Auxiliary operation robot for disassembling and assembling carrier roller of belt conveyor for coal mine

Abstract

The invention belongs to the technical field of belt conveyor maintenance, and particularly relates to a belt conveyor carrier roller disassembly and assembly auxiliary operation robot for a coal mine. Comprising a walking part, a power assembly, a carrier roller replacement box, a cab, an auxiliary operation platform and a lifting mechanism, the auxiliary operation platform comprises a posture adjusting platform capable of adjusting the direction, the inclination angle and the height; two groups of sliding telescopic mechanisms with the same telescopic direction are carried on the posture adjusting platform, and are respectively a left sliding telescopic mechanism and a right sliding telescopic mechanism; an action terminal of the left sliding telescopic mechanism carries a belt lifting supporting mechanism, and an action terminal of the right sliding telescopic mechanism carries a multi-degree-of-freedom disassembly and assembly manipulator; the auxiliary operation robot for disassembling and assembling the carrier roller can realize mechanical carrier roller replacement operation under the non-stop state of the belt conveyor, improve the operation efficiency, reduce the operation intensity, ensure the continuity of the coal mining process and ensure the safety and reliability of the carrier roller replacement process.

Description

Technical Field

[0001] The invention belongs to the technical field of belt conveyor maintenance, and in particular relates to a belt conveyor roller disassembly and assembly auxiliary operation robot for coal mines. Background Art

[0002] As the key equipment for continuous, long-distance and large-volume transportation in coal mines, belt conveyors are mainly used to transport discrete materials such as block, granular or powdered coal and ore. According to statistics, due to the harsh working environment and long-term wear, roller failure accounts for 78.9% of the total failures of belt conveyors. Early detection of roller abnormalities and efficient replacement of damaged rollers are one of the key maintenance tasks to ensure the normal operation of belt conveyors and guarantee coal mine production. At present, underground coal mines mainly rely on manual labor to complete the maintenance and replacement of damaged rollers. Due to the narrow working environment of the tunnel, the belt conveyor needs to be shut down frequently, and 3 to 4 workers use tools such as crowbars and jacks to complete the replacement. This not only affects the normal coal production efficiency, but also causes high labor intensity and cumbersome operation process of manual labor, and also causes various safety accidents.

[0003] It is urgent to develop a belt conveyor roller disassembly and assembly auxiliary operation vehicle, which can realize the mechanized roller replacement operation of the belt conveyor without stopping the belt conveyor, improve the operation efficiency and reduce the operation intensity, which can not only ensure the continuity of the coal mining process, but also ensure the safety and reliability of the roller replacement process, and promote efficient and intensive production in coal mines. Summary of the invention

[0004] The invention aims to solve the problem that it is difficult to disassemble and replace the rollers of a long-distance belt conveyor in an underground coal mine.

[0005] The present invention provides the following technical solution: a belt conveyor roller disassembly and assembly auxiliary operation robot for coal mines, comprising a traveling part and a power assembly mounted on the traveling part, a roller replacement box, a cab, an auxiliary operation platform and a lifting mechanism; the auxiliary operation platform extends from the front end of the traveling part, and the auxiliary operation platform is connected to the traveling part through the lifting mechanism; the roller replacement box is used to store rollers, and the power assembly is used to output power;

[0006] The auxiliary working platform includes a posture adjustment platform with adjustable direction, inclination and height; the posture adjustment platform is equipped with two sets of sliding telescopic mechanisms with the same telescopic direction, namely the left sliding telescopic mechanism and the right sliding telescopic mechanism; the action terminal of the left sliding telescopic mechanism is equipped with a belt lifting support mechanism, and the action terminal of the right sliding telescopic mechanism is equipped with a multi-degree-of-freedom disassembly and assembly robot; the belt lifting support mechanism is used to support and lift the belt of the belt conveyor to a certain height to form a working space for disassembling and assembling rollers; the multi-degree-of-freedom disassembly and assembly robot is used to grab the rollers.

[0007] Furthermore, a supporting platform is arranged at the bottom of the posture adjustment platform, and an adjusting cylinder is connected between the supporting platform and the posture adjustment platform. The height and inclination angle of the posture adjustment platform are changed by adjusting the cylinder. A hydraulic slewing support is arranged at the bottom of the supporting platform. The hydraulic slewing support is installed at the lifting end of the lifting mechanism, and the direction of the posture adjustment platform is changed by the hydraulic slewing support.

[0008] Furthermore, the lifting mechanism includes a lifting frame, a feed cylinder, a guide seat and a bracket; the lifting frame is installed at the front end of the walking part, the guide seat is slidably assembled on the guide column of the lifting frame, the bracket is fixed on the guide seat and extends forward, and the hydraulic slewing support is installed on the top of the extended end of the bracket; the feed cylinder is parallel to the guide column, both ends of the piston rod of the feed cylinder are connected to the lifting frame, and the two nodes of the lifting transmission chain on the cylinder barrel of the feed cylinder are respectively connected to the guide seat and the lifting frame.

[0009] Furthermore, the sliding and telescopic mechanism of the auxiliary working platform includes a primary sliding plate, a secondary sliding plate, a tertiary sliding plate, a primary pushing cylinder, a secondary pushing cylinder and a tertiary pushing cylinder; a dovetail groove sliding structure is formed between the primary sliding plate and the posture adjustment platform, between the secondary sliding plate and the primary sliding plate, and between the tertiary sliding plate and the secondary sliding plate; a primary pushing cylinder is connected between the posture adjustment platform and the primary sliding plate, and the primary sliding plate is driven to slide by the primary pushing cylinder with the posture adjustment platform as the base; a secondary pushing cylinder is connected between the secondary sliding plate and the primary sliding plate, and the primary sliding plate is driven to slide by the secondary pushing cylinder with the primary sliding plate as the base; a tertiary pushing cylinder is connected between the tertiary sliding plate and the secondary sliding plate, and the tertiary sliding plate is driven to slide by the tertiary pushing cylinder with the secondary sliding plate as the base.

[0010] Furthermore, the multi-degree-of-freedom disassembly and assembly manipulator includes a longitudinal sliding frame, a multiplication adjustment cylinder, a sliding base, a swing frame, a sliding frame, an upper jaw plate and a lower jaw plate;

[0011] The longitudinal sliding frame is slidably assembled on the three-stage sliding plate of the right sliding telescopic mechanism, the longitudinal sliding frame and the three-stage sliding plate are connected with the longitudinal push cylinder, the sliding direction of the longitudinal sliding frame is perpendicular to the sliding direction of the three-stage sliding plate, the sliding base adopts a slot structure to slide with the longitudinal sliding frame, the two ends of the cylinder rod of the multiplier deviation adjustment cylinder are connected to the longitudinal sliding frame, the two nodes of the transmission chain on the cylinder barrel of the multiplier deviation adjustment cylinder are respectively connected to the sliding base and the longitudinal sliding frame, and the sliding direction of the sliding base is perpendicular to the sliding direction of the longitudinal sliding frame;

[0012] The swing frame is installed offset relative to the sliding base and is hinged with a pin shaft. The left and right swing cylinders are connected between the swing frame and the sliding base to drive the swing frame to swing left and right; the sliding frame and the swing frame slide together with a dovetail groove structure, and the upper and lower sliding cylinders are connected between the sliding frame and the swing frame to drive the sliding frame to move up and down; the sliding frame and the lower jaw plate are hinged with a pin shaft, and the upper and lower swing cylinders are connected between the sliding frame and the lower jaw plate to drive the lower jaw plate to swing up and down; the upper jaw plate and the lower jaw plate are hinged with a pin shaft, and the clamping cylinder is connected between the upper jaw plate and the lower jaw plate to drive the upper jaw plate to clamp or open.

[0013] Furthermore, the belt lifting support mechanism includes a lifting frame, a bottom roller, a lifting side plate, a side roller and an inclination adjustment cylinder; the lifting frame is installed on the three-stage sliding plate of the left sliding and telescopic mechanism, the bottom roller is horizontally installed on the lifting platform of the lifting frame, the lifting side plate is hinged to the lifting platform on both sides of the bottom roller, the inclination adjustment cylinder is connected between the lifting side plate and the lifting platform, the side roller is installed on the lifting side plate, and the inclination adjustment cylinder drives the lifting side plate to rotate so that the bottom roller and the side rollers on both sides form a groove structure.

[0014] Furthermore, the first-level sliding plate is a hollow frame, the first-level pushing cylinder and the second-level pushing cylinder are arranged in the first-level sliding plate, the first-level pushing cylinder is in the center, the second-level pushing cylinder is located on both sides, the third-level pushing cylinder is located on both sides of the outside of the second-level sliding plate, and the third-level sliding plate is located between the two third-level pushing cylinders.

[0015] Furthermore, the power assembly is arranged at the rear end of the walking part, and the power assembly includes a rear frame, an explosion-proof diesel engine, a water tank, a fuel tank, a hydraulic oil tank, an exhaust gas treatment tank and a hydraulic pump.

[0016] Furthermore, the walking part is a crawler chassis, including a main frame and a crawler mechanism.

[0017] Furthermore, a pipeline support frame is provided on the posture adjustment platform between the left sliding telescopic mechanism and the right sliding telescopic mechanism; a camera is arranged on the top plate of the pipeline support frame.

[0018] Compared with the prior art, the advantages of the present invention are:

[0019] It adopts a miniaturized and integrated design, and is mainly composed of a powertrain, roller replacement box, cab, auxiliary work platform, lifting mechanism and walking part. The powertrain is arranged at the rear end of the equipment to provide power for the equipment to travel long distances in the lane; the cab is arranged in the middle of the equipment; the roller replacement box is arranged between the powertrain and the cab, and is mainly used to store new rollers and faulty rollers respectively, and the number of replacement boxes can be increased or decreased according to actual needs; the lifting mechanism is arranged at the front end of the equipment, and adopts a double-column guide mechanism. By adjusting the height of the auxiliary work platform, it can meet the needs of disassembly, assembly and replacement of upper and lower rollers; the auxiliary work platform is located at the front end of the equipment, integrating posture adjustment and multi-stage telescopic platform mechanism, multi-degree-of-freedom roller disassembly and assembly manipulator, and belt lifting support mechanism.

[0020] The equipment is powered by an explosion-proof diesel engine driving a hydraulic pump. It has two control modes: manual operation and wireless remote control. It has the advantage of fast long-distance movement in coal mines.

[0021] The attitude adjustment platform can be driven by the hydraulic slewing support to achieve 180° rotation within the horizontal range, which can quickly change the working direction when the belt conveyor is arranged left and right in the lane. It not only improves the safety and reliability of the long-distance roller replacement process of the belt conveyor without stopping, but also ensures the continuity of the coal transportation process.

[0022] The multi-degree-of-freedom disassembly and assembly manipulator can effectively clamp each roller of the trough roller group respectively, and has six degrees of freedom in space, including horizontal lateral sliding, horizontal longitudinal sliding, vertical downward sliding, left and right swinging, front and back swinging, and self-clamping. According to the structural characteristics of the trough roller group of the belt conveyor, the multi-degree-of-freedom disassembly and assembly manipulator can swing 35° to the right and slide upward to complete the grabbing of the left roller, slide horizontally and downward to complete the grabbing of the middle roller, and swing to the left and slide upward 35° to complete the grabbing of the right roller. The multi-degree-of-freedom disassembly and assembly manipulator meets the disassembly and assembly requirements of the trough roller group at different placement angles and heights.

[0023] The belt lifting support mechanism has the advantages of a large lifting support range and lifting support force feedback perception. It can perform lifting operations while the belt is running, ensuring the safety of operators.

[0024] The left sliding telescopic mechanism and the right sliding telescopic mechanism are hydraulically driven, with flexible movements and compact structure, low height and wide travel range, providing a basis for the operation of multi-degree-of-freedom disassembly and assembly manipulators. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of a robot for assisting the disassembly and assembly of belt conveyor rollers for coal mines;

[0026] Figure 2 This is a schematic diagram of the auxiliary working platform in a retracted state;

[0027] Figure 3 This is a schematic diagram of the auxiliary working platform in its unfolded state;

[0028] Figure 4 It is a schematic diagram of a multi-degree-of-freedom disassembly and assembly robot;

[0029] Figure 5 This is a schematic diagram of a multi-degree-of-freedom disassembly and assembly robot gripping a roller;

[0030] Figure 6 is a schematic diagram of a belt lifting support mechanism;

[0031] Figure 7 is a schematic diagram of the left sliding telescopic mechanism;

[0032] Figure 8 is a schematic diagram of the right sliding telescopic mechanism;

[0033] Fig. 9 is a schematic diagram of the lifting mechanism;

[0034] Fig.10 is a schematic diagram of the powertrain;

[0035] Fig.11 is a schematic diagram of a roller replacement box;

[0036] Fig.12 It is a schematic diagram of the walking part;

[0037] Fig.13 A schematic diagram of the cab.

[0038] In the figure: 1-multi-degree-of-freedom disassembly and assembly manipulator; 101-sliding base; 102-left and right swing cylinder; 103-sliding frame; 104-upper and lower swing cylinder; 105-upper jaw plate; 106-lower jaw plate; 107-clamping cylinder; 108-swinging frame; 109-upper and lower sliding cylinder; 110-longitudinal sliding frame; 111-multiplication adjustment cylinder; 112-longitudinal push cylinder; 113-transmission chain;

[0039] 2-Pipeline support frame; 3-Camera;

[0040] 4-belt lifting support mechanism; 401-side roller; 402-bottom roller; 403-lifting top plate; 404-lifting side plate; 405-cage; 406-tilt adjustment cylinder; 407-upper front articulated shaft; 408-fixed block; 409-lower front articulated shaft; 410-scissor beam; 411-middle articulated shaft; 412-upper rear articulated shaft; 413-lower rear articulated shaft; 414-push-pull cylinder;

[0041] 5-attitude adjustment platform; 6-adjustment cylinder; 7-left sliding telescopic mechanism; 8-hydraulic slewing support; 9-support platform; 10-right sliding telescopic mechanism; 11-first sliding plate; 12-second sliding plate; 13-third sliding plate; 14-first pushing cylinder; 15-second pushing cylinder; 16-third pushing cylinder; 17-traveling part; 1701-crawler mechanism; 1702-main frame;

[0042] 18-powertrain; 1801-rear frame; 1802-explosion-proof diesel engine; 1803-water tank; 1804-fuel tank; 1805-shield; 1806-hydraulic oil tank; 1807-exhaust gas treatment box; 1808-hydraulic pump;

[0043] 19- roller replacement box; 1901- box body; 1902- double door;

[0044] 20- cab; 2001- cockpit; 2002- display; 2003- lighting; 2004- operation platform; 2005- electric control box; 2006- seat assembly;

[0045] 21-lifting mechanism; 2101-lifting frame; 2102-lifting transmission chain; 2103-feeding cylinder; 2104-guide seat; 2105-bracket; 2106-guide column. DETAILED DESCRIPTION

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] like Figure 1 As shown: a belt conveyor roller disassembly and assembly auxiliary operation robot for coal mines, comprising a walking part 17 and a power assembly 18 mounted on the walking part 17, a roller replacement box 19, a cab 20, an auxiliary operation platform and a lifting mechanism 21; the auxiliary operation platform extends from the front end of the walking part 17, and the auxiliary operation platform is connected to the walking part 17 through the lifting mechanism 21; the roller replacement box 19 is used to store rollers, and the power assembly 18 is used to output power;

[0048] like Figure 2 , Figure 3As shown: the auxiliary working platform includes a posture adjustment platform 5 with adjustable direction, inclination and height; the posture adjustment platform 5 is equipped with two sets of sliding telescopic mechanisms with the same telescopic direction, namely the left sliding telescopic mechanism 7 and the right sliding telescopic mechanism 10; the action terminal of the left sliding telescopic mechanism 7 is equipped with a belt lifting support mechanism 4, and the action terminal of the right sliding telescopic mechanism 10 is equipped with a multi-degree-of-freedom disassembly and assembly robot 1; the belt lifting support mechanism 4 is used to support and lift the belt of the belt conveyor to a certain height to form a working space for disassembling and assembling rollers; the multi-degree-of-freedom disassembly and assembly robot 1 is used to grab the rollers.

[0049] A supporting platform 9 is arranged at the bottom of the posture adjustment platform 5, and an adjusting cylinder 6 is connected between the supporting platform 9 and the posture adjustment platform 5. The height and inclination angle of the posture adjustment platform 5 can be changed by adjusting the cylinder 6. A hydraulic slewing support 8 is arranged at the bottom of the supporting platform 9. The hydraulic slewing support 8 is installed at the lifting end of the lifting mechanism, and the direction of the posture adjustment platform 5 can be changed by the hydraulic slewing support 8.

[0050] A pipeline support frame 2 is provided on the posture adjustment platform 5 between the left sliding telescopic mechanism 7 and the right sliding telescopic mechanism 10. A camera 3 is arranged on the top plate of the pipeline support frame 2.

[0051] The auxiliary operation robot realizes rapid transfer operation in the coal mine through the walking part 17, and the auxiliary operation platform is driven by the hydraulic slewing support 8 to realize 180° rotation within the horizontal range, so as to meet the requirement of rapid change of operation direction when the belt conveyor is arranged left and right in the tunnel.

[0052] The auxiliary operation robot is suitable for long-distance inspection and roller disassembly and replacement of belt conveyors in coal mines. The operator moves the auxiliary operation robot to the designated position near the faulty roller on the belt conveyor side, first controls the adjustment cylinder 6 to keep the surface of the posture adjustment platform 5 parallel to the upper surface of the H frame of the belt conveyor; then controls the left sliding telescopic mechanism 7 to drive the belt lifting support mechanism 4 to slide to the belt centerline position, and lifts the belt to a certain height to form an effective working space; secondly, controls the right sliding telescopic mechanism 10 to drive the multi-degree-of-freedom disassembly and assembly manipulator 1 to slide to the faulty roller attachment, grabs and removes the faulty roller, and then retracts the three-level telescopic mechanism of the right sliding telescopic mechanism 10; finally, manually replaces the faulty roller with a new roller and repeats the above actions to complete the operation. The operation process is completed by remote remote control under the visual guidance of the camera 3. The auxiliary operation robot not only improves the safety and reliability of the long-distance roller replacement process of the belt conveyor without stopping, but also ensures the continuity of the coal transportation process.

[0053] like Figure 7 , Figure 8As shown in the figure: the sliding telescopic mechanism includes a primary sliding plate 11, a secondary sliding plate 12, a tertiary sliding plate 13, a primary push cylinder 14, a secondary push cylinder 15 and a tertiary push cylinder 16; a dovetail groove sliding structure is formed between the primary sliding plate 11 and the posture adjustment platform 5, between the secondary sliding plate 12 and the primary sliding plate 11, and between the tertiary sliding plate 13 and the secondary sliding plate 12; the primary push cylinder 14 is connected between the posture adjustment platform 5 and the primary sliding plate 11 to adjust the posture The state adjustment platform 5 is the base, and the first-level sliding plate 11 is driven to slide by the first-level pushing cylinder 14; the second-level pushing cylinder 15 is connected between the second-level sliding plate 12 and the first-level sliding plate 11, and the first-level sliding plate 11 is used as the base, and the second-level sliding plate 12 is driven to slide by the second-level pushing cylinder 15; the third-level pushing cylinder 16 is connected between the third-level sliding plate 13 and the second-level sliding plate 12, and the second-level sliding plate 12 is used as the base, and the third-level pushing cylinder 16 drives the third-level sliding plate 13 to slide.

[0054] The first-stage sliding plate 11 is a hollow frame, and the first-stage push cylinder 14 and the second-stage push cylinder 15 are arranged in the first-stage sliding plate 11, the first-stage push cylinder 14 is in the center, the second-stage push cylinder 15 is located on both sides, the third-stage push cylinder 16 is located on both sides of the outside of the second-stage sliding plate 12, and the third-stage sliding plate 13 is located between the two third-stage push cylinders 16. The sliding telescopic mechanism adopts hydraulic drive, has flexible movement and compact structure, low height and wide travel range, and the right sliding telescopic mechanism 10 provides a basis for the operation of the multi-degree-of-freedom disassembly and assembly manipulator 1.

[0055] like Figure 4 As shown: the multi-degree-of-freedom disassembly and assembly robot 1 includes six spatial degrees of freedom, namely, horizontal lateral sliding, horizontal longitudinal sliding, left and right swinging, vertical downward sliding, front and back swinging, and self-clamping, which are superimposed on each other.

[0056] like Figure 4 , Figure 8 As shown: the multi-degree-of-freedom disassembly and assembly robot 1 includes a longitudinal sliding frame 110, a multiplication adjustment cylinder 111, a sliding base 101, a swing frame 108, a sliding frame 103, an upper jaw plate 105 and a lower jaw plate 106;

[0057] The longitudinal sliding frame 110 is slidably assembled on the three-stage sliding plate 13 of the right sliding telescopic mechanism 10. The longitudinal sliding frame 110 and the three-stage sliding plate 13 are connected to the longitudinal push cylinder 112. The sliding direction of the longitudinal sliding frame 110 is perpendicular to the sliding direction of the three-stage sliding plate 13. The sliding base 101 adopts a slot structure to slide with the longitudinal sliding frame 110. The two ends of the cylinder rod of the multiplication and deviation adjustment cylinder 111 are connected to the longitudinal sliding frame 110. The two nodes of the transmission chain 113 on the cylinder barrel of the multiplication and deviation adjustment cylinder 111 are respectively connected A sliding base 101 and a longitudinal sliding frame 110, the sliding direction of the sliding base 101 is perpendicular to the sliding direction of the longitudinal sliding frame 110; the sliding base 101 is driven jointly by the multiplying and adjusting cylinder 111 and the transmission chain 113 to realize the lateral sliding of the manipulator, the cylinder rod of the multiplying and adjusting cylinder 111 is fixed, the cylinder barrel slides on the cylinder rod, sprockets are provided at both ends of the cylinder barrel, and the transmission chain 113 is connected to the sprockets at both ends; the combined structure of the multiplying and adjusting cylinder 111 and the transmission chain 113 is the existing technology, and no structural changes are made in this embodiment.

[0058] The multi-degree-of-freedom disassembly and assembly robot 1 can be moved to an approximate position near the faulty roller by extending and retracting the sliding plates of the right-side sliding and retracting mechanism 10, and the longitudinal sliding frame 110 is driven by the longitudinal push cylinder 112 to move forward and backward, so that the front and rear position of the robot can be determined; through the joint action of the multiplier adjustment cylinder 111 and the transmission chain 113, the sliding base 101 of the multi-degree-of-freedom disassembly and assembly robot 1 is driven to move left and right, so that the left and right position of the robot can be determined, and the precise working position of the multi-degree-of-freedom disassembly and assembly robot 1 can be adjusted.

[0059] The swing frame 108 is installed offset relative to the sliding base 101 and is hinged with a pin shaft. The left and right swing cylinders 102 are connected between the swing frame 108 and the sliding base 101 to drive the swing frame 108 to swing left and right; the sliding frame 103 and the swing frame 108 are slidably matched with each other using a dovetail groove structure. The upper and lower sliding cylinders 109 are connected between the sliding frame 103 and the swing frame 108 to drive the sliding frame 103 to move up and down; the sliding frame 103 and the lower jaw plate 106 are hinged with a pin shaft. The upper and lower swing cylinders 104 are connected between the sliding frame 103 and the lower jaw plate 106 to drive the lower jaw plate 106 to swing up and down; the upper jaw plate 105 and the lower jaw plate 106 are hinged with a pin shaft. The clamping cylinder 107 is connected between the upper jaw plate 105 and the lower jaw plate 106 to drive the upper jaw plate 105 to clamp or open.

[0060] like Figure 5As shown: The multi-degree-of-freedom disassembly and assembly robot 1 can effectively clamp each roller of the trough roller group. According to the structural characteristics of the trough roller group of the belt conveyor, the multi-degree-of-freedom disassembly and assembly robot 1 can swing 35° to the right and slide upward to complete the grabbing of the left roller, slide horizontally and downward to complete the grabbing of the middle roller, and swing to the left and slide upward 35° to complete the grabbing of the right roller. The multi-degree-of-freedom disassembly and assembly robot 1 meets the disassembly and assembly requirements of the trough roller group at different placement angles and heights. During the operation, the first clamping and recovery of the faulty roller requires manual remote control operation, while the second clamping of the faulty roller can be automatically completed according to the path memory function, which greatly improves the operation efficiency.

[0061] like Figure 6 As shown: before the multi-degree-of-freedom disassembly and assembly manipulator 1 operates, the belt conveyor belt needs to be supported and lifted to a certain height by the belt lifting support mechanism 4 to form an effective working space. The belt lifting support mechanism 4 includes a lifting frame, a bottom roller 402, a lifting side plate 404, a side roller 401 and an inclination adjustment cylinder 406; the lifting frame is installed on the three-stage sliding plate 13 of the left sliding telescopic mechanism 7, the bottom roller 402 is horizontally installed on the lifting platform of the lifting frame, the lifting side plate 404 is hinged to the lifting platform on both sides of the bottom roller 402, the inclination adjustment cylinder 406 is connected between the lifting side plate 404 and the lifting platform, the side roller 401 is installed on the lifting side plate 404, and the inclination adjustment cylinder 406 drives the lifting side plate 404 to rotate so that the bottom roller 402 and the side rollers 401 on both sides form a groove structure.

[0062] According to the running cross-sectional shape of the belt conveyor, the lifting side plate 404 needs to be driven to swing to a suitable angle through the inclination adjustment cylinders 406 on the left and right sides, so that the bottom roller 402 and the left and right side rollers 401 form a groove structure, and the clamping plate 405 is used to fix the rollers. This mechanism has the advantages of a large lifting support range and feedback perception of lifting support force. It can perform lifting operations when the belt is running, ensuring the safety of operators.

[0063] The lifting frame of the belt lifting support mechanism 4 is a scissor-type structure, and the overall lifting of the lifting platform is completed by driving the bottom push-pull cylinder 414. The lifting frame includes a lifting top plate 403, an upper front hinge shaft 407, a fixing block 408, a lower front hinge shaft 409, a scissor beam 410, a middle hinge shaft 411, an upper rear hinge shaft 412, a push-pull cylinder 414 and a lower rear hinge shaft 413;

[0064] The scissor beams 410 on the left and right sides are rotatably connected with the middle hinge shaft 411 as the axis, and the upper ends of the scissor beams 410 on the left and right sides are respectively connected to the upper front hinge shaft 407 and the upper rear hinge shaft 412; the lower ends of the scissor beams 410 on the left and right sides are respectively connected to the lower front hinge shaft 409 and the lower rear hinge shaft 413;

[0065] Sliding grooves are arranged on the left and right sides of the three-stage sliding plate 13 of the left sliding telescopic mechanism 7. The lower front hinge shaft 409 is fixed to the three-stage sliding plate 13 by a fixing block 408. The lower rear hinge shaft 413 is driven by a push-pull cylinder 414 to slide back and forth in the sliding groove of the three-stage sliding plate 13. The upper front hinge shaft 407 is fixed to the bottom surface of the lifting top plate 403 by an ear plate. The upper rear hinge shaft 412 slides back and forth in the sliding groove of the lifting top plate 403. The bottom roller 402, the lifting side plate 404 and the inclination adjustment cylinder 406 are connected to the lifting top plate 403.

[0066] like Fig. 9 As shown: the lifting mechanism 21 is used to adjust the height of the auxiliary working platform to adapt to the working height of different mine belt conveyors and meet the requirements of disassembly, assembly and replacement of the upper groove roller group and the lower roller. The lifting mechanism 21 includes a lifting frame 2101, a feed cylinder 2103, a guide seat 2104 and a bracket 2105; the lifting frame 2101 is installed at the front end of the walking part 17, the guide seat 2104 is slidably assembled on the guide column 2106 of the lifting frame 2101, the bracket 2105 is fixed on the guide seat 2104 and extends forward, and the hydraulic slewing support 8 is installed on the top of the extended end of the bracket 2105; the feed cylinder 2103 is parallel to the guide column 2106, the two ends of the piston rod of the feed cylinder 2103 are connected to the lifting frame 2101, and the two nodes of the lifting transmission chain 2102 on the cylinder barrel of the feed cylinder 2103 are respectively connected to the guide seat 2104 and the lifting frame 2101. The guide seat 2104 is driven jointly by the feed cylinder 2103 and the lifting transmission chain 2102 to realize the up and down movement of the bracket 2105. The piston rod of the feed cylinder 2103 is fixed, and the cylinder barrel slides on the piston rod. Sprockets are provided at both ends of the cylinder barrel, and the lifting transmission chain 2102 is connected to the sprockets at both ends. The combined structure of the feed cylinder 2103 and the lifting transmission chain 2102 is the existing technology, and no structural changes are made in this embodiment.

[0067] like Fig.12 As shown in the figure, the walking part 17 is mainly composed of a crawler mechanism 1701 and a main frame 1702, which constitute the equipment chassis and mainly play the role of bearing the weight of the equipment and driving the equipment to walk. The main frame 1702 adopts an integral welded structure and is fastened to the crawler mechanism 1701 by pin bolts. The walking part 17 is responsible for the movement of the whole machine, such as moving forward, backward, and turning, and finally transporting the whole machine to the side of the belt conveyor to provide guarantee for subsequent work.

[0068] like Fig.10As shown: the power assembly 18 is arranged at the rear end of the walking part 17, and the power assembly 18 includes a rear frame 1801, an explosion-proof diesel engine 1802, a water tank 1803, a fuel tank 1804, a hydraulic oil tank 1806, an exhaust gas treatment box 1807 and a hydraulic pump 1808. The rear frame 1801 adopts an integral welded structure and is fastened to the main frame 1702 of the walking part by pin bolts. The power assembly 18 adopts the method of an explosion-proof diesel engine 1802 + a hydraulic pump 1808 to provide power for the equipment, which has the advantage of long-distance and fast movement in coal mines. In addition, the power assembly 18 makes full use of the spatial layout of the power compartment, and is equipped with a water tank 1803, a fuel tank 1804, and an exhaust gas treatment box 1807 to provide water replenishment, fuel, and exhaust gas treatment functions for the operation of the explosion-proof diesel engine 1802, and the hydraulic oil tank 1806 provides hydraulic oil for the operation of the hydraulic system of the whole machine.

[0069] like Fig.11 As shown: the roller replacement box 19 is arranged in the middle of the equipment, and is mainly composed of a box body 1901 and a set of double doors 1902. Generally, at least two replacement boxes are used in combination underground, respectively for storing new rollers and replaced faulty rollers. The box body adopts a four-corner slot structure and is installed in sequence by overlapping upwards, realizing the process of ground packaging, roadway transportation, equipment installation, and underground recycling of rollers, thereby improving the application efficiency of rollers.

[0070] like Fig.13 As shown: the cab 20 is arranged at the front end of the equipment, and is mainly composed of a cockpit 2001, a display 2002, a lighting lamp 2003, an operating platform 2004, an electric control box 2005, and a seat assembly 2006. The driver can enter the cockpit 2001 from both sides of the fuselage. The cockpit 2001 adopts an integral welded structure and is fastened to the main frame 1702 of the walking part 17 by bolts. The operating platform 2004 integrates an electro-hydraulic control valve group and a pressure gauge, which mainly controls the movement of the equipment and the lifting mechanism. The electric control box 2005 integrates intelligent control and monitoring systems such as multi-sensor fusion control detection technology and system bus control technology. The display 2002 displays multi-dimensional parameters such as equipment working parameters, equipment operating status, production status, etc. in real time, and early warning information reminders, etc., to achieve less-manpowered work.

[0071] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A belt conveyor roller disassembly and assembly auxiliary operation robot for coal mines, characterized in that: The utility model comprises a traveling part (17), a power assembly (18) mounted on the traveling part (17), a roller replacement box (19), a cab (20), an auxiliary working platform and a lifting mechanism (21); the auxiliary working platform extends from the front end of the traveling part (17), and the auxiliary working platform is connected to the traveling part (17) via the lifting mechanism (21); the roller replacement box (19) is used to store rollers, and the power assembly (18) is used to output power; The auxiliary working platform comprises a posture adjustment platform (5) capable of adjusting direction, inclination and height; the posture adjustment platform (5) is equipped with two sets of sliding telescopic mechanisms with the same telescopic direction, namely a left sliding telescopic mechanism (7) and a right sliding telescopic mechanism (10); the action terminal of the left sliding telescopic mechanism (7) is equipped with a belt lifting support mechanism (4), and the action terminal of the right sliding telescopic mechanism (10) is equipped with a multi-degree-of-freedom disassembly and assembly manipulator (1); the belt lifting support mechanism (4) is used to support and lift the belt of the belt conveyor to a certain height, thereby forming an operation space for disassembling and assembling rollers; The multi-degree-of-freedom disassembly and assembly robot (1) is used for grabbing the roller.

2. The coal mine belt conveyor roller disassembly and assembly auxiliary operation robot according to claim 1, characterized in that: A support platform (9) is arranged at the bottom of the posture adjustment platform (5); an adjustment cylinder (6) is connected between the support platform (9) and the posture adjustment platform (5); the height and inclination angle of the posture adjustment platform (5) are changed by adjusting the cylinder (6); a hydraulic slewing support (8) is arranged at the bottom of the support platform (9); the hydraulic slewing support (8) is installed at the lifting end of the lifting mechanism; the direction of the posture adjustment platform (5) is changed by the hydraulic slewing support (8).

3. The coal mine belt conveyor roller disassembly and assembly auxiliary operation robot according to claim 2, characterized in that: The lifting mechanism (21) comprises a lifting frame (2101), a feed cylinder (2103), a guide seat (2104) and a bracket (2105); the lifting frame (2101) is installed at the front end of the walking part (17), the guide seat (2104) is slidably assembled on the guide column (2106) of the lifting frame (2101), the bracket (2105) is fixed on the guide seat (2104) and extends forward, and the hydraulic slewing support (8) is installed on the top of the extended end of the bracket (2105); the feed cylinder (2103) is parallel to the guide column (2106), the two ends of the piston rod of the feed cylinder (2103) are connected to the lifting frame (2101), and the two nodes of the lifting transmission chain (2102) on the cylinder barrel of the feed cylinder (2103) are respectively connected to the guide seat (2104) and the lifting frame (2101).

4. The coal mine belt conveyor roller disassembly and assembly auxiliary operation robot according to claim 1, characterized in that: The sliding and telescopic mechanism of the auxiliary working platform comprises a primary sliding plate (11), a secondary sliding plate (12), a tertiary sliding plate (13), a primary pushing oil cylinder (14), a secondary pushing oil cylinder (15) and a tertiary pushing oil cylinder (16); a dovetail groove sliding structure is formed between the primary sliding plate (11) and the posture adjustment platform (5), between the secondary sliding plate (12) and the primary sliding plate (11), and between the tertiary sliding plate (13) and the secondary sliding plate (12); the primary pushing oil cylinder (14) is connected between the posture adjustment platform (5) and the primary sliding plate (11). The posture adjustment platform (5) is used as a base, and the first sliding plate (11) is driven to slide by the first sliding cylinder (14); the second sliding plate (12) is connected to the first sliding plate (11) by the second sliding cylinder (15), and the first sliding plate (11) is used as a base, and the second sliding plate (12) is driven to slide by the second sliding cylinder (15); the third sliding plate (13) is connected to the second sliding plate (12) by the third sliding cylinder (16), and the second sliding plate (12) is used as a base, and the third sliding plate (13) is driven to slide by the third sliding cylinder (16).

5. The coal mine belt conveyor roller disassembly and assembly auxiliary operation robot according to claim 4, characterized in that: The multi-degree-of-freedom disassembly and assembly robot (1) comprises a longitudinal sliding frame (110), a multiplication and deviation adjustment cylinder (111), a sliding base (101), a swing frame (108), a sliding frame (103), an upper jaw plate (105) and a lower jaw plate (106); The longitudinal sliding frame (110) is slidably mounted on the three-stage sliding plate (13) of the right sliding telescopic mechanism (10); a longitudinal push cylinder (112) is connected between the longitudinal sliding frame (110) and the three-stage sliding plate (13); the sliding direction of the longitudinal sliding frame (110) is perpendicular to the sliding direction of the three-stage sliding plate (13); the sliding base (101) adopts a slot structure to slide with the longitudinal sliding frame (110); both ends of the cylinder rod of the multiplying and deflecting adjusting cylinder (111) are connected to the longitudinal sliding frame (110); two nodes of the transmission chain (113) on the cylinder barrel of the multiplying and deflecting adjusting cylinder (111) are respectively connected to the sliding base (101) and the longitudinal sliding frame (110); the sliding direction of the sliding base (101) is perpendicular to the sliding direction of the longitudinal sliding frame (110); The swing frame (108) is offsetly installed relative to the sliding base (101) and is hinged with a pin shaft. A left and right swing oil cylinder (102) is connected between the swing frame (108) and the sliding base (101) to drive the swing frame (108) to swing left and right. The sliding frame (103) and the swing frame (108) are slidably matched with each other using a dovetail groove structure. An up and down sliding oil cylinder (109) is connected between the sliding frame (103) and the swing frame (108) to drive the sliding frame (103). 03) moves up and down; the sliding frame (103) and the lower jaw plate (106) are hinged by a pin shaft, and an up and down swinging oil cylinder (104) is connected between the sliding frame (103) and the lower jaw plate (106) to drive the lower jaw plate (106) to swing up and down; the upper jaw plate (105) and the lower jaw plate (106) are hinged by a pin shaft, and a clamping oil cylinder (107) is connected between the upper jaw plate (105) and the lower jaw plate (106) to drive the upper jaw plate (105) to clamp or open.

6. The coal mine belt conveyor roller disassembly and assembly auxiliary operation robot according to claim 4, characterized in that: The belt lifting support mechanism (4) comprises a lifting frame, a bottom supporting roller (402), a lifting side plate (404), a side supporting roller (401) and an inclination adjustment cylinder (406); the lifting frame is installed on the three-stage sliding plate (13) of the left sliding telescopic mechanism (7); the bottom supporting roller (402) is horizontally installed on the lifting platform of the lifting frame; the lifting side plate (404) is hinged to the lifting platform on both sides of the bottom supporting roller (402); the inclination adjustment cylinder (406) is connected between the lifting side plate (404) and the lifting platform; the side supporting roller (401) is installed on the lifting side plate (404); the inclination adjustment cylinder (406) drives the lifting side plate (404) to rotate so that the bottom supporting roller (402) and the side supporting rollers (401) on both sides form a groove structure.

7. The coal mine belt conveyor roller disassembly and assembly auxiliary operation robot according to claim 4, characterized in that: The first-stage sliding plate (11) is a hollow frame. The first-stage pushing cylinder (14) and the second-stage pushing cylinder (15) are arranged inside the first-stage sliding plate (11), the first-stage pushing cylinder (14) is in the center, the second-stage pushing cylinder (15) is located on both sides, the third-stage pushing cylinder (16) is located on both sides of the outside of the second-stage sliding plate (12), and the third-stage sliding plate (13) is located between the two third-stage pushing cylinders (16).

8. The coal mine belt conveyor roller disassembly and assembly auxiliary operation robot according to claim 1, characterized in that: The power assembly (18) is arranged at the rear end of the walking part (17), and the power assembly (18) includes a rear frame (1801), an explosion-proof diesel engine (1802), a water supply tank (1803), a fuel tank (1804), a hydraulic oil tank (1806), an exhaust gas treatment tank (1807) and a hydraulic pump (1808).

9. The coal mine belt conveyor roller disassembly and assembly auxiliary operation robot according to claim 1, characterized in that: The walking part (17) is a crawler chassis, comprising a main frame (1702) and a crawler mechanism (1701).

10. The coal mine belt conveyor roller disassembly and assembly auxiliary operation robot according to claim 1, characterized in that: A pipeline support frame (2) is provided on the posture adjustment platform (5) between the left sliding telescopic mechanism (7) and the right sliding telescopic mechanism (10); a camera (3) is arranged on the top plate of the pipeline support frame (2).

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