detachable tray is provided with multiple limit positions at intervals along the circumference The lower end of the hydraulic limit rod stretches into or out of the limit hole telescopically and movably.

The utility model usually adopts the laying track and uses the hoist traction machinery to carry out the construction work during the construction of the slope inclined shaft. When dealing with the blasting residues, a large number of workers are usually required to deal with the blasting residues, so serious personal safety hazards are generated, and the efficiency Low; or the existence of explosive residues caused damage to construction machinery and resulted in safety losses.

Using multi-stepping motors for mechanical control improves the movement speed of the mechanical arm, improves the mechanical efficiency, and reduces the personal safety hazards that are easily caused by manual operation;

The turntable is used to control the mechanical arm, which changes the limitation of the degree of freedom of the traditional mechanical arm, increases the range of motion, and removes the explosive residue more efficiently;

Multiple limit holes are used to limit the movement of the slag shovel at the required angle to prevent unnecessary accidents caused by operating errors caused by excessively flexible degrees of freedom. Therefore, this limit hole is used to assist the slag shovel to perform operate;

The single cable traction machinery of the hoist is easy to break, so the device adopts a multi-brake limit system, and the limit device can help the device stop in the target area to facilitate work, and can also assist in controlling the mechanical brake in case of accidents, reducing property loss.

The beneficial effect of the utility model is that the construction efficiency can be greatly improved by using machinery instead of labor, and at the same time, the harm to the life safety of construction personnel caused by falling rocks can be avoided, and the property loss of the construction party can be reduced.

The device of the utility model can effectively use the slag shovel to process residues from different angles, and at the same time, the built-in braking system greatly improves the safety factor, and there are multiple motors to control the movement, which can greatly increase the efficiency, and the hydraulic control device Reduced arm locking due to large movements.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

Fig. 1 is a schematic diagram of a device for treating blasting residues in sloped tunnels according to an exemplary embodiment.

Fig. 2 is a schematic diagram of a slag removal actuator according to an exemplary embodiment.

Fig. 3 is a schematic diagram of a main body of a robotic arm according to an exemplary embodiment.

Fig. 4 is a schematic bottom view of the main body of the robotic arm according to an exemplary embodiment.

Fig. 5 is a schematic diagram of a base according to an exemplary embodiment.

Fig. 6 is a schematic diagram of a braking device according to an exemplary embodiment.

Fig. 7 is a schematic diagram of a wheel according to an exemplary embodiment.

Fig. 8 is a schematic rear view of the base according to an exemplary embodiment.

Fig. 9 is a schematic diagram of a guide rail system according to an exemplary embodiment.

The markings in the figure are:

1. Slag removal actuator: 1-1. stepping motor; 1-2. connecting rod; 1-3. hydraulic limit rod; 1-4. limit hole; 1-5. detachable tray; 1-6 . Slag removal shovel.

2. Main body of the mechanical arm: 2-1. Hydraulic push rod; 2-2. Motor; 2-3. Drive turntable; 2-4. Stepper motor; 2-5. Connecting rod; 2-6. Hydraulic control valve; 2-7. Mechanical connecting arm; 2-8. Turntable; 2-9. Hoist connecting hole; 2-10. Rotating motor.

3. Base mechanism: 3-1. Base tray; 3-2. Brake device; 3-2-1. Spring control device; 3-2-2. Spring; 3-2-3. Brake lever; 3- 3. Limit hole identifier; 3-4. Wheel connection truss; 3-5. Base connection truss; 3-6. Wheel; 3-6-1. "Plum blossom" type brake control connector; 3-6- 2. Control motor; 3-6-3. Control and connect outer groove wheel wheel; 3-6-4. Bearing, 3-7. Hoist connection hole.

4. Guide rail system: 4-1. Brake limit hole; 4-2. U-shaped guide rail; 4-3. Fixed horizontal plate.

Detailed ways

Now in conjunction with accompanying drawing, the utility model is described in further detail. These drawings are all simplified schematic diagrams, and only illustrate the basic structure of the utility model in a schematic way, so only the configurations related to the utility model are shown.

As shown in Figure 1, the device includes a slag removal actuator 1, a main body of the mechanical arm 2, a base mechanism 3, a guide rail system 4 and a hoist; On the base mechanism 3, the base mechanism 3 moves on the guide rail of the guide rail system 4 through the wheels. The special guide rail system 4 is laid on the upper side of the slope tunnel, and the hoist is placed on the flat ground outside the slope tunnel to connect the base mechanism 3 through a traction rope.

As shown in Figure 9, the special guide rail system 4 is mainly composed of a fixed horizontal plate 4-3 and a U-shaped guide rail 4-2 fixed on the fixed horizontal plate 4-3, and the wheels 3-6 are located in the U-shaped guide rail 4-2 To move, the U-shaped guide rail 4-2 is evenly spaced along the direction of its own guide rail to offer a plurality of brake limit holes 4-1 for braking, and the brake limit holes 4-1 are used as a brake guarantee.

As shown in Figure 5, the base mechanism 3 is mainly composed of a base tray 3-1, a wheel connecting frame 3-4, and a base connecting frame 3-5. -1 The both sides and the front and rear sides of the guide rail system 4 are provided with base connecting frames 3-5; the wheel connecting frames 3-4 are also installed on the base connecting frames 3-5 on both sides, Wheel 3-6, wheel 3-6 is positioned on the U-shaped guide rail 4-2 of guide rail system 4; On the base connecting frame 3-5 of front and rear side, brake device 3-2 is also installed, and brake device 3-2 is used for Connected to the guide rail system 4 to form a brake, a limit hole recognizer 3-3 is installed on the base connecting frame 3-5 at the brake device 3-2, and the limit hole recognizer 3-3 is used to detect whether to move to the guide rail system 4 at the brake limit hole 4-1.

The wheel connecting frame 3-4 is rigidly connected between the base connecting frame 3-5, and the base connecting frame 3-5 and the base tray 3-1 are connected by a card slot, wherein the limit hole identifier 3-3 It is rigidly installed on the base connecting frame 3-5, and whether there is a limit hole is determined by identifying the material signal to help the device brake.

As shown in Figure 6, the brake device 3-2 is mainly composed of a brake housing, a spring control device 3-2-1, a spring 3-2-2 and a brake lever 3-2-3, and the brake housing is fixed on the base On the connecting frame 3-5, spring 3-2-2 is installed in the brake housing, and the inner end of brake lever 3-2-3 is connected with spring 3-2-2 through spring control device 3-2-1, and the outer After the end moves through the base connecting frame 3-5, it is used to be inserted into the braking limit hole 4-1 of the U-shaped guide rail 4-2 of the guide rail system 4.

The spring control device 3-2-1 has a two-stage structure, the latter part is rigidly connected to the shell, which is a hollow structure, and if the signal needs to be braked, the former part will protrude and be nested outside the spring 3- 2-2 will pop up due to the force of compression, and the brake lever 3-2-3 connected with it is stretched out into the brake limit hole 4-1 to complete the braking of the device.

As shown in Figure 7, the wheel 3-6 includes a "plum blossom" type brake control connector 3-6-1, a control motor 3-6-2 and a control connection outer groove wheel disc 3-6-3; the control motor One end of 3-6-2 is installed and connected to the wheel connecting frame 3-4 through the shaft 3-6-4, and the output shaft of the control motor 3-6-2 is controlled by the "plum blossom" type brake control connector 3-6-1. Connect the outer groove roulette 3-6-3 coaxial connection of the roulette.

Simultaneously, when emergency braking is needed in case of an emergency, there is also a braking system in the wheels 3-6 which can alleviate this problem to a certain extent, wherein the "plum blossom" type braking control connector 3-6-1 is formed by its The connected control motor 3-6-2 is controlled, and the "plum blossom" type brake control connector 3-6-1 rotates with the wheel when it is not working. When a signal is encountered, the connected motor 3-6-2 controls it , "Plum Blossom" type brake control connector 3-6-1 is locked, and the connected outer groove wheel disc 3-6-3 is controlled to stop at the same time, and the entire wheel 3-6 is stopped to achieve the purpose of emergency braking, and at the same time It is also a protective device that the winch can be connected with the connecting hole 3-7 on the base pallet.

As shown in FIG. 8 , the base tray 3-1 is also provided with a hoist connection hole 3-7 for tying a traction rope.

As shown in Figures 3 and 4, the main body of the mechanical arm 2 is mainly composed of a turntable 2-8, a mechanical connecting arm 2-7 and a support arm. The turntable 2-8 is located at the bottom, and a rotating motor 2-8 is installed in the middle of the turntable 2-8. 10. The output shaft of the rotary motor 2-10 is connected to the frame below the turntable 2-8; the motor 2-1 is installed on the turntable 2-8, and the support arm is hingedly installed on the turntable 2-8, and the output shaft of the motor 2-1 The drive turntable 2-3 is connected to the lower end of the support arm to drive the support arm to rotate. The upper end of the support arm is equipped with a stepper motor 2-4, and the output shaft of the stepper motor 2-4 is connected to the mechanical connection arm 2- 7 is fixedly connected, and at the same time, this end of the mechanical connecting arm 2-7 is connected to the upper end of the hydraulic push rod 2-1, and the lower end of the hydraulic push rod 2-1 is connected to the turntable 2-8, and the mechanical connecting arm 2-7 is connected to the hydraulic push rod 2-1. A hydraulic control valve 2-6 is arranged between the push rods 2-1, and the other end of the mechanical connecting arm 2-7 is connected with the slag removal actuator 1.

The side of the turntable 2-8 is also provided with a hoist connection hole 2-9 for tying the traction rope.

At the same time, the hydraulic push rod 2-1 and the hydraulic control valve 2-7 control the rotation of the mechanical connecting arm 2-7 around the connecting rod 2-5, and the stepper motor 2-4 simultaneously controls the movement of the mechanical connecting arm 2-7 through the connecting rod. Rotational movement, multi-position control ensures its movement efficiency and increases the ability to prevent failure. The motor 2-3 is connected with the driving turntable 2-3 through a small bearing to control the activity of the main body. There is a turntable 2-8 at its bottom. Rotary motor 2-10 can control its rotation, to realize the activity of different directions. The main body is composed of multiple hollow structures connected by connecting rods, which can reduce its own load, make the whole machine light enough, and the movable space is also large enough, while reducing costs.

As shown in Figure 2, the slag removal actuator 1 includes a stepping motor 1-1, a connecting rod 1-2, a hydraulic limit rod 1-3, a limit hole 1-4, a detachable tray 1-5 and a slag removal shovel 1-6; the stepping motor 1-1 is installed at the end of the mechanical connecting arm 2-7 of the main body 2 of the mechanical arm, and the output shaft of the stepping motor 1-1 is fixedly connected with the slag-removing shell through the connecting rod 1-2, and the slag-removing There is a rotary motor inside the shell, and the lower part of the slag-removing shell is provided with a ring-shaped detachable tray 1-5. The rotary motor is connected to the detachable tray 1-5, and the detachable tray 1-5 is driven by the rotary motor to wind around the slag-picking shell. The outer periphery of the body rotates, and the lower end of the detachable tray 1-5 is fixedly connected with the slag scraper 1-6; the outer wall of the slag scraper housing is equipped with a telescopic movable hydraulic limit rod 1-3, and the detachable tray 1-5 moves along the circumference. A plurality of limit holes 1-4 are provided at intervals, and the lower end of the hydraulic limit rod 1-3 is telescopically moved into or out of the limit holes 1-4.

The blasting residues in the tunnel are taken and transported by slag removal shovels 1-6.

The stepper motor 1-1 drives the connecting rod control mechanism 1 to move at different angles in the positive direction, and the hydraulic limit rod 1-3 controls the front telescopic rod through its internal hydraulic system to enter the limit hole 1-4 pair of detachable trays 1-5 to limit the position, and the limit hole is set for every 30°. At the same time, the built-in motor of the detachable tray 1-5 can drive it to rotate at different angles to meet the different working scenarios of the slag shovel 1-6 It is connected with the slag shovel in the form of a card slot, which is convenient for changing the type and size of different slag shovels in different situations, and realizes the diversity of functions.

The working principle process of the present utility model is as follows:

As shown in Figures 1 and 4, the turntable 2-8 rotates under the drive of the rotating motor 2-10 to control the multi-faceted operation of the entire mechanical arm, and the motor 2-2 drives the driving turntable 2-3 to drive the main body of the mechanical arm in different positions. Angle activities, to complete the work requirements, under the drive of the stepper motor 2-4 and the hydraulic push rod 2-1, the mechanical connecting arm 2-7 can be moved to control the slag removal actuator 1 under the stepper motor 1-1 The slag is removed under the driving, and the detachable tray 1-4 is limited to different angles by the hydraulic limit rod 1-3 in response to different angles, and then the target work is completed by the slag removal shovel 1-6.

The braking system consists of three parts,

The first part is made up of brake device 3-2, mainly by the brake hole recognizer 3-3 transmission signal to the spring control device 3-2-1 to control the spring 3-2-2 to push the limit rod 3-2-3 to extend into the limit hole 4-1 to achieve braking;

The second part is composed of wheels 3-6, mainly by the motor 3-6-2 to limit the rotation of the plum blossom type brake control connector 3-6-1 to limit the rotation of the wheels 3-6 to control the wheel locking;

The third part mainly realizes safety braking from the ground by the winch connecting the connecting hole 3-7 of the winch through the traction rope. The required slag removal process can be completed, which can effectively replace manual labor and reduce uncertain factors.

The above is only the preferred implementation of the present utility model, it should be pointed out that: under the premise of not departing from the working principle of the present utility model, improvements and refinements can also be made, and these improvements and refinements should also be regarded as the embodiment of the present utility model. protected range.

Claims (7)

1. A slag removal device suitable for treating blasting residues in sloped tunnels, characterized in that it includes a slag removal actuator (1), a mechanical arm main body (2), a base mechanism (3), a guide rail system (4) and a hoist The slag removal executive mechanism (1) is connected with the main body of the mechanical arm (2) through a connecting rod, the main body of the mechanical arm (2) is installed on the base mechanism (3), and the base mechanism (3) is placed on the guide rail system ( 4) moving up, the guide rail system (4) is laid in the slope tunnel, and the winch is placed on the flat ground outside the slope tunnel and connected to the base mechanism (3) by a traction rope. 2. A slag removal device suitable for treating blasting residues in sloped tunnels according to claim 1, characterized in that: the guide rail system (4) is mainly composed of a fixed horizontal plate (4-3) and a fixed horizontal plate (4-3). U-shaped guide rail (4-2) on the board (4-3), the wheel (3-6) moves in the U-shaped guide rail (4-2), and the U-shaped guide rail (4-2) is spaced along the direction of its own guide rail A plurality of braking limit holes (4-1) for braking are uniformly provided. 3. A slag removal device suitable for treating blasting residues in sloped tunnels according to claim 1, characterized in that: the base mechanism (3) is mainly composed of a base tray (3-1), a wheel connecting frame (3 -4), the base connecting frame (3-5), the annular base tray (3-1) is arranged on the guide rail system (4), and the base tray (3-1) is along the two sides and the front and rear sides of the guide rail system (4) All are provided with base connecting frame (3-5); Wheel connecting frame (3-4) is also installed on the base connecting frame (3-5) of both sides, and wheel (3-4) is installed on the wheel connecting frame (3-4). 6), the wheels (3-6) are located on the guide rail system (4); the brake device (3-2) is also installed on the base connecting frame (3-5) of the front and rear sides, and the brake device (3-2) is used to When being connected to the guide rail system (4) to form a brake, a limit hole recognizer (3-3) is installed on the base connecting frame (3-5) at the brake device (3-2) place. 4. A slag removal device suitable for treating blasting residues in sloped tunnels according to claim 3, characterized in that: the brake device (3-2) is mainly composed of a brake housing, a spring control device (3 -2-1), spring (3-2-2) and brake lever (3-2-3), the brake shell is fixed on the base connecting frame (3-5), and the spring ( 3-2-2), the inner end of the brake lever (3-2-3) is connected by the spring control device (3-2-1) and the spring (3-2-2), and the outer end moves through the base connecting frame (3-5) is used to be inserted in the brake limiting hole (4-1) of the U-shaped guide rail (4-2) of the guide rail system (4) behind. 5. A slag removal device suitable for treating blasting residues in sloped tunnels according to claim 3, characterized in that: said wheels (3-6) include "plum blossom" type brake control connectors (3- 6-1), the control motor (3-6-2) and the control connection outer groove wheel disc (3-6-3); one end of the control motor (3-6-2) passes through the shaft (3-6-4) Installed and connected to the wheel connecting frame (3-4), the output shaft of the control motor (3-6-2) is connected to the outer grooved wheel disc through the "plum blossom" type brake control connector (3-6-1) and the control wheel (3-6-3) Coaxial connection. 6. A slag removal device suitable for treating blasting residues in sloped tunnels according to claim 1, characterized in that: the main body (2) of the mechanical arm is mainly composed of a turntable (2-8), a mechanical connecting arm (2 -7) and a support arm, the turntable (2-8) is located at the bottom, and the rotary motor (2-10) is installed in the middle of the turntable (2-8), the output shaft of the rotary motor (2-10) and the turntable (2-8 ) below the frame connection; the turntable (2-8) is equipped with a motor (2-2), and a support arm is hingedly installed on the turntable (2-8), and the output shaft of the motor (2-2) passes through the drive turntable (2 -3) Connect with the lower end of the support arm to drive the support arm to rotate, the upper end of the support arm is equipped with a stepper motor 2 (2-4), and the output shaft of the stepper motor 2 (2-4) passes through the connecting rod 2 (2-5) It is fixedly connected to one end of the mechanical connecting arm (2-7), and at the same time, this end of the mechanical connecting arm (2-7) is connected to the upper end of the hydraulic push rod (2-1), and the lower end of the hydraulic push rod (2-1) is connected to To the turntable (2-8), the other end of the mechanical connection arm (2-7) is connected with the slag removal actuator (1). 7. A slag removal device suitable for treating blasting residues in sloped tunnels according to claim 1, characterized in that: the slag removal actuator (1) includes a stepping motor (1-1), a connection Rod one (1-2), hydraulic limit rod (1-3), limit hole (1-4), detachable tray (1-5) and slag scraper (1-6); stepping motor one ( 1-1) Installed at the end of the mechanical connecting arm (2-7) of the main body of the mechanical arm (2), the output shaft of the stepping motor 1 (1-1) is fixed through the connecting rod 1 (1-2) and the slag removal housing connection, the slag removal housing is provided with a rotary motor, and the lower part of the slag removal housing is provided with an annular detachable tray (1-5). The rotary motor is connected to the detachable tray (1-5), and the detachable tray (1-5 ) is driven by a rotary motor to rotate around the outer circumference of the slag removal shell, and the lower end of the detachable tray (1-5) is fixedly connected to the slag removal shovel (1-6); (1-3), the detachable tray (1-5) is provided with a plurality of limit holes (1-4) at intervals along the circumference, and the lower end of the hydraulic limit rod (1-3) can be stretched and moved in or out In the limit hole (1-4).

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