Coal mine roadway support beam snatch vehicle

Abstract

The coal mine roadway support beam snatch vehicle comprises a walking chassis, a snatch arm adjusting assembly and a snatch arm, the snatch arm adjusting assembly adjusts the position of the snatch arm, the snatch arm adjusting assembly comprises a base, a long arm mounting seat, a pitch oil cylinder, a long arm, a support beam and a connecting seat, the long arm mounting seat is arranged on the base, the pitch oil cylinder drives the long arm to pitch with the long arm mounting seat as a fulcrum, one end of the support beam is hingedly connected to the long arm mounting seat, the other end of the support beam is hingedly connected to the connecting seat, one end of the long arm is hingedly connected to the long arm mounting seat, and the other end of the long arm is hingedly connected to the connecting seat, and the technical effects of the coal mine roadway support beam snatch vehicle are as follows: the snatch vehicle has longitudinal, transverse and vertical displacement compensation functions, the snatch arm has multidirectional freedom through rotation of the oil cylinder, the first swing oil cylinder and the second swing oil cylinder, and the snatch arm can flexibly snatch the support beam, the underground pipeline and the monorail track.

Description

Technical Field

[0001] This invention relates to the field of coal mine roadway construction technology, and in particular to a coal mine roadway support beam lifting vehicle. Background Technology

[0002] Currently, coal mine roadways are permanently supported by anchor bolts and support beams, which are typically made of U-shaped steel. These steel beams are heavy, and are currently moved from the roadway bottom to the roof and sidewalls for fixing using manual lifting, hydraulic cylinder-assisted lifting, or manual hoists. This method is time-consuming, labor-intensive, inefficient, and unsafe, severely impacting the progress and quality of roadway or tunnel beam installation. Delayed support of the beams can leave the roadway sidewalls unsupported, increasing the risk of collapse and accidents, and also affecting tunneling efficiency. Furthermore, in addition to support beams, the installation of underground pipelines and monorail tracks also faces the drawbacks of requiring manual lifting, which is time-consuming and labor-intensive.

[0003] Therefore, there is an urgent need to develop a flexible and efficient support beam lifting device to replace manual labor or other simple equipment, thereby improving the efficiency and safety of support beam installation. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the purpose of this invention is to disclose a coal mine roadway support beam grabbing vehicle, which realizes the grabbing and auxiliary installation of support beams through a multi-degree-of-freedom grabbing arm and a grabbing arm adjustment assembly.

[0005] The purpose of this invention is to develop a coal mine roadway support beam grabber vehicle.

[0006] To achieve the above-mentioned objectives, the present invention provides a coal mine roadway support beam grabber vehicle, including a chassis, a grabber arm adjustment assembly, and a grabber arm, wherein the grabber arm adjustment assembly adjusts the position of the grabber arm;

[0007] The grab arm adjustment assembly includes a base, a long arm mounting seat, a pitch cylinder, a long arm, a support beam, and a connecting seat;

[0008] The long arm mounting base is disposed on the base, and the pitch cylinder drives the long arm to pitch with the long arm mounting base as the fulcrum. One end of the support beam is hinged to the long arm mounting base, and the other end of the support beam is hinged to the connecting seat. One end of the long arm is hinged to the long arm mounting base, and the other end of the long arm is hinged to the connecting seat.

[0009] The base is provided with a guide rail sleeve, a guide rail, a longitudinal movement cylinder, and a guide rail fixing seat. The longitudinal movement cylinder drives the base to move longitudinally along the guide rail.

[0010] Preferably, the connecting seat is provided with a lifting slide and a lifting cylinder, and the lifting cylinder drives the lifting slide to move.

[0011] Preferably, the long arm mounting base is hinged to the base, and a support plate and a first and second swing cylinder are symmetrically arranged on the top of the base. The first and second swing cylinders drive the long arm mounting base to swing with the support plate as the fulcrum.

[0012] Preferably, the support beam includes a first support beam and a second support beam arranged in parallel.

[0013] Preferably, the walking chassis is provided with front support legs and rear support legs.

[0014] Preferably, the long arm mounting base, long arm, support beam, and connecting base form a four-bar linkage mechanism.

[0015] Preferably, the grabbing arm is disposed on the lifting carriage.

[0016] Preferably, the gripping arm includes a gripper assembly, a rotary cylinder, a first swing cylinder, and a second swing cylinder;

[0017] The gripper assembly includes symmetrically arranged grippers, gripper mounting bases, and swing cylinders, wherein the swing cylinders drive the grippers to open and close with the gripper mounting bases as fulcrums.

[0018] The first swing cylinder drives the rotating cylinder to swing in a first direction via the first hinge seat;

[0019] The second swing cylinder drives the first hinge seat to swing in the second direction via the second hinge seat;

[0020] The first direction is perpendicular to the second direction.

[0021] Preferably, the gripping arm further includes a rotating hydraulic cylinder, which drives the gripper assembly to rotate axially.

[0022] Preferably, the assembly further includes an operation box assembly and a pedal assembly, wherein the operation box assembly is disposed at the top front end of the gripping arm adjustment assembly, and the pedal assembly is disposed at the bottom front end of the gripping arm adjustment assembly.

[0023] Compared with the prior art, the technical effects of the present invention are as follows:

[0024] (1) The lifting arm adjustment assembly has longitudinal and vertical displacement compensation functions, as well as lateral swing function, which can flexibly lift the support beam to the top of the roadway and use the lateral swing function to attach the support beam to the side wall of the roadway to assist in installation.

[0025] (2) The support beam lifting arm has multiple degrees of freedom in multiple directions through the rotation cylinder, the first swing cylinder and the second swing cylinder, which can flexibly and conveniently lift the support beam from the ground.

[0026] (3) The grabber of the present invention is not only used for the installation of support beams in coal mine roadways, especially U-shaped steel support beams, but also for the installation of underground pipelines and monorail tracks. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional structural diagram of the grabbing arm of the present invention.

[0029] Figure 2 This is a three-dimensional structural diagram of the grabbing arm vehicle of the present invention.

[0030] Figure 3 This is a three-dimensional structural diagram of the lifting arm adjustment component of the lifting arm vehicle of the present invention when it swings.

[0031] Figure 4 This is a three-dimensional structural diagram of the lifting arm adjustment component of the present invention when it is tilted up.

[0032] The components include: 1. Grappling assembly; 11. Grappling; 111. Tip; 12. Grappling mounting base; 13. Swing cylinder; 2. Rotation cylinder; 3. First swing cylinder; 31. First hinge seat; 311. End; 312. First sidewall; 4. Second swing cylinder; 41. Second hinge seat; 411. Second sidewall; 412. Third sidewall; 5. Walking chassis; 51. Front outrigger; 52. Rear outrigger; 6. Grappling arm adjustment assembly; 61. Base. 611. Guide rail sleeve; 612. Guide rail; 613. Longitudinal movement cylinder; 614. Guide rail fixing seat; 615. Support plate; 616. First swing angle cylinder; 617. Second swing angle cylinder; 62. Long arm mounting seat; 63. Pitch cylinder; 64. Long arm; 65. Support beam; 651. First support beam; 652. Second support beam; 66. Connecting seat; 661. Lifting slide; 662. Lifting cylinder; 7. Control box assembly; 8. Pedal assembly. Detailed Implementation

[0033] The present invention will be described in detail below in conjunction with the embodiments shown in the accompanying drawings. It should be noted that these embodiments are not limitations of the present invention, and any equivalent transformation or substitution in terms of function, method, or structure made by those of ordinary skill in the art based on these embodiments shall fall within the protection scope of the present invention.

[0034] In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0035] Embodiment 1

[0036] Refer Figures 2 to 4 As shown, this embodiment discloses a specific implementation of a coal mine roadway support beam lifting vehicle (hereinafter referred to as "lifting vehicle").

[0037] The coal mine roadway support beam lifting vehicle, refer Figures 2 to 4 As shown, it includes a traveling chassis 5, a lifting arm adjustment component 6, and a lifting arm. The lifting arm adjustment component adjusts the position of the lifting arm; the lifting arm adjustment component 6 includes a base 61, a long arm mounting seat 62, a pitching oil cylinder 63, a long arm 64, a support beam 65, and a connecting seat 66; the long arm mounting seat 62 is arranged on the base 61, the pitching oil cylinder 63 drives the long arm 64 to pitch with the long arm mounting seat 62 as the fulcrum, one end of the support beam 65 is hinged to the long arm mounting seat 62, the other end of the support beam 65 is hinged to the connecting seat 66, one end of the long arm 64 is hinged to the long arm mounting seat 62, and the other end of the long arm 64 is hinged to the connecting seat 66; the base 61 is provided with a guide rail sleeve 611, a guide rail 612, a longitudinal movement oil cylinder 613, and a guide rail fixing seat 614, and the longitudinal movement oil cylinder 613 drives the base 61 to move longitudinally along the guide rail 612.

[0038] Specifically, taking the forward direction of the roadway as the longitudinal direction and the left and right directions of the roadway as the transverse direction, after the grab arm grips the support beam, the grab arm needs to be adjusted to a suitable position, such as the top or side of the roadway, to assist workers in installation and fixation. For this purpose, a grab vehicle with a traveling chassis 5 and a grab arm adjustment assembly 6 is set up. Through the displacement compensation of the grab arm adjustment assembly 6 in the longitudinal, transverse, and height directions, the grab arm that has gripped the support beam can be adjusted to any position in the roadway; that is, through the adjustment of the grab arm adjustment assembly 6 in the longitudinal, transverse, and height directions, the grab arm can be adjusted in the longitudinal, transverse, and height directions. Front outriggers 51 and rear outriggers 52 are set at the bottom of the traveling chassis 5 to stabilize the grab vehicle as a whole and prevent it from tipping over.

[0039] The adjustment principle of the grab arm adjustment component 6 is as follows: See Figures 2 to 4 The height adjustment structure and principle are as follows: The grab arm is installed on the connecting seat 66. The long arm 64 is driven to tilt by the pitch cylinder 63, thereby tilting the mounting seat 66 and indirectly adjusting the position of the grab arm in the height direction. This is the first level of height adjustment. In addition, the connecting seat 66 is provided with a lifting slide 661 and a lifting cylinder 662. The lifting cylinder 662 drives the lifting slide 661 to move, thereby driving the grab arm installed on the lifting slide 661 to adjust its position in the height direction. This is the second level of height adjustment. That is, the first level of height adjustment can be achieved by driving the grab arm to adjust its position in the height direction through the pitch cylinder 63, and the second level of height adjustment can be achieved by the lifting cylinder 662. The first level of height adjustment is carried out by the pitch cylinder 63, and there is also some movement in the horizontal direction. However, the second level of height adjustment is only a vertical adjustment, which helps to position the support beam in a specific position.

[0040] See Figures 2 to 4 The longitudinal adjustment structure and principle are as follows: the guide rail fixing seat 614 is installed on the walking chassis 5, and two parallel guide rail sleeves 611 are set at the bottom of the base 61. The longitudinal movement cylinder 613 is set between the two guide rail sleeves 611. The longitudinal movement cylinder 613 drives the base 61 to move longitudinally along the guide rail 612 with the walking chassis 5 as the fulcrum. Thus, the base 61 drives the entire grab arm adjustment assembly 6 to move longitudinally, so that the grab arm can move along the roadway direction, improving the flexibility and adaptability of the grab vehicle.

[0041] See Figure 3The lateral adjustment structure and principle are as follows: the long arm mounting base 62 is hinged to the base 61. A support plate 615 and symmetrically arranged first swing cylinders 616 and second swing cylinders 617 are provided on the top of the base 61. The first swing cylinders 616 and second swing cylinders 617 drive the long arm mounting base 62 to swing with the support plate 615 as the fulcrum. The first swing cylinders 616 and second swing cylinders 617 are arranged at a certain angle on the top of the base 61. Both the first and second swing cylinders 616 and 617 use the support plate 615 as a fulcrum. Through the cooperation of the first and second swing cylinders 616 and 617, the long arm mounting base 62 swings. Specifically, when the first swing cylinder 616 extends and the second swing cylinder 617 retracts, it swings laterally to the first direction; when the first swing cylinder 616 retracts and the second swing cylinder 617 extends, it swings laterally to the second direction. When the extension and retraction degrees of the first and second swing cylinders 616 and 617 are the same, the grabbing arm is in a [position missing]. Figure 1 The location shown.

[0042] It should be further explained that the long arm mounting base 62, long arm 64, support beam 65 and connecting base 66 form a four-bar linkage mechanism. In order to make the four-bar linkage mechanism have sufficient support strength, the support beam 65 includes a first support beam 651 and a second support beam 652 arranged in parallel.

[0043] As a preferred embodiment, see Figure 1 and Figure 2 The system also includes an operation box assembly 7 and a pedal assembly 8. The operation box assembly 7 is located at the top front end of the grab arm adjustment assembly 6, and the pedal assembly 8 is located at the bottom front end of the grab arm adjustment assembly 6. The operation box assembly 7 is used to control the degrees of freedom of the grab arm and the directional adjustment of the grab arm adjustment assembly 6. The operator stands on the pedal assembly 8. After the grab arm adjustment assembly 6 and the grab arm have placed the support beam in a suitable position on the roadway sidewall, the operator installs and fixes the support beam, which greatly reduces the labor intensity of the operator and improves the safety factor.

[0044] The working principle of the grab-and-raise arm, refer to Figure 1 As shown, the gripping arm includes a gripper assembly 1, a rotating hydraulic cylinder 2, a first swinging hydraulic cylinder 3, and a second swinging hydraulic cylinder 4. The gripper assembly 1 includes a symmetrically arranged gripper 11, a gripper mounting base 12, and a swinging cylinder 13. The swinging cylinder 13 drives the gripper 11 to open and close with the gripper mounting base 12 as a fulcrum. The rotating hydraulic cylinder 2 drives the gripper assembly 1 to rotate axially. The first swinging hydraulic cylinder 3 drives the rotating hydraulic cylinder 2 to swing in a first direction through a first hinge base 31. The second swinging hydraulic cylinder 4 drives the first hinge base 31 to swing in a second direction through a second hinge base 41. The first direction is perpendicular to the second direction.

[0045] Specifically, the forward direction of the tunnel is taken as the longitudinal direction, the left and right directions of the tunnel are taken as the transverse direction, the transverse direction is taken as the first direction, and the longitudinal direction is taken as the second direction. A pair of pliers-like grippers 11 are hinged to the gripper mounting base 12. The grippers 11 are driven to open and close by a swing cylinder 13, that is, the grippers 11 are driven to open and close by the swing cylinder 13 to grasp and release the support beam. The grippers 11 are provided with pointed tips 111, which make it easy to grasp the support beam. When the grippers 11 are closed, the pointed tips 111 hold the support beam like two hands to prevent the support beam from falling. In order to give the gripper assembly 1 multiple degrees of freedom, the first degree of freedom is to drive the gripper assembly 1 to rotate axially by the rotary cylinder 2, so that the gripper can grasp the support beam placed in any direction. The second degree of freedom is to drive the gripping arm to swing in the first direction, that is, to swing laterally. The swing principle is as follows: the rotary cylinder 2 is set at the end 311 of the first hinge base 31, and the first swing cylinder 3 is hinged between the two first side walls 312 of the first hinge base 31. When the first swing cylinder 3 swings, it drives the first hinge base 31 to swing, thereby The first swing cylinder 3 is indirectly driven to swing the rotating hydraulic cylinder 2 and the grab arm; the third degree of freedom is that the second swing hydraulic cylinder 4 drives the grab arm to swing in the second direction, that is, to swing longitudinally. The swing principle is as follows: the second swing hydraulic cylinder 4 is set between the two second side walls 411 of the second hinge seat 41. The second hinge seat 41 is also provided with two third side walls 412. The third side walls 412 are perpendicular to the second side walls 411. The third side walls 412 and the first side walls 312 are hinged together to the first swing hydraulic cylinder 3. When the second swing hydraulic cylinder 4 swings, it drives the second hinge seat 41 to swing, and then indirectly drives the grab arm to swing through the first hinge seat 31 and the rotating hydraulic cylinder 2. Through the above three degrees of freedom, the grab arm can rotate axially to grab any placed support beam. It can also use the swing in the first and second directions to help place the support beam on the side wall of the roadway at a certain angle, realize the auxiliary installation of the support beam, greatly reduce the labor intensity of workers, and improve the safety factor.

[0046] The overall technical effects of the grabbing vehicle are as follows: the walking chassis 5 drives the grabbing arm adjustment component 6 and the grabbing arm to move along the roadway, and the grabbing arm can be adjusted in the longitudinal, lateral and height directions by adjusting the grabbing arm adjustment component 6; and the grabbing arm can flexibly grab the support beam by swinging in the longitudinal and lateral directions and rotating along the axial direction, and can make small displacement and small angle adjustments, so that the positioning of the support beam is more in line with reality, thus improving the practicality of the grabbing vehicle.

Claims

1. A coal mine roadway support beam lifting vehicle, characterized in that, It includes a walking chassis, a grabbing arm adjustment assembly, and a grabbing arm, wherein the grabbing arm adjustment assembly adjusts the position of the grabbing arm; The grabbing arm adjustment assembly includes a base, a long arm mounting seat, a pitch cylinder, a long arm, a support beam, and a connecting seat, wherein the long arm mounting seat is hinged to the base; The long arm mounting base is disposed on the base, the pitch cylinder drives the long arm to pitch with the long arm mounting base as the fulcrum, one end of the support beam is hinged to the long arm mounting base, the other end of the support beam is hinged to the connecting seat, one end of the long arm is hinged to the long arm mounting base, and the other end of the long arm is hinged to the connecting seat. The base is provided with guide rail sleeves, guide rails, longitudinal movement cylinders and guide rail fixing seats. The longitudinal movement cylinders drive the base to move longitudinally along the guide rails. Two parallel guide rail sleeves are provided at the bottom of the base, and the longitudinal movement cylinders are located between the two guide rail sleeves. The connecting seat is equipped with a lifting slide and a lifting cylinder. The lifting cylinder drives the lifting slide to move, and the grabbing arm is mounted on the lifting slide. The first stage of adjusting the height of the grab arm is achieved by using a pitch cylinder, and the second stage of adjusting the height of the grab arm is achieved by using a lifting cylinder. A support plate and a first and second swing cylinder are symmetrically arranged on the top of the base. The first and second swing cylinders drive the long arm mounting base to swing with the support plate as the fulcrum.

2. The coal mine roadway support beam grabber as described in claim 1, characterized in that, The support beam includes a first support beam and a second support beam arranged in parallel.

3. The coal mine roadway support beam grabber as described in claim 1, characterized in that, The chassis is equipped with front outriggers and rear outriggers.

4. The coal mine roadway support beam grabber as described in claim 1, characterized in that, The long arm mounting base, long arm, support beam, and connecting base form a four-bar linkage mechanism.

5. The coal mine roadway support beam grabber as described in claim 1, characterized in that, The gripping arm includes a gripper assembly, a rotary cylinder, a first swing cylinder, and a second swing cylinder; The gripper assembly includes symmetrically arranged grippers, gripper mounting bases, and swing cylinders, wherein the swing cylinders drive the grippers to open and close with the gripper mounting bases as fulcrums. The first swing cylinder drives the rotating cylinder to swing in a first direction via the first hinge seat; The second swing cylinder drives the first hinge seat to swing in the second direction via the second hinge seat; The first direction is perpendicular to the second direction.

6. The coal mine roadway support beam grabber as described in claim 5, characterized in that, The rotating cylinder drives the gripper assembly to rotate axially.

7. The coal mine roadway support beam grabber as described in claim 1, characterized in that, It also includes an operation box assembly and a pedal assembly, the operation box assembly being disposed at the top front end of the grab arm adjustment assembly, and the pedal assembly being disposed at the bottom front end of the grab arm adjustment assembly.

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