CN218907364U

CN218907364U - Track turning system of mining unit support transfer robot

Info

Publication number: CN218907364U
Application number: CN202223303894.0U
Authority: CN
Inventors: 张定堂; 杨文明; 李宗杰; 马亚辉; 刘磊; 李帅; 黄莹
Original assignee: Pingdingshan Silian Industry And Trade Co ltd; Zhengzhou Coal Mining Machinery Group Co Ltd
Current assignee: Pingdingshan Silian Industry And Trade Co ltd; Zhengzhou Coal Mining Machinery Group Co Ltd
Priority date: 2022-12-09
Filing date: 2022-12-09
Publication date: 2023-04-25
Anticipated expiration: 2032-12-09

Abstract

The utility model provides a track turning system of a mining unit support transfer robot, which belongs to the technical field of mining unit support transfer, and comprises a transfer robot, wherein the middle part of the transfer robot is concave and used for bearing a unit support; the walking parts are rotatably arranged at two ends of the carrying robot and positioned at two sides of the concave part, and are used for driving the carrying robot to move; the vehicle can be better attached to the underground rugged road surface of a coal mine, can realize the short-distance transportation in the unit support under the condition of no track of the advanced section of the high gas mine crossheading, is another effective mode for transporting the unit support except for a winch and a single track crane, can also transport other equipment and bulk heavy objects meeting the size requirement, is arranged at the two ends of the transporting robot through the travelling part, and can reduce the cover degree of the transporting robot for lifting the unit support, thereby reducing the requirement on the height of a roadway and improving the applicability of the roadway.

Description

Track turning system of mining unit support transfer robot

Technical Field

The utility model belongs to the technical field of mining unit support carrying, and particularly relates to a track turning system of a mining unit support carrying robot.

Background

The mining unit support carrying robot can realize short-distance carrying in the unit support in the state of no track of the advanced section of the high gas mine crossheading, is another effective mode for carrying the unit support except for a winch and a monorail crane, and can also transport other equipment and bulk weights meeting the size requirements. Besides the high efficiency of unit bracket carrying, the safety and reliability of the walking part of the unit bracket carrying robot are also key factors for realizing the high-efficiency operation of the whole machine, and the obstacle crossing performance, the climbing performance and the turning performance are also the key factors.

The unit bracket carrier track structures are all in a straight track integral structure, as shown in figure 1. The unit bracket is placed on the vehicle body to be higher, so that the requirement on the height of the roadway is higher, and the use of the thin coal seam roadway is inconvenient.

Disclosure of Invention

The utility model aims to provide a track turning system of a mining unit support transfer robot, and aims to solve the problems that in the prior art, the unit support is higher in height when placed on a vehicle body, the requirement on the height of a roadway is higher, and the use of a thin coal seam roadway is inconvenient.

In order to achieve the above purpose, the present utility model provides the following technical solutions: a mining unit rack transfer robot track turning system comprising: the middle part of the carrying robot is concave and is used for bearing the unit bracket;

the walking parts are rotatably arranged at two ends of the transfer robot and positioned at two sides of the concave part and used for driving the transfer robot to move.

According to the further technical scheme, the walking component comprises a left crawler belt and a right crawler belt, the left crawler belt and the right crawler belt are both arranged on a crawler belt installation platform, and the crawler belt installation platform is arranged at the bottom of the carrying robot through a rotary driving device.

According to a further technical scheme, the left crawler belt and the right crawler belt are arranged on the crawler belt installation platform through crawler belt fixing pins, so that the crawler belts can swing up and down.

According to a further technical scheme, a lifting component for lifting the transfer robot upwards is arranged between the slewing driving device and the crawler installation platform.

According to a further technical scheme, the lifting component comprises a lifting base arranged on a crawler installation platform, a lifting platform which slides up and down in the lifting base is arranged in the lifting base, at least two adjusting clamping holes are formed in the lifting platform, and a bolt which can be clamped in the clamping holes is arranged on the lifting base.

According to a further technical scheme, the left crawler belt and the right crawler belt are respectively provided with a walking motor which is driven independently, and the walking motors can drive the corresponding crawler belts to walk and run.

According to a further technical scheme, tensioning oil cylinders for tensioning the tracks are arranged on the left track and the right track.

According to a further technical scheme of the utility model, the slewing drive device is mounted on the conveying robot through screws.

Compared with the prior art, the utility model has the beneficial effects that:

the track turning system of the mining unit support transfer robot can be better attached to the rugged pavement in the coal mine, short-distance transfer in the unit support under the condition of no track of the advanced section of the high gas mine crossheading can be realized, the track turning system is another effective mode for transferring the unit support except for a winch and a monorail crane, other equipment and bulk weights meeting the size requirements can be transferred by the vehicle, the cover degree of the transfer robot for lifting the unit support can be reduced by the traveling parts arranged at the two ends of the transfer robot, the requirement on the height of a roadway can be reduced, and the applicability of the roadway is improved.

Drawings

The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:

FIG. 1 is a schematic diagram of a prior art structure according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of an embodiment of the present utility model;

FIG. 3 is a schematic view of the structure of the walking member in the embodiment of the present utility model;

FIG. 4 is a schematic view of a lifting member according to an embodiment of the present utility model;

FIG. 5 is a schematic view showing the horizontal state of the components of the routine for implementing the present utility model

FIG. 6 is a schematic view showing the structure of the climbing state of the walking member according to the embodiment of the present utility model

FIG. 7 is a schematic view showing the turning state of the routine walking member in the embodiment of the present utility model

Fig. 8 is a schematic structural diagram of a control system according to an embodiment of the present utility model.

In the figure: 1. a unit bracket; 2. a walking member; 21. a left crawler belt; 22. a right track; 23. a track mounting platform; 24. a slewing drive device; 3. a track fixing pin; 4. a lifting member; 41. lifting a base; 42. a lifting platform; 43. adjusting the clamping hole; 44. a plug pin; 5. a walking motor.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 2-3, the present utility model provides the following technical solutions: the track turning system of the mining unit support transfer robot, the middle part of the transfer robot is concave and used for bearing the unit support 1; the walking component 2, the rotatable setting of walking component 2 just is located the both sides of depressed part at transfer robot's both ends for drive transfer robot removes, and walking component 2 can lift transfer robot 2 off ground, avoids transfer robot 2 and ground contact.

In the specific embodiment of the utility model, the vehicle can be better attached to the rugged road surface of the underground coal mine, can realize the short-distance transportation in the unit bracket in the state of no track of the advanced section of the high gas mine crossheading, is another effective mode for transporting the unit bracket except for a winch and a monorail crane, can transport other equipment and bulk weights meeting the size requirement, and can reduce the lifting coverage of the unit bracket by the transporting robot by the walking part 2 arranged at two ends of the transporting robot, thereby reducing the requirement on the height of a roadway and improving the applicability of the roadway.

Specifically, referring to fig. 3 and 7, the walking component 2 includes a left crawler 21 and a right crawler 22, the left crawler 21 and the right crawler 22 are both installed on a crawler installation platform 23, the crawler installation platform 23 is disposed at the bottom of the transfer robot through a rotation driving device 24, one end of one side of the crawler installation platform is used for driving the crawler installation platform 23 to rotate through a rotation mounting device 24, and the transfer robot can realize the steering function.

Further, referring to fig. 3 and 6, the left track 21 and the right track 22 are disposed on the track mounting platform 23 through the track fixing pins 3, so that the tracks can swing up and down, and the left track 21 and the right track 22 can swing up and down through the track fixing pins 3, so that the walking component 2 has the capability of using the ground gradient well, and four tracks can be respectively suitable for different gradients, so that the stable running of the vehicle body is ensured as much as possible.

Further, a lifting part 4 for lifting the transfer robot upwards is arranged between the rotation driving device 24 and the crawler belt mounting platform 23, so that the chassis has a lifting function for adapting to the requirement of larger gradient, the transfer robot is lifted upwards through the lifting part 4, the adjustment can be performed according to different roadway conditions, and the contact between the transfer robot and the ground can be avoided.

Specifically, the lifting component 4 includes a lifting base 41 disposed on the track mounting platform 23, the lifting base 41 is fixed on the track mounting platform 23 in a welding manner, a sliding cavity is disposed in the lifting base 41, a lifting platform 42 sliding up and down in the lifting base 41 is disposed in the lifting base 41, the lifting platform 42 slides in the sliding cavity, the lifting platform 42 is matched with the sliding cavity in the lifting platform 42, at least two adjusting clamping holes 43 are disposed on the lifting platform 42, a plug pin 44 capable of being clamped in the clamping holes 43 is disposed on the lifting base 41, lifting of the lifting platform 42 is achieved, the plug pin 44 is inserted into the corresponding adjusting clamping holes 43, and accordingly the lifting component 4 can be adjusted, and the lifting component 4 can be adjusted according to different roadway conditions so as to ensure the trafficability of the whole conveying robot.

Specifically, the left crawler 21 and the right crawler 22 are respectively provided with a walking motor 5 which is driven independently, the walking motors 5 can drive corresponding crawlers to walk and run, the walking motors 5 are respectively formed by a duplex pump with the same flow and a synchronous shunt motor with the same flow to ensure complete consistency of actions, the damage and deformation of the whole car body frame and the crawler frame caused by the inconsistency of the speeds of the four crawlers are avoided, the action is more stable due to the cooperation of a special balance valve of the motors, and the damage to the equipment frame caused by the sudden stop is avoided. The motor can drive at a high speed or a low speed according to different loads and road conditions.

Further, the left crawler belt 21 and the right crawler belt 22 are respectively provided with a tensioning oil cylinder for tensioning the crawler belt, the crawler belt is tensioned by adopting a hydraulic oil cylinder tensioning mode, tensioning and loosening can be performed only through an operating handle, and compared with butter tensioning and mechanical tensioning, the tensioning and loosening of the crawler belt are faster and more convenient, and the labor intensity of personnel is relieved more. Different tensioning degrees can be selected according to different pavements, so that the walking motor can be matched with the walking motor better, and the service life of the walking motor is prolonged.

Further, the slewing drive device 24 is mounted on the transfer robot by screws.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims

1. Mining unit support transfer robot track turning system, its characterized in that includes: the middle part of the carrying robot is concave and is used for bearing the unit bracket (1);

the walking parts (2) are rotatably arranged at two ends of the carrying robot and positioned at two sides of the concave part, and are used for driving the carrying robot to move.

2. The mining unit rack transfer robot track turning system of claim 1, wherein: the walking component (2) comprises a left crawler belt (21) and a right crawler belt (22), wherein the left crawler belt (21) and the right crawler belt (22) are both installed on a crawler belt installation platform (23), and the crawler belt installation platform (23) is arranged at the bottom of the transfer robot through a rotary driving device (24).

3. The mining unit rack transfer robot track turning system of claim 2, wherein: the left crawler belt (21) and the right crawler belt (22) are arranged on a crawler belt installation platform (23) through crawler belt fixing pins (3), so that the crawler belts can swing up and down.

4. The mining unit rack transfer robot track turning system of claim 2, wherein: a lifting component (4) for lifting the transfer robot upwards is arranged between the slewing driving device (24) and the crawler installation platform (23).

5. The mining unit rack transfer robot track turning system of claim 4, wherein: lifting part (4) are including setting up lifting base (41) on track mounting platform (23), the inside of lifting base (41) is provided with the inside lift platform (42) of upper and lower slip at lifting base (41), be provided with on lift platform (42) and be not less than two regulation draw-in holes (43), but be provided with bolt (44) of joint inside draw-in hole (43) on lifting base (41).

6. The mining unit rack transfer robot track turning system of claim 2, wherein: the left crawler belt (21) and the right crawler belt (22) are respectively provided with a walking motor (5) which is independently driven, and the walking motors (5) can drive the corresponding crawler belts to walk and run.

7. The mining unit rack transfer robot track turning system of claim 2, wherein: the left crawler belt (21) and the right crawler belt (22) are respectively provided with a tensioning oil cylinder for tensioning the crawler belts.

8. The mining unit rack transfer robot track turning system of any of claims 2-4, wherein: the slewing drive device (24) is mounted on the transfer robot through screws.