CN220979487U - Mining trolley and mechanical arm device thereof - Google Patents

Abstract

The application discloses a mining trolley and a mechanical arm device thereof, wherein the mechanical arm device comprises: a first type driving member, a second type driving member, and a connecting member; wherein the first type of driving member is used for being connected to the drill rod to drive the drill rod to rotate; the second type driving piece is connected with the first type driving piece to drive the first type driving piece to slide so as to drive the drill rod to advance; the connecting piece is used for connecting the second type driving piece and the industrial and mining vehicle so that the industrial and mining vehicle can drive the second type driving piece to move; the first end of the connecting piece along the first straight line direction is connected to the industrial and mining vehicle; the first type driving member is located between the first end of the connecting member and the second type driving member along a first linear direction. The application has the advantages that: a mining trolley and a mechanical arm device thereof are provided, which can improve the operation field of construction operation so as to be convenient for a user to operate and use.

Description

Mining trolley and mechanical arm device thereof

Technical Field

The application relates to the field of general machinery, in particular to a mining trolley and a mechanical arm device thereof.

Background

Referring to fig. 1, a conventional mining trolley generally mounts a drill rod for a mining and drilling operation through a rocker arm apparatus 400, and drives such as a hydraulic motor 410, a thrust cylinder 420, and the like, which drive the drill rod to rotate and thrust, and the drill rod and the drives together form the mining apparatus of the mining trolley. Specifically, the hydraulic motor 410 can drive the drill rod coaxially connected with the hydraulic motor to rotate, and the push cylinder 420 can drive the rotating drill rod to slide relative to the rocker arm device 400, so that the drill rod drills into the ground surface to realize mining and drilling operations. The swing arm apparatus 400 generally uses a simple lever mechanism, and the apparatus can be laid down (contracted into a transport state) by pulling back an oil cylinder connecting the lever and the vehicle body, and the apparatus can be made to stand (expanded into an operating state) when the oil cylinder is pushed forward. However, the drill rod of the mining device is generally located at the front end of the entire rocker arm device 400, and in particular, the thrust cylinder 420 is often disposed on the side of the swing cylinder 410 near the vehicle body, and the piston rod of the thrust cylinder 420 blocks the sight of the driver during operation, so that the driver can hardly directly observe the drill rod in operation in the cab.

In the related art, chinese patent document with publication number CN217501647U discloses a frame type loading platform and a mining trolley for a roadway. Which improves the operational field of view by lowering the loading platform of the integrated mining device. However, the mining device is still integrated at the front end of the loading platform, so that the related art does not give any technical suggestion on how to solve the technical problem that the driver is hindered from visually observing the mining position due to mutual restriction of the driving members driving the mining device.

Disclosure of utility model

The summary of the application is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. The summary of the application is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

Some embodiments of the application propose a mining trolley and a mechanical arm device thereof to solve the technical problems mentioned in the background section above.

As a first aspect of the application, some embodiments of the application provide a robotic arm apparatus for connection to an industrial and mining vehicle and a drill pipe for traveling under the drive of the industrial and mining vehicle and for driving the drill pipe into operation for performing mining operations; the mechanical arm device includes: a first type driving member, a second type driving member, and a connecting member; wherein the first type of driving member is used for being connected to the drill rod to drive the drill rod to rotate; the second type driving piece is connected with the first type driving piece to drive the first type driving piece to slide so as to drive the drill rod to advance; the connecting piece is used for connecting the second type driving piece and the industrial and mining vehicle so that the industrial and mining vehicle can drive the second type driving piece to move; the first end of the connecting piece along the first straight line direction is connected to the industrial and mining vehicle; the first type driving member is located between the first end of the connecting member and the second type driving member along a first linear direction.

In some embodiments, the robotic arm apparatus further comprises: a rocker arm; wherein the rocker arm is connected between the connecting piece and the second type driving piece to mount the second type driving piece to the connecting piece; the second type driving piece is fixedly connected with the rocker arm; the rocker arm is located on a side of the first type of driving member away from the first end of the connecting member along the first linear direction.

In some embodiments, the robotic arm apparatus further comprises: a first class lever and a third class driver; wherein, the length direction of the rocker arm extends along the second straight line direction; the rocker arm is movably connected to one side of the connecting piece along the second linear direction; the first lever is rotationally connected to one side of the connecting piece, which is close to the rocker arm, along the second linear direction; the third driving piece is connected between the connecting piece and the first class lever so as to drive the first class lever to rotate relative to the connecting piece during operation; the rocker arm is connected with the first class lever so as to rotate relative to the connecting piece under the drive of the third class driving piece; the third type driving piece is located on one side of the rocker arm away from the first type driving piece along the first straight line direction.

In some embodiments, the connector further comprises: the first cross beam, the second cross beam, the first longitudinal beam and the second longitudinal beam; the first cross beam is arranged at one end of the connecting piece along the first straight line direction; the second cross beam is arranged at the other end of the connecting piece along the first straight line direction; the first longitudinal beam and the second longitudinal beam are fixedly connected or integrally formed between the first cross beam and the second cross beam so that the first cross beam and the second cross beam form fixed connection; the first longitudinal beam and the second longitudinal beam are arranged at intervals so as to form an avoidance groove between the first longitudinal beam and the second longitudinal beam and the first cross beam and the second cross beam in a surrounding manner; the first driving piece is positioned in the extension space of the avoidance groove along the second linear direction; the groove width of the avoidance groove along the first straight line direction is not less than 500mm.

In some embodiments, the first beam is located between the second beam and the first end of the connector along a first linear direction; the first driving piece is located between the first beam and the second beam along the first straight line direction and located at one side of the connecting piece, which is close to the second beam.

In some embodiments, the robotic arm apparatus further comprises: a telescopic support leg; the telescopic supporting leg is fixedly arranged at the second end, far away from the first end, of the connecting piece along the first linear direction.

In some embodiments, the movable end of the telescopic leg and the rocker arm are located on two sides of the connecting piece along the second straight line direction respectively.

In some embodiments, the connector further comprises: a second class lever; the mechanical arm device further includes: the support is connected with the oil cylinder; the second class lever is arranged at the first end of the connecting piece; the support is in rotary connection with the second class lever; the connecting oil cylinder is connected between the second class lever and the support to drive the second class lever to rotate relative to the support during working; the connecting oil cylinder and the first driving piece are respectively positioned at two ends of the second class lever along the first straight line direction.

In some embodiments, the second class lever has at least one operative position relative to the support such that an end of the connector that connects to the first class lever is positioned below an end of the connector that connects to the support.

In some embodiments, the second class lever is disposed obliquely downward from an end proximate the connecting cylinder to an end proximate the first class lever when in the operative position relative to the support.

As a second aspect of the application, some embodiments of the application provide a mining trolley comprising: a cab and any one of the aforementioned robotic arm devices; the cab is arranged at one end of the mining trolley along the length direction of the trolley body;

One end of the cab along the first linear direction is provided with a window which is visible outside the cab; the mechanical arm device is arranged outside the window; the first type driving member is positioned between the cab and the second type driving member along a first linear direction so that personnel in the cab can observe the first type driving member or/and a drill rod connected with the first type driving member from the window.

The application has the beneficial effects that: a mining trolley and a mechanical arm device thereof are provided, which can improve the operation field of construction operation so as to be convenient for a user to operate and use.

More specifically, some embodiments of the present application may have the following specific benefits:

According to the mechanical arm device, the first driving piece for driving the drill rod to rotate is arranged between the second driving piece for driving the drill rod to push and the first end of the connecting piece, so that when the industrial and mining vehicle integrated with the mechanical arm device is used, the second driving piece does not obstruct a driver in a cab from observing the drill rod connected with the first driving piece, the operation field of the driver is improved, and the mining operation is facilitated.

The arrangement of the avoidance groove enables parts such as drill rods for mining to be concentrated in the middle of the mechanical arm device extending along the length direction of the industrial and mining vehicle body, and the parts do not need to be arranged at the end part of the mechanical arm device. In this way, the whole weight distribution of the mechanical arm device can be concentrated, the connecting piece is not easy to damage, the impact of the drill rod during mining operation on the industrial and mining vehicle body and the mechanical arm device is reduced, the operation view is ensured, and meanwhile, the industrial and mining vehicle can work relatively more stably.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the application and are not to be construed as unduly limiting the application.

In addition, the same or similar reference numerals denote the same or similar elements throughout the drawings. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.

In the drawings:

FIG. 1 is a schematic view of a mining trolley of the prior art;

FIG. 2 is an overall schematic of a robotic arm apparatus according to one embodiment of the application;

FIG. 3 is a schematic view of a portion of the structure of the link in the robotic arm apparatus shown in FIG. 2;

FIG. 4 is a schematic view of a robotic arm assembly equipped with a drill pipe magazine according to one embodiment of the application;

FIG. 5 is a schematic view of the mechanical arm device of FIG. 4 from another perspective;

FIG. 6 is a schematic view of the robotic arm apparatus of FIG. 4 assembled to a mining trolley with the connector in a stowed position;

fig. 7 is a schematic view of the mechanical arm device shown in fig. 4 assembled to a mining trolley with the attachment in an operative position.

Meaning of the reference numerals in the drawings:

100. A mechanical arm device;

110. a first type of driving member;

120. A second type of driving member;

130. A connecting piece; 130a, avoidance slots; 131. a first class lever; 132. a third type of drive; 133. a driving oil cylinder; 134. a swinging part; 135. a first cross beam; 136. a second cross beam; 137. a first stringer; 138. a second stringer; 139. a second class lever;

140. a rocker arm;

150. A telescopic support leg;

160. A support;

170. the connecting oil cylinder;

180. A drill rod warehouse;

190. A rod changing mechanism;

200. A drill rod;

300. mining trolleys; 310. a cab; 311. a window;

l1, a first straight line; l2, a second straight line direction;

400. A rocker arm device; 410. a hydraulic motor; 420. pushing the oil cylinder.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.

It should be further noted that, for convenience of description, only the portions related to the present application are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.

It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Referring to fig. 2 to 7, the present application provides a robot arm apparatus 100 which is adapted to be connected to an industrial and mining vehicle and a drill pipe 200 to travel under the driving of the industrial and mining vehicle and to drive the drill pipe 200 to perform mining operations. The industrial and mining vehicle can be a rock drilling trolley, a mining trolley, a down-the-hole drill and the like. The robot arm device 100 includes: a first type of driving member 110, a second type of driving member 120, and a connecting member 130.

Wherein a first type of drive 110 is adapted to be coupled to drill rod 200 for driving rotation of drill rod 200. The first type of driving member 110 is preferably a hydraulic motor that is connected by a hydraulic line to a hydraulic circuit on an industrial and mining vehicle of the loading arm assembly 100, and the output shaft of which may be connected to one end of the drill rod 200 by a coaxial connection or by a transmission member, i.e., by hydraulically driving the rotation of the drill rod 200.

The second type of driving member 120 is coupled to the first type of driving member 110 to drive the first type of driving member 110 to slide and thereby advance the drill rod 200. The second type driving member 120 preferably employs a hydraulic cylinder, the cylinder body of which is connected to a hydraulic circuit of the industrial and mining vehicle through a hydraulic line, and one end of a piston rod of which is fixedly connected to the first type driving member 110, so as to drive the first type driving member 110 to slide relative to the mechanical arm device 100 during operation, and thus the drill rod 200 extends into the ground surface. I.e. by hydraulically driving the drill rod 200.

The connecting piece 130 is used for connecting the second type driving piece 120 and the industrial and mining vehicle so that the industrial and mining vehicle can drive the second type driving piece 120 to move, that is, the first type driving piece 110, the second type driving piece 120, the drill rod 200 and other parts are installed through the connecting piece 130. The first end of the link 130 in the direction of the first line L1 is connected to the industrial and mining vehicle, thereby integrally integrating the robot arm apparatus 100 to the industrial and mining vehicle.

In this embodiment, the first type driving member 110 is defined to be located between the first end of the connecting member 130 and the second type driving member 120 along the first straight line L1, that is, when the second type driving member 120 drives the second type driving member 120 and the drill rod 200 to slide relative to the mechanical arm, the first type driving member 110 is located at a side far from the industrial and mining vehicle, so that the sight of the driver is not obstructed.

Specifically, the mechanical arm device 100 is illustrated as being integrated into one mining trolley 300. The mining trolley 300 has a cab 310, which is the same as the prior art in that the cab 310 of the mining trolley 300 is provided at one end of the mining trolley 300 in the length direction of its vehicle body. One end of the cab 310 along the first straight line L1 has a window 311 visible to the outside of the cab 310.

When the arm device 100 is integrated with the mining trolley 300, the arm device 100 is disposed outside the window 311. The first type of driving member 110 is positioned between the cab 310 and the second type of driving member 120 along a first line L1 such that personnel within the cab 310 can view the first type of driving member 110 and/or the drill pipe 200 to which the first type of driving member 110 is coupled from the viewing window 311.

In this way, by arranging the first type driving member 110 for driving the drill rod 200 to rotate between the second type driving member 120 for driving the drill rod 200 to advance and the first end of the connecting member 130, the second type driving member 120 does not obstruct the driver in the cab 310 from observing the drill rod 200 connected with the first type driving member 110 when the industrial and mining vehicle integrated with the mechanical arm device 100 is in use, thereby improving the operation field of view of the driver and facilitating the mining operation. The drill rod 200 has impact force on the connecting piece 130 during operation, frequent vibration has high requirement on the connection strength between parts, and the mechanical arm device 100 with the arrangement can relatively approach the body of the mining trolley 300 compared with the prior art under the condition that the mechanical arm device 100 has the same length dimension along the first straight line L1 direction, at the moment, the impact load of the drill rod 200 on the connecting piece 130 can be relatively concentrated on one end of the mechanical arm device 100 close to the mining trolley 300, and the connecting piece 130 is not easy to vibrate due to frequent impact or has smaller vibration amplitude, so that the mining trolley 300 can work more stably.

As a specific possible embodiment, to implement the mounting of the first type of driving member 110 and the second type of driving member 120 on the connection member 130, the mechanical arm device 100 further includes: a rocker arm 140. Wherein the swing arm 140 is connected between the connection member 130 and the second type driving member 120 to mount the second type driving member 120 to the connection member 130. The second type of driving member 120 is fixedly coupled to the rocker arm 140. More specifically, the rocker arm 140 is fixedly/movably coupled to the link 130. When the first type driving member 110 adopts a hydraulic motor and the second type driving member 120 adopts a hydraulic cylinder, the hydraulic motor is slidably connected with the rocker arm 140, a cylinder body of the hydraulic cylinder is fixedly connected to the rocker arm 140, a piston rod of the hydraulic cylinder is fixedly connected to the hydraulic motor, so that the hydraulic motor can drive the drill rod 200 to rotate, and the hydraulic cylinder can drive the drill rod 200 connected to the hydraulic motor to slide relative to the rocker arm 140, so that the drill rod 200 is pushed in.

The rocker 140 is located on the side of the first type of driving member 110 remote from the first end of the connecting member 130 in the direction of the first line L1, i.e. the rocker 140 is located on the side of the drill rod 200 connected to the first type of driving member 110 remote from the mining trolley 300, avoiding that the rocker 140 obstructs visual inspection of the drill rod 200 by a driver in the cab 310 of the mining trolley 300.

It is also possible to use a solution in which the rocker 140 is arranged on one side of the first type of driving member 110 in the width direction of the mining trolley 300, in which case the position of the rocker 140 does not affect the operation of the drill rod 200 as seen by the driver from the window 311 of the cab 310.

In some embodiments, the robotic arm apparatus further comprises: a first class lever 131 and a third class driver 132. The length direction of the rocker arm 140 is defined to extend along the second linear direction L2, and the rocker arm 140 is movably connected to one side of the connecting member 130 along the second linear direction L2, for example, when the mining trolley 300 is used for mining on the horizontal ground in actual use, the second linear direction L2 is inclined or perpendicular to the horizontal direction, and the rocker arm 140 is located above at least a portion of the connecting member 130.

The first class lever 131 is rotatably coupled to a side of the link 130 adjacent to the swing arm 140 in the second linear direction L2. The third type driving member 132 is connected between the connecting member 130 and the first lever 131 to drive the first lever 131 to rotate relative to the connecting member 130 in operation. The rocker arm 140 is connected to the first class lever 131 to rotate relative to the link 130 under the drive of the third class drive 132. Specifically, the rocker 140 is fixedly connected to one end of the first class lever 131. The third type of driving member 132 may employ a hydraulic cylinder, the cylinder body of which is hinged to the connecting member 130, and the piston rod is hinged to the end of the first lever 131 remote from the rocker arm 140, i.e. the rotational connection point of the first lever 131 and the connecting member 130 is located between the rocker arm 140 and the hydraulic cylinder, so that the rocker arm 140 can rotate relative to the connecting member 130 in a hydraulically driven manner. Thereby enabling the drill rod 200 disposed on the swing arm 140 to swing relative to the connector 130. The third type of driving member 132 is located on a side of the swing arm 140 away from the first type of driving member 110 along the first straight line L1, that is, the third type of driving member 132 is relatively far away from the drill rod 200 to avoid interfering with the movement of the drill rod 200.

More specifically, the third type driving member 132 and the first type lever 131 are located on a side of the first type driving member 110 away from the first end of the connecting member 130 to ensure the operator's operation view in the cab 310.

On this basis, referring to fig. 2, it may be further defined that the connection 130 includes: a swinging portion 134 and at least one driving cylinder 133. The swinging part 134 and the first class lever 131 are rotatably connected through a driving oil cylinder 133, one end of the swinging part 134 is fixedly connected to the rocker arm 140, so that the rocker arm 140 and the first class lever 131 are rotatably connected, a cylinder body of the driving oil cylinder 133 is hinged to the first class lever 131, and a piston rod is hinged to the swinging part 134. In this way, the drill rod 200 connected to the first type driver 110 may be rotated with respect to the first type lever 131 by means of hydraulic driving.

Specifically, the first class lever 131 and the connecting member 130 are formed to be hinged shaft sections, and the first class lever 131 and the driving cylinder 133 are formed to be hinged shaft sections perpendicular to each other, that is, the rotation axis of the swing arm 140 with respect to the connecting member 130 is perpendicular to the rotation axis of the swing arm 140 with respect to the first class lever 131, so that the degree of freedom of the drill pipe 200 is increased, and the mining operation can be performed more flexibly.

In some embodiments, the connector 130 further comprises: a first cross member 135, a second cross member 136, a first longitudinal member 137, and a second longitudinal member 138. The first cross member 135 is disposed at one end of the connecting member 130 along the first straight line L1. The second beam 136 is disposed at the other end of the connecting member 130 along the first line L1. The first and second stringers 137, 138 are fixedly connected or integrally formed between the first and second cross members 135, 136 such that the first and second cross members 135, 136 form a fixed connection. The first and second stringers 137, 138 are spaced apart to form the escape slot 130a around between the two and the first and second cross members 135, 136. The first type driving member 110 is located in the extending space of the avoidance groove 130a along the second linear direction L2, that is, the first type driving member 110 can drive the drill rod 200 connected with the first type driving member to insert into and pass through the avoidance groove 130a, so that the drill rod 200 can normally contact the area to be mined, the connecting member 130 has the structural form that the parts such as the drill rod 200 can be arranged in the middle of the connecting member 130, and the strength requirement on the connecting member 130 is relatively low.

Considering that the rod diameter of the portion of the drill rod 200 where the mining operation is performed does not exceed 100mm in the related art, in a more specific embodiment, the groove width defining the escape groove 130a in the direction of the first straight line L1 is not less than 500mm, and the groove width is set to 500-800mm,800mm-1000mm,1000mm-1300mm,1300mm-1500mm, etc., for example, according to the specific parameter size of the mining trolley. This arrangement allows the robotic arm apparatus 100 to be adapted for use with different drill rods 200, and provides space between the drill rods 200 and the wall surface forming the evacuation slot 130a to allow a driver to view the operation of the drill rods 200 from the evacuation slot 130 a.

With the above scheme, the avoidance groove 130a enables the parts such as the drill rod 200 for mining to be concentrated in the middle part of the mechanical arm device 100 extending along the length direction of the industrial and mining vehicle body, and not to be arranged at the end part of the mechanical arm device 100. In this way, the overall weight distribution of the mechanical arm device 100 can be more concentrated, the connecting piece 130 is not easy to damage, the impact of the drill rod 200 during mining operation on the industrial and mining vehicle body and the mechanical arm device 100 is reduced, the operation view is ensured, and meanwhile, the industrial and mining vehicle can work relatively more stably.

In some embodiments, the first beam 135 is located between the second beam 136 and the first end of the connection member 130 along the first straight line L1, that is, the second beam 136 is disposed at a second end of the connection member 130 remote from the first end. The first type of drive member 110 is positioned along the first line L1 between the first and second cross members 135, 136 and on the side of the connector 130 adjacent to the second cross member 136 to move the drill pipe 200 relatively away from the body of the mining trolley 300, reducing obstruction of the body's own structure to the driver's view of the drill pipe 200 as it is visually inspected within the cab 310.

In some embodiments, the robotic arm apparatus 100 further comprises: telescoping leg 150. The telescopic leg 150 is fixedly disposed at a second end of the connecting member 130 away from the first end along the first straight line L1. In particular, the telescoping leg 150 may be a commercially available hydraulic telescoping rod, and the present application does not involve modifications to the structure and spacing of the telescoping leg 150, and therefore will not be described in detail herein. Optionally, a telescopic support leg 150 may be fixedly disposed on the second beam 136, or a telescopic support leg 150 may be disposed at one end of the first longitudinal beam 137 and one end of the second longitudinal beam 138, which are close to the second beam 136, so that during a mining operation, the second end of the connecting member 130 is supported by the telescopic support leg 150, so that the drill rod 200 works more stably.

More specifically, the movable end of the telescopic leg 150 and the swing arm 140 are located at two sides of the connection member 130 along the second linear direction L2, respectively.

More specifically, telescoping leg 150 may be further defined as being positioned outside of relief groove 130a to provide sufficient installation and working space for components such as drill pipe 200.

Referring to fig. 4 and 5, the rocker arm 140 may further be provided with a rod magazine 180 and a rod replacing mechanism 190 for replacing and connecting the rods 200. The rod magazine 180 and the rod changing mechanism 190 are commonly used mechanisms for accessing rods in the technical field of mining machinery, and the application does not relate to improvement of the rod magazine itself, so the structure and principle thereof are not repeated here.

The following provides some embodiments that may be embodied in a particular manner of connection between the link 130 and the mining vehicle exemplified by the mining trolley 300, and it should be understood that the following is to be taken as illustrative of the manner in which a connection between the mining vehicle and the link 130 is possible, and not as merely by way of the following.

Referring to fig. 6-7, in some embodiments, the connector 130 further comprises: the second class lever 139. And the robot arm device 100 further includes: a support 160 and a connecting cylinder 170.

Wherein the second class lever 139 is disposed at a first end of the connector 130. The support 160 is in a rotary connection with the second class lever 139. The connecting cylinder 170 is connected between the second class lever 139 and the support 160 to drive the second class lever 139 to rotate relative to the support 160 in operation, for example, a cylinder body of the connecting cylinder 170 is hinged to the support 160, and a piston rod is hinged to one end of the second class lever 139. The connecting cylinder 170 and the first driving member 110 are respectively located at two ends of the second lever 139 along the first straight line L1, that is, the connecting member 130 can rotate relative to the support 160 by hydraulic driving. Taking the example of the mechanical arm device 100 being integrated with the mining trolley 300, the bracket 160 is fixedly mounted to the end of the mining trolley 300 where the cab 310 is provided by bolting, welding or the like.

By adopting the scheme, the mechanical arm device 100 can be mounted on the mining trolley 300, so that the mining trolley 300 can drive the mechanical arm device 100 to move forward. And the link 130 is swingable relative to the mining trolley 300 so that when a mining operation is not being performed, the link 130 can be lifted away from the ground to facilitate travel of the mining trolley 300, the position of the second class lever 139 relative to the support 160 being defined herein as the "stowed position".

Specifically, referring to fig. 7, the second class lever 139 has at least one working position relative to the support 160, such that an end of the connection 130 connected to the first class lever 131 is located below an end of the connection 130 connected to the support 160, that is, the connection cylinder 170 can drive the second class lever 139 to rotate to swing the connection 130, and in the storage position, the center of gravity of the mechanical arm device 100 is lowered, so that the connection 130 approaches the working area, so that the mining operation is facilitated.

More specifically, when the second class lever 139 is located at the working position relative to the support 160, the second class lever 139 is disposed obliquely downward from an end near the connecting cylinder 170 to an end near the first class lever 131, so that the structures of the first beam 135, the second beam 136, etc. of the connecting member 130 are closer to the working area, which is convenient for mining operation, and meanwhile, the obstruction of the structure of the second class lever 139, etc. of the connecting member 130 to the sight of the driver in the cab 310 is further reduced, which is convenient for the driver to observe the operation condition of the drill pipe 200.

The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.

Claims (11)

1. A mechanical arm device for connecting to an industrial and mining vehicle and a drill rod to travel under the drive of the industrial and mining vehicle and drive the drill rod to work so as to perform mining operation; the mechanical arm device comprises:

A first type of drive member for connection to the drill rod to drive rotation of the drill rod;

The second type driving piece is connected with the first type driving piece to drive the first type driving piece to slide so as to drive the drill rod to push;

The connecting piece is used for connecting the second type driving piece and the industrial and mining vehicle so that the industrial and mining vehicle can drive the second type driving piece to move;

The method is characterized in that:

A first end of the connecting piece along a first straight line direction is connected to the industrial and mining vehicle; the first type driving member is located between the first end of the connecting member and the second type driving member along the first linear direction.

2. The robotic arm apparatus of claim 1, wherein:

The mechanical arm device further includes:

A rocker arm connected between the connecting member and the second type driving member to mount the second type driving member to the connecting member;

Wherein the second type driving piece is fixedly connected with the rocker arm; the rocker arm is located on one side of the first type driving piece away from the first end of the connecting piece along the first linear direction.

3. The robotic arm apparatus of claim 2, wherein:

defining that the length direction of the rocker arm extends along a second straight line direction; the rocker arm is movably connected to one side of the connecting piece along the second linear direction;

The mechanical arm device further includes:

The first lever is rotationally connected to one side, close to the rocker arm, of the connecting piece along the second linear direction;

The third type driving piece is connected between the connecting piece and the first type lever so as to drive the first type lever to rotate relative to the connecting piece when working;

The rocker arm is connected with the first class lever so as to rotate relative to the connecting piece under the drive of the third class driving piece; the third type driving piece is located on one side, away from the first type driving piece, of the rocker arm along the first straight line direction.

4. A robotic arm apparatus as claimed in claim 3, wherein:

The connector further comprises:

The first cross beam is arranged at one end of the connecting piece along the first straight line direction;

the second cross beam is arranged at the other end of the connecting piece along the first straight line direction;

The first longitudinal beam and the second longitudinal beam are fixedly connected or integrally formed between the first cross beam and the second cross beam so that the first cross beam and the second cross beam form fixed connection;

The first longitudinal beam and the second longitudinal beam are arranged at intervals to form an avoidance groove between the first longitudinal beam and the second longitudinal beam and the first cross beam and the second cross beam in a surrounding mode; the first driving piece is positioned in the extension space of the avoidance groove along the second linear direction; the groove width of the avoidance groove along the first straight line direction is not less than 500mm.

5. The mechanical arm device of claim 4, wherein:

The first cross beam is positioned between the second cross beam and the first end of the connecting piece along the first straight line direction; the first driving piece is located between the first beam and the second beam along the first straight line direction and located at one side of the connecting piece, which is close to the second beam.

6. The mechanical arm device of claim 4, wherein:

The mechanical arm device further includes:

The telescopic supporting leg is fixedly arranged at the second end, far away from the first end, of the connecting piece along the first linear direction.

7. The robotic arm apparatus of claim 6, wherein:

The movable end of the telescopic supporting leg and the rocker arm are respectively located at two sides of the connecting piece along the second linear direction.

8. The mechanical arm device according to any one of claims 3 to 7, wherein:

The connector further comprises:

the second class lever is arranged at the first end of the connecting piece;

The mechanical arm device further includes:

The support is in rotary connection with the second class lever;

The connecting oil cylinder is connected between the second class lever and the support to drive the second class lever to rotate relative to the support during working;

The connecting oil cylinder and the first driving piece are respectively positioned at two ends of the second class lever along the first straight line direction.

9. The robotic arm apparatus of claim 8, wherein:

the second class lever has at least one working position relative to the support, so that one end of the connecting piece connected with the first class lever is positioned below one end of the connecting piece connected with the support.

10. The robotic arm apparatus of claim 9, wherein:

When the second class lever is positioned at the working position relative to the support, the second class lever is obliquely downwards arranged from one end close to the connecting oil cylinder to one end close to the first class lever.

11. A mining trolley comprising:

the cab is arranged at one end of the mining trolley along the length direction of the vehicle body;

The method is characterized in that:

the mining trolley further comprising a robotic arm apparatus as claimed in any one of claims 1 to 10;

One end of the cab along the first straight line direction is provided with a window which is visible outside the cab; the mechanical arm device is arranged outside the window; the first type driving piece is located between the cab and the second type driving piece along the first straight line direction, so that personnel in the cab can observe the first type driving piece or/and a drill rod connected with the first type driving piece from the window.