CN220015252U - Mining grabbing and lifting system - Google Patents

Abstract

The utility model provides a mining grabbing and lifting system, relates to the technical field of underground equipment, and aims to solve the problem that an existing crawler-type grabbing and lifting vehicle has insufficient climbing capacity and cannot adapt to underground grabbing and lifting operation to a certain extent. The utility model provides a mining grabbing and lifting system, which comprises a track device and a grabbing and lifting device; the track device comprises a first guide track, a second guide track and a matching track which are parallel to each other, wherein the matching track is positioned between the first guide track and the second guide track, and a meshing groove is formed along the extending direction of the matching track; the grabbing and lifting device comprises a traveling mechanism and a grabbing and lifting mechanism, the grabbing and lifting mechanism is rotationally connected with the traveling mechanism, the traveling mechanism comprises a driving member, traveling wheels and a matching wheel, the output end of the driving member is connected with the traveling wheels, the traveling wheels are correspondingly arranged on matching tracks, teeth capable of being meshed with the meshing grooves are formed on the traveling wheels, and the matching wheel is correspondingly arranged on the first guiding track and the second guiding track.

Description

Mining grabbing and lifting system

Technical Field

The utility model relates to the technical field of underground equipment, in particular to a mining grabbing and lifting system.

Background

With the development of economy and social progress, mechanization has become a necessary trend in the mining industry.

During underground construction operation, the movement of the hydraulic support is mainly realized by means of a hydraulic grabbing and lifting vehicle. However, due to changeable underground environment and unstable road surface fluctuation, the climbing capacity of the existing crawler-type grabbing and lifting vehicle is limited, the operation stability on the slope is poor, and if the existing crawler-type grabbing and lifting vehicle is adopted, the hydraulic support at the position with a larger gradient is difficult to recover.

Accordingly, there is an urgent need to provide a mining grip system that solves the problems of the prior art to some extent.

Disclosure of Invention

The utility model aims to provide a mining grabbing and lifting system which solves the problems that an existing crawler-type grabbing and lifting vehicle is insufficient in climbing capacity and cannot adapt to underground grabbing and lifting operations to a certain extent.

The utility model provides a mining grabbing and lifting system, which comprises a track device and a grabbing and lifting device; the track device comprises a first guide track, a second guide track and a matching track which are parallel to each other, wherein the matching track is positioned between the first guide track and the second guide track, and a meshing groove is formed along the extending direction of the matching track; the grabbing and lifting device comprises a traveling mechanism and a grabbing and lifting mechanism, the grabbing and lifting mechanism is rotationally connected with the traveling mechanism, the traveling mechanism comprises a driving member, traveling wheels and a matching wheel, the output end of the driving member is connected with the traveling wheels, the traveling wheels correspond to the matching track, tooth parts which can be meshed with the meshing grooves are formed on the traveling wheels, and the matching wheel corresponds to the first guiding track and the second guiding track.

The first guide rail and the second guide rail are both provided with limiting parts, the position of the matching wheel corresponding to the limiting parts is provided with matching parts, and the matching parts are matched with the limiting parts so as to guide the travelling mechanism.

Specifically, the matching track comprises a track main body and limiting blocks, wherein the limiting blocks are oppositely arranged on two sides of the track main body, and extend along the extending direction of the matching track; the two sides of the travelling wheel are provided with matching components corresponding to the positions of the limiting blocks, and the matching components are matched with the limiting blocks so as to limit the travelling mechanism.

The walking mechanism further comprises a bearing platform, the driving member is arranged on the bearing platform, the matching wheels are arranged on one side, facing the track device, of the bearing platform, a slewing mechanism is arranged on one side, facing away from the track device, of the bearing platform, and one end of the grabbing and lifting device is connected with the slewing mechanism.

Specifically, the mining grabbing and lifting system provided by the utility model further comprises a brake mechanism, wherein the brake mechanism is arranged on the bearing platform and corresponds to the travelling wheel, and the brake mechanism can hold or release the travelling wheel.

Specifically, the grabbing and lifting device comprises a main arm assembly, an auxiliary arm assembly and a grabbing assembly; one end of the main arm assembly is rotationally connected with the slewing mechanism, one end of the auxiliary arm assembly is rotationally connected with the other end of the main arm assembly, and one end of the grabbing assembly is connected with the other end of the auxiliary arm assembly.

Further, the rotary mechanism comprises a rotary platform and a supporting seat, wherein the supporting seat is connected with the rotary platform, and the rotary platform is rotationally connected with the bearing platform; the main arm assembly comprises a main arm and a first driving piece, one end of the main arm is rotationally connected with the supporting seat, the positioning end of the first driving piece is rotationally connected with the supporting seat, and the telescopic end of the first driving piece is rotationally connected with one end, far away from the supporting seat, of the main arm.

Further, the sub-arm assembly includes a first sub-arm, a second sub-arm, and a second drive; one end of the first auxiliary arm is connected with one end of the main arm component, which is far away from the slewing mechanism, the other end of the first auxiliary arm is rotationally connected with one end of the second auxiliary arm, and the grabbing component is connected with one end of the second auxiliary arm, which is far away from the first auxiliary arm; the first auxiliary arm comprises a first connecting section and a second connecting section, the first connecting section and the second connecting section are arranged in an angle mode, the positioning end of the second driving piece is rotationally connected with the first auxiliary arm, and the telescopic end of the second driving piece is rotationally connected with the second auxiliary arm.

Still further, the grasping assembly includes a first grasping member and a second grasping member; the first grabbing component and the second grabbing component are oppositely arranged, the first grabbing component comprises a first base and a third driving piece, the second grabbing component comprises a second base and a fourth driving piece, one end of the first base and one end of the second base are both rotationally connected with one end of the second auxiliary arm far away from the first auxiliary arm, the positioning end of the third driving piece is rotationally connected with the second auxiliary arm, the telescopic end of the third driving piece is rotationally connected with the first base, the positioning end of the fourth driving piece is rotationally connected with the second auxiliary arm, and the telescopic end of the fourth driving piece is rotationally connected with the second base so that the first base and the second base can be opened and closed in directions close to or far away from each other.

Still further, the first gripping member further comprises a first gripper and a fifth driver, and the second gripping member further comprises a second gripper and a sixth driver; the first gripper is rotationally connected with one end, far away from the second auxiliary arm, of the first base, and the second gripper is rotationally connected with one end, far away from the second auxiliary arm, of the second base; the positioning end of the fifth driving piece is rotationally connected with the first base, the telescopic end of the fifth driving piece is rotationally connected with the first gripper, the positioning end of the sixth driving piece is rotationally connected with the second base, and the telescopic end of the sixth driving piece is rotationally connected with the second gripper.

Compared with the prior art, the mining grabbing and lifting system provided by the utility model has the following advantages:

the utility model provides a mining grabbing and lifting system, which comprises a track device and a grabbing and lifting device; the track device comprises a first guide track, a second guide track and a matching track which are parallel to each other, wherein the matching track is positioned between the first guide track and the second guide track, and a meshing groove is formed along the extending direction of the matching track; the grabbing and lifting device comprises a traveling mechanism and a grabbing and lifting mechanism, the grabbing and lifting mechanism is rotationally connected with the traveling mechanism, the traveling mechanism comprises a driving member, traveling wheels and a matching wheel, the output end of the driving member is connected with the traveling wheels, the traveling wheels are correspondingly arranged on matching tracks, teeth capable of being meshed with the meshing grooves are formed on the traveling wheels, and the matching wheel is correspondingly arranged on the first guiding track and the second guiding track.

From the analysis, the driving end of the driving member is connected with the travelling wheel, so that the driving travelling wheel can rotate, and the travelling wheel can be driven to walk on the matched rail through the cooperation of the tooth part and the meshing groove when the driving member drives the travelling wheel to rotate because the tooth part which can be meshed with the meshing groove of the matched rail is formed on the travelling wheel.

And when the driving member stops, the travelling wheel can be stopped to rotate, so that the position of the travelling mechanism can be locked through the cooperation of the meshing groove and the tooth part, the stability of the whole grabbing device during operation can be ensured, the adaptability of the whole grabbing device to a large-gradient working surface can be improved to a certain extent, and the problem that whole equipment slides down in the working process due to the fact that the gradient of the working surface is large is avoided.

Correspondingly, as the first guide rail and the second guide rail are arranged at the two sides of the matched rail, and the walking mechanism further comprises the matched wheels corresponding to the first guide rail and the second guide rail, the matched wheels can play a role in guiding when the walking mechanism walks along the rail device, and the stability of the walking mechanism is improved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of the overall structure of a mining grabbing and lifting system according to an embodiment of the present utility model;

fig. 2 is a schematic structural diagram of a first view angle of a mining grabbing and lifting system according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a mining gripping system according to an embodiment of the present utility model at a second view;

fig. 4 is a schematic structural view of a third view of a mining gripping system according to an embodiment of the present utility model.

In the figure: 1-a track arrangement; 101-mating rails; 1011-track body; 1012-limiting blocks; 1013-engagement slots; 102-a first guide track; 103-a second guide rail; 104-a limiting part; 2-travelling wheels; 3-mating wheels; 301-mating portion; 4-a driving member; 5-mating members; 6-a bearing platform; 601-a rotary platform; 602-supporting seats; 603-supporting components; 604-a brake mechanism; 605-a shroud; 606-cable drum; 7-a main arm assembly; 701-main arm; 702—a first driver; 8-a sub-arm assembly; 801-a first secondary arm; 802-a second boom; 803-a second driver; 9-a first base; 10-a second base; 11-a first gripper; 12-a second gripper; 13-a third drive member; 14-fifth driving member.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present utility model.

In describing embodiments of the present utility model, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. refer to an azimuth or a positional relationship based on that shown in the drawings, or that the inventive product is conventionally put in place when used, merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," "coupled" 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.

As used herein, the term "and/or" includes any one of the listed items of interest and any combination of any two or more.

For ease of description, spatially relative terms such as "above … …," "upper," "below … …," and "lower" may be used herein to describe one element's relationship to another element as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.

The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. Singular forms also are intended to include plural forms unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" are intended to specify the presence of stated features, integers, operations, elements, and/or groups thereof, but do not preclude the presence or addition of one or more other features, integers, operations, elements, and/or groups thereof.

Variations from the shapes of the illustrations as a result, of manufacturing techniques and/or tolerances, are to be expected. Accordingly, the examples described herein are not limited to the particular shapes shown in the drawings, but include changes in shapes that occur during manufacture.

The features of the examples described herein may be combined in various ways that will be apparent upon an understanding of the present disclosure. Further, while the examples described herein have a variety of configurations, other configurations are possible as will be apparent after an understanding of the present disclosure. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

As shown in fig. 1, the utility model provides a mining grabbing and lifting system, which comprises a track device 1 and a grabbing and lifting device; the rail device 1 includes a first guide rail 102, a second guide rail 103, and a fitting rail 101 parallel to each other, the fitting rail 101 being located between the first guide rail 102 and the second guide rail 103, an engagement groove 1013 being formed along an extending direction of the fitting rail 101; the grabbing and lifting device comprises a traveling mechanism and a grabbing and lifting mechanism, the grabbing and lifting mechanism is rotationally connected with the traveling mechanism, the traveling mechanism comprises a driving member 4, traveling wheels 2 and a matching wheel 3, the output end of the driving member 4 is connected with the traveling wheels 2, the traveling wheels 2 are correspondingly arranged on matching tracks 101, teeth capable of being meshed with meshing grooves 1013 are formed on the traveling wheels 2, and the matching wheel 3 is correspondingly arranged on first guide tracks 102 and second guide tracks 103.

Compared with the prior art, the mining grabbing and lifting system provided by the utility model has the following advantages:

the mining grabbing and lifting system provided by the utility model can drive the travelling wheel 2 to rotate by connecting the driving end of the driving member 4 with the travelling wheel 2, and because the toothed part capable of being meshed with the meshing groove 1013 of the matching track 101 is formed on the travelling wheel 2, when the driving member 4 drives the travelling wheel 2 to rotate, the travelling of the travelling wheel 2 on the matching track 101 can be realized through the cooperation of the toothed part and the meshing groove 1013.

And, when driving member 4 stops, can make walking wheel 2 stop rotating to can realize running gear's position locking through the cooperation of meshing groove 1013 with the tooth, and then can guarantee whole grabbing device's stability when the operation, whole grabbing device's adaptability to the heavy grade working face to a certain extent avoids the problem that leads to the whole equipment gliding in the operation process because of the working face slope is great.

Correspondingly, since the first guide rail 102 and the second guide rail are arranged on two sides of the matching rail 101, and the travelling mechanism further comprises the matching wheels 3 corresponding to the first guide rail 102 and the second guide rail 103, the matching wheels 3 can play a role in guiding when the travelling mechanism moves along the rail device 1, and stability of the travelling mechanism is improved.

Optionally, as shown in fig. 1 and fig. 3, the first guide rail 102 and the second guide rail 103 in the present utility model are both formed with a limiting portion 104, and a matching portion 301 is formed at a position of the matching wheel 3 corresponding to the limiting portion 104, where the matching portion 301 matches with the limiting portion 104 to guide the travelling mechanism.

In the utility model, the limit parts 104 formed on the first guide rail 102 and the second guide rail 103 are perpendicular to the main body parts of the first guide rail 102 and the second guide rail 103, namely, the plane of the limit parts 104 extends along the horizontal direction, correspondingly, the matching wheel 3 provided by the utility model is arranged along the horizontal direction, and the end parts of the matching wheel 3 are provided with the matching parts 301 which can be matched with the limit parts 104. It should be understood that, in the present utility model, the cooperation of the limiting portion 104 and the engaging portion 301 means that, when the travelling mechanism moves linearly, a gap may exist between the engaging wheel 3 and the first guide rail 102 and the second guide rail 103, but the gap disappears during the actual travelling process, so that the engaging wheel 3 contacts the first guide rail 102 and the second guide rail 103, and the engaging wheel 3 can rotate along the first guide rail 102 and the second guide rail 103 during travelling. And when the running mechanism turns or goes up and down a slope, the matching part 301 on the matching wheel 3 is abutted against the limiting part 104, so that auxiliary limiting can be carried out on the turning and ascending and descending processes of the running mechanism, and further the problem of tilting of the whole device in the running process, such as rolling, rollover or forward and backward tilting, can be avoided to a certain extent.

It should be noted that, in the present utility model, the number of the mating wheels 3 corresponding to the first guide rail 102 and the number of the mating wheels 3 corresponding to the second guide rail 103 may be plural, and the plurality of mating wheels 3 are arranged at intervals along the extending direction of the rail device 1, and preferably, the plurality of mating wheels 3 are arranged correspondingly, so that the stress of the whole device is more uniform, and the smooth walking degree is ensured.

Alternatively, as shown in fig. 1 and fig. 3, the mating track 101 in the present utility model includes a track main body 1011 and a stopper 1012, the stopper 1012 is disposed at two sides of the track main body 1011, and the stopper 1012 extends along the extending direction of the mating track 101; the two sides of the travelling wheel 2 corresponding to the position of the limiting block 1012 are provided with a matching component 5, and the matching component 5 is matched with the limiting block 1012 to limit the travelling mechanism.

As shown in fig. 3, the engaging member 5 of the present utility model is preferably in an L-shaped structure, and the stoppers 1012 on both sides of the track main body 1011 are disposed perpendicular to the track main body 1011, so that the engaging member 5 and the stoppers 1012 are engaged with each other to form an L-shaped structure, so that the engaging wheel 3, the first guide rail 102 and the second guide rail 103 are engaged with each other to achieve stable operation of the gripping device on the track device 1, and the gripping device is prevented from tilting forward to some extent by the contact between the engaging portion 301 and the stopper 104 and the contact between the engaging member 5 and the stoppers 1012, thereby ensuring stable gripping operation.

Optionally, as shown in fig. 1 in combination with fig. 2 and fig. 4, the running mechanism in the utility model further includes a carrying platform 6, the driving member 4 is disposed on the carrying platform 6, the matching wheel 3 is disposed on a side of the carrying platform 6 facing the track device 1, a revolving mechanism is disposed on a side of the carrying platform 6 facing away from the track device 1, and one end of the grabbing and lifting device is connected with the revolving mechanism.

Preferably, the driving member 4 in the present utility model is a driving motor, and the driving motor is connected to the traveling wheel 2 so that the traveling wheel 2 can be driven to rotate, and accordingly, since the engagement groove 1013 is formed in the engagement rail 101 in the present utility model, the traveling wheel 2 in the present utility model may employ a gear or a sprocket, and engagement with the engagement groove 1013 is achieved by a tooth portion formed in the circumferential direction of the gear or the sprocket.

It can be understood that the carrying platform 6 is provided with the avoiding hole, the travelling wheel 2 is meshed with the meshing groove 1013 through the carrying platform 6 by the avoiding hole, and the rotating shaft of the travelling wheel 2 is positioned above the carrying platform 6, so that the travelling wheel 2 can be conveniently connected with the output shaft of the driving motor.

Correspondingly, in order to improve the running stability and safety of the travelling mechanism provided by the utility model, as shown in fig. 4, the mining grabbing and lifting system provided by the utility model further comprises a brake mechanism 604, wherein the brake mechanism 604 is arranged on the bearing platform 6 and is arranged corresponding to the travelling wheel 2, and the brake mechanism 604 can hold or release the travelling wheel 2.

The braking mechanism 604 in the utility model comprises two friction plates which can be mutually close, and the two friction plates can be mutually close to the two sides of the travelling wheel 2, when braking is needed, the travelling wheel 2 can be held tightly by moving the two friction plates in the mutually close direction, so that the purpose of braking is realized, and when continuous travelling is needed, the two friction plates can be moved in the mutually far direction, so that the travelling wheel 2 can be released, and the continuous travelling of the travelling mechanism is realized.

When the grabbing and lifting operation is performed, the stability of the walking wheel 2 can be further enhanced by tightly holding the walking wheel 2 by the two friction plates, and the problem that the whole equipment moves due to the fact that an object is too heavy to be grabbed is avoided.

It should be noted that, in the present utility model, the manner of controlling the friction plates to hug the travelling wheel 2 to achieve braking may be various, for example, the two friction plates are moved to a direction approaching or separating from each other by the expansion and contraction of the two cylinders, so as to achieve hugging or releasing of the travelling wheel 2, which is not described herein.

As shown in fig. 4, since the bearing platform 6 is further provided with a slewing mechanism, the grabbing and lifting device is connected with the slewing mechanism, so that the grabbing and lifting device can rotate relative to the bearing platform 6 in the horizontal direction, and the working area is increased.

Optionally, as shown in fig. 1 and fig. 2, the grabbing and lifting device in the utility model comprises a main arm assembly 7, a sub-arm assembly 8 and a grabbing assembly; one end of the main arm assembly 7 is rotationally connected with the slewing mechanism, one end of the auxiliary arm assembly 8 is rotationally connected with the other end of the main arm assembly 7, and one end of the grabbing assembly is connected with the other end of the auxiliary arm assembly 8.

According to the utility model, the main arm assembly 7 is rotationally connected with the slewing mechanism, the auxiliary arm assembly 8 is rotationally connected with the main arm assembly 7, and the grabbing assembly is rotationally connected with the auxiliary arm assembly 8, so that the whole grabbing and lifting device can obtain a more flexible and wider operation range.

Preferably, as shown in fig. 1 and fig. 2, the swing mechanism in the present utility model includes a swing platform 601 and a support base 602, the support base 602 is connected with the swing platform 601, and the swing platform 601 is rotatably connected with the bearing platform 6; the main arm assembly 7 comprises a main arm 701 and a first driving piece 702, one end of the main arm 701 is rotationally connected with the supporting seat 602, a positioning end of the first driving piece 702 is rotationally connected with the supporting seat 602, and a telescopic end of the first driving piece 702 is rotationally connected with one end of the main arm 701 away from the supporting seat 602.

The main arm 701 and the first driving piece 702 can obtain more sufficient and stable installation space through the supporting seat 602 connected to the rotary platform 601, and the rotary platform 601 drives the supporting seat 602 to rotate during actual operation, so as to drive the integral grabbing device to rotate.

In the present utility model, the first driving element 702, the second driving element 803, the third driving element 13, the fourth driving element, the fifth driving element 14 and the sixth driving element are all oil cylinders, so that the main arm 701 can be lowered and lifted by the extension and retraction of the first driving element 702.

Accordingly, as shown in fig. 1 in combination with fig. 2, the sub-arm assembly 8 of the present utility model includes a first sub-arm 801, a second sub-arm 802, and a second driving member 803; one end of the first auxiliary arm 801 is connected with one end of the main arm assembly 7, which is far away from the slewing mechanism, the other end of the first auxiliary arm is rotatably connected with one end of the second auxiliary arm 802, and the grabbing assembly is connected with one end of the second auxiliary arm 802, which is far away from the first auxiliary arm 801; the first auxiliary arm 801 includes a first connection section and a second connection section, the first connection section and the second connection section are arranged in an angle, a positioning end of the second driving member 803 is rotationally connected with the first auxiliary arm 801, and a telescopic end of the second driving member 803 is rotationally connected with the second auxiliary arm 802.

As shown in fig. 2, in order to secure the driving member 4, the braking mechanism 604 and other control and cooling mechanisms provided on the carrying platform 6, the present utility model can improve the use safety of the whole apparatus by providing the shroud 605 on the carrying platform 6 and protecting the driving member 4, the braking mechanism 604, the traveling wheel 2 and other control and cooling mechanisms inside the shroud 605.

However, since the shroud 605 occupies a certain space, the first connection section and the second connection section of the first auxiliary arm 801 are arranged at an angle, so that the space occupied by the shroud 605 can be avoided to a certain extent, and the problem of mutual interference between the grabbing device and the shroud 605 is avoided.

Accordingly, by connecting one end of the second driving member 803 to the first sub-arm 801 and the other end to the second sub-arm 802, the second sub-arm 802 can be raised and lowered relative to the first sub-arm 801 by the expansion and contraction of the second driving member 803.

Optionally, as shown in fig. 1 in combination with fig. 2, the gripping assembly of the present utility model includes a first gripping member and a second gripping member; the first grabbing component and the second grabbing component are oppositely arranged, the first grabbing component comprises a first base 9 and a third driving piece 13, the second grabbing component comprises a second base 10 and a fourth driving piece, one end of the first base 9 and one end of the second base 10 are both rotationally connected with one end of the second auxiliary arm 802 far away from the first auxiliary arm 801, the positioning end of the third driving piece 13 is rotationally connected with the second auxiliary arm 802, the telescopic end of the third driving piece 13 is rotationally connected with the first base 9, the positioning end of the fourth driving piece is rotationally connected with the second auxiliary arm 802, and the telescopic end of the fourth driving piece is rotationally connected with the second base 10, so that the first base 9 and the second base 10 can be opened and closed in a direction approaching or far away from each other.

Since the third driving element 13 and the fourth driving element are oil cylinders, the first base 9 and the second base 10 can move in the direction approaching or separating from each other at the end far from the second sub-arm 802 by the extension and contraction of the third driving element 13 and the fourth driving element, thereby realizing the grabbing and releasing actions.

In order to further improve the gripping force, as shown in fig. 1, the first gripping member of the present utility model further comprises a first gripper 11 and a fifth driving piece 14, and the second gripping member further comprises a second gripper 12 and a sixth driving piece; the first gripper 11 is rotatably connected with one end of the first base 9 away from the second auxiliary arm 802, and the second gripper 12 is rotatably connected with one end of the second base 10 away from the second auxiliary arm 802; the positioning end of the fifth driving piece 14 is rotationally connected with the first base 9, the telescopic end of the fifth driving piece 14 is rotationally connected with the first gripper 11, the positioning end of the sixth driving piece is rotationally connected with the second base 10, and the telescopic end of the sixth driving piece is rotationally connected with the second gripper 12.

The first gripper 11 and the second gripper 12 can be controlled to grasp and release the structure to be transferred by telescoping the fifth driving member 14 and the sixth driving member, thereby cooperating with the first base 9 and the second base 10 described above.

It should be noted that, in the utility model, the supporting platform 6 is further provided with a supporting component 603 and a cable drum 606, the supporting component 603 extends along the vertical direction, and when the grabbing device grabs, the supporting component 603 can be abutted with the top wall in the underground roadway to limit the whole equipment, so that the stability of the grabbing process is ensured. The cable drum 606 arranged on the bearing platform 6 can release and recover the cable, so that the connection between the power system in the grabbing and lifting device and an external power supply can be realized, and stable power supply output is provided for the power system.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.

Claims (10)

1. The mining grabbing and lifting system is characterized by comprising a track device and a grabbing and lifting device;

the track device comprises a first guide track, a second guide track and a matching track which are parallel to each other, wherein the matching track is positioned between the first guide track and the second guide track, and a meshing groove is formed along the extending direction of the matching track;

the grabbing and lifting device comprises a traveling mechanism and a grabbing and lifting mechanism, the grabbing and lifting mechanism is rotationally connected with the traveling mechanism, the traveling mechanism comprises a driving member, traveling wheels and a matching wheel, the output end of the driving member is connected with the traveling wheels, the traveling wheels correspond to the matching track, tooth parts which can be meshed with the meshing grooves are formed on the traveling wheels, and the matching wheel corresponds to the first guiding track and the second guiding track.

2. The mining grip system according to claim 1, wherein the first guide rail and the second guide rail are each formed with a stopper portion, and the position of the mating wheel corresponding to the stopper portion is formed with a mating portion that mates with the stopper portion to guide the traveling mechanism.

3. The mining grip system according to claim 1, wherein the mating rail includes a rail body and stoppers, the stoppers are disposed opposite to both sides of the rail body, and the stoppers extend along the direction of extension of the mating rail;

the two sides of the travelling wheel are provided with matching components corresponding to the positions of the limiting blocks, and the matching components are matched with the limiting blocks so as to limit the travelling mechanism.

4. The mining grabbing and lifting system according to claim 1, wherein the travelling mechanism further comprises a bearing platform, the driving member is arranged on the bearing platform, the matching wheels are arranged on one side, facing the track device, of the bearing platform, a rotating mechanism is arranged on one side, facing away from the track device, of the bearing platform, and one end of the grabbing and lifting device is connected with the rotating mechanism.

5. The mining grip system according to claim 4, further comprising a brake mechanism disposed on the load-bearing platform and disposed in correspondence with the road wheels, the brake mechanism being capable of holding or releasing the road wheels.

6. The mining grip system according to claim 4, wherein the grip mechanism includes a main arm assembly, a sub-arm assembly, and a gripping assembly;

one end of the main arm assembly is rotationally connected with the slewing mechanism, one end of the auxiliary arm assembly is rotationally connected with the other end of the main arm assembly, and one end of the grabbing assembly is connected with the other end of the auxiliary arm assembly.

7. The mining grip system according to claim 6, wherein the swivel mechanism comprises a swivel platform and a support base, the support base being connected to the swivel platform, the swivel platform being rotatably connected to the load bearing platform;

the main arm assembly comprises a main arm and a first driving piece, one end of the main arm is rotationally connected with the supporting seat, the positioning end of the first driving piece is rotationally connected with the supporting seat, and the telescopic end of the first driving piece is rotationally connected with one end, far away from the supporting seat, of the main arm.

8. The mining grip system according to claim 6, wherein the sub-arm assembly includes a first sub-arm, a second sub-arm, and a second drive member;

one end of the first auxiliary arm is connected with one end of the main arm component, which is far away from the slewing mechanism, the other end of the first auxiliary arm is rotationally connected with one end of the second auxiliary arm, and the grabbing component is connected with one end of the second auxiliary arm, which is far away from the first auxiliary arm;

the first auxiliary arm comprises a first connecting section and a second connecting section, the first connecting section and the second connecting section are arranged in an angle mode, the positioning end of the second driving piece is rotationally connected with the first auxiliary arm, and the telescopic end of the second driving piece is rotationally connected with the second auxiliary arm.

9. The mining grip system according to claim 8, wherein the grip assembly includes a first grip member and a second grip member;

the first grabbing component and the second grabbing component are oppositely arranged, the first grabbing component comprises a first base and a third driving piece, the second grabbing component comprises a second base and a fourth driving piece, one end of the first base and one end of the second base are both rotationally connected with one end of the second auxiliary arm far away from the first auxiliary arm, the positioning end of the third driving piece is rotationally connected with the second auxiliary arm, the telescopic end of the third driving piece is rotationally connected with the first base, the positioning end of the fourth driving piece is rotationally connected with the second auxiliary arm, and the telescopic end of the fourth driving piece is rotationally connected with the second base so that the first base and the second base can be opened and closed in directions close to or far away from each other.

10. The mining grip system according to claim 9, wherein the first gripping member further includes a first grip and a fifth drive, and the second gripping member further includes a second grip and a sixth drive;

the first gripper is rotationally connected with one end, far away from the second auxiliary arm, of the first base, and the second gripper is rotationally connected with one end, far away from the second auxiliary arm, of the second base;

the positioning end of the fifth driving piece is rotationally connected with the first base, the telescopic end of the fifth driving piece is rotationally connected with the first gripper, the positioning end of the sixth driving piece is rotationally connected with the second base, and the telescopic end of the sixth driving piece is rotationally connected with the second gripper.