A novel mining pipeline snatch device

[0034] Such as figure 1 The new mining pipeline snatch device shown is composed of a horizontal moving mechanism, a left-right rotation mechanism, a horizontal telescopic turning mechanism, a hydraulic large-angle manipulator, and a two-stage free-type gantry system.

[0035] The hydraulic large-angle manipulator structure is as Figure 4 with 5 As shown, it is composed of pitch cylinder one, base, connecting plate one, pitch cylinder two, connecting plate two, slewing support, manipulator base, manipulator first cylinder, gripper one, manipulator second cylinder, and gripper 2. The base is installed on the whole machine. One end of the tilting cylinder is hinged with the base, and the other end is hinged with the connecting plate; one side of the connecting plate is provided with a slot, and the second tilting cylinder is installed in the slot and connected to the groove walls on both sides. The other end is hinged with the groove wall at one end of the connecting plate two; the slewing support is connected with the connecting plate two and the base of the manipulator, the first cylinder of the manipulator is connected with the base of the manipulator and the claw one through the hinge, and the second cylinder of the manipulator is connected with the hinge through the hinge. The manipulator base and the claw are connected. Tilting cylinder one can realize the lifting and lowering of connecting plate one, connecting plate two, slewing support, manipulator base and manipulator; tilting cylinder two can realize greater angle lifting and lowering of connecting plate two, slewing support, manipulator base and manipulator; The first and second claws can realize the clamping and releasing of the goods; the slewing support is connected with the second connecting plate and the base of the manipulator to realize the 360° rotation of the manipulator.

[0036] The horizontal movement mechanism is provided with a slide rail, a slide rail seat and a horizontal shifting cylinder. The slide rail 1 is fixed on the frame, and the slide rail 1 is matched with a sliding knot that can move horizontally and horizontally along the slide rail. The slide rail seat is installed On the sliding knot, the left and right rotating mechanism is fixed on the sliding rail seat, the cylinder body of the traversing cylinder is hinged with the sliding knot, and the end of the piston rod of the traversing cylinder is hinged with the frame. Through hydraulic system control, the overall lateral movement of the pipeline grabbing device can be realized.

[0037] The left and right rotation mechanism is fixed on the slide rail seat, and the horizontal rotation of the pipeline grab device can be realized by the control of the hydraulic system.

[0038] The turning cylinder is connected with the horizontal telescopic turning mechanism and the two-stage free-type gantry system through a hinge, which can realize the movement of the two-stage free-type gantry system from the horizontal position to the vertical position. There are two slideways on the horizontal telescopic turning mechanism, and the two-stage free-type gantry system is connected to the slideway two through a sliding joint; the turning cylinder is connected to the two-stage free-type gantry system and the horizontal telescopic turning mechanism through a hydraulic system. The control can realize the movement of the horizontal position of the two-stage free-style gantry system.

[0039] The structure of the two-stage free-style gantry system is as figure 2 As shown, it is composed of a primary mast, a primary lifting cylinder, a secondary mast, a secondary lifting cylinder and a manipulator mounting plate. The first-level lifting cylinder is connected with the first-level mast and the second-level mast through hinges, which can realize the lifting movement of the second-level mast; the hydraulic large-angle manipulator is fixed on the manipulator mounting plate, and the second-level lifting cylinder is connected to the second mast through the hinge. The stage gantry is connected with the manipulator mounting plate, so as to realize the hydraulic large-angle manipulator to grasp the pipelines at various extreme positions in the coal mine.

[0040] The horizontal movement of the pipeline snatching device can reach a maximum displacement of 600mm; the maximum horizontal rotation angle is 95° on both sides.

[0041] The maximum vertical displacement of the manipulator can reach 4.5 meters, which is the superimposed lifting limit height of the device's lifting height of the manipulator and the lifting height of the manipulator itself.

[0042] When working, according to the location of the pipeline, first adjust the left and right rotating mechanism, which can realize the horizontal telescopic turning mechanism and the two-stage free-type mast system to rotate left or right; synchronously adjust the two sets of turning cylinders to make the two-stage free-style The mast system is perpendicular to the ground; the hydraulic large-angle manipulator is fixed on the manipulator mounting plate of the two-stage free-style mast system, which can realize vertical displacement; then adjust the horizontal telescopic flip mechanism to realize the level of the two-stage free-style mast system The position expansion and contraction enables the hydraulic large-angle manipulator to complete the grasping operation; finally, by adjusting the horizontal movement mechanism, the left and right rotation mechanism, the horizontal telescopic turning mechanism, and the two-stage free-type gantry system, the pipeline reaches the predetermined installation position. Through the above series of actions, the pipe grabbing and lifting operations on the left and right sides of the pipe snatch vehicle and various extreme positions can be realized.