Milling, digging and loading robot for lower cleaning of coal mine reversed loader

Abstract

The invention provides a coal mine reversed loader lower cleaning, milling, digging and loading robot, and relates to the technical field of coal mine equipment, the coal mine reversed loader lower cleaning, milling, digging and loading robot comprises a supporting bottom plate, a digging wheel bottom plate and a conveying bottom plate, the supporting bottom plate is arranged on one side of the conveying bottom plate, and the digging wheel bottom plate is rotationally connected to one end of the supporting bottom plate; a sliding seat is movably mounted on the supporting bottom plate through a driving part, a rotary supporting seat is arranged above the sliding seat, and a mechanical connecting rod mechanism is connected to a rotating disc above the rotary supporting seat; the device is used for cleaning below the reversed loader, the front-back position of the milling and digging head is changed through movement of the sliding seat, the angle of the milling and digging head is changed through rotation of the rotating disc above the rotary supporting seat, and the milling and digging head is operated through the mechanical connecting rod mechanism to clean, mill and dig a floor heave below the reversed loader. The cleaned soil blocks are conveyed to the scraper through the rotary digging wheel, and the scraper conveys the soil blocks away, so that the whole cleaning operation is carried out, the labor is saved, and the device is safer.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine equipment, and in particular to a cleaning, milling and loading robot under a coal mine transfer machine. Background Art

[0002] In the process of coal mining, coal is transported by a transfer machine. The loader is generally installed in the underground transportation tunnel of the coal mine. Due to the underground ground pressure of the coal mine, the tunnel floor is very serious, causing the loader to deform the tunnel floor due to the floor drum, and the loader cannot be used normally. Therefore, the floor drum must be cleaned and milled under the transfer machine to clean the floor drum and ensure the normal operation of the transfer machine. Since the area under the loader is particularly low, with a maximum height of about 0.8 meters, large excavation equipment cannot operate under the loader, and manual cleaning is labor-intensive. So far, there is no better machine for cleaning operations, and most of the work is done manually with a pneumatic pick, which is labor-intensive and poses a great safety hazard. Therefore, the present invention proposes a cleaning, milling, digging and loading robot under a coal mine transfer machine to solve the problems existing in the prior art. Summary of the invention

[0003] In view of the above problems, the present invention proposes a cleaning, milling and loading robot under a coal mine transfer machine. The cleaning, milling and loading robot under a coal mine transfer machine facilitates the entire cleaning operation, saves labor, and is safer.

[0004] To achieve the purpose of the present invention, the present invention is implemented through the following technical solutions: a coal mine transfer machine cleaning milling loading robot, including a supporting bottom plate, a lifting wheel bottom plate and a conveying bottom plate, the supporting bottom plate is arranged at a side position of the conveying bottom plate, the lifting wheel bottom plate is rotatably connected to one end of the supporting bottom plate, a sliding seat is movably installed on the supporting bottom plate through a driving member, and a slewing support seat is arranged above the sliding seat, a mechanical connecting rod mechanism is connected to the rotating disk above the slewing support seat, and a milling head is arranged at one end of the mechanical connecting rod mechanism; Rotating scrapers are rotatably provided on both sides of the top of the scraper bottom plate, a support shaft is provided at one end above the conveying bottom plate, and a scraper is rotatably provided on the support shaft, a first jack is rotatably provided on the side above the conveying bottom plate away from the support shaft, and the output end of the first jack is hinged to the scraper.

[0005] A further improvement is that the driving member includes a slideway and a support plate, the slideway is arranged on both sides of the top of the supporting base plate, and the sliding seat is movably installed with the slideway.

[0006] A further improvement is that the support plate is arranged at the middle position of one end of the top of the supporting base plate, and second jacks are arranged on both sides of one end of the support plate, and the output end of the second jack is connected to the sliding seat.

[0007] Further improvement is that the mechanical linkage mechanism includes a first mechanical arm, a second mechanical arm and a third mechanical arm, the first mechanical arm is hinged on the rotating disk above the rotating support seat, the second mechanical arm is hinged at one end on the inner side of the first mechanical arm, the third mechanical arm is hinged at one end of the second mechanical arm, and one end of the third mechanical arm is connected to the milling head.

[0008] Further improvements are: a third jack is hinged on one side of the rotating disk above the slewing support seat, and the output end of the third jack is hinged to the first mechanical arm, a fourth jack is hinged on one end of the first mechanical arm, and the output end of the fourth jack is hinged to the second mechanical arm, a fifth jack is hinged on one end below the second mechanical arm, and the output end of the fifth jack is hinged to the milling head.

[0009] A further improvement is that a hinge is connected between the wheel bottom plate and the support bottom plate, and the hinge is provided with at least two groups.

[0010] Further improvement is that: a support plate is provided on the outer side of one end of the lifting wheel bottom plate, a lower rotating shaft is provided on the outer side of the top end of the supporting bottom plate, and a sixth jack is hinged on the lower rotating shaft, an upper rotating shaft is provided at the bottom of the supporting plate, and the output end of the sixth jack is hinged to the upper rotating shaft.

[0011] A further improvement is that the scraper comprises a bracket, a sprocket and a chain, the sprockets are rotatably arranged at both ends inside the bracket, and a group of the sprockets is driven to rotate by a motor, and the chain is wound around the outside of the sprockets.

[0012] A further improvement is that a scraper is provided on the outer side of the chain, and multiple groups of scrapers are provided, and an unloading inclined funnel is provided at one end below the bracket.

[0013] The beneficial effects of the present invention are: 1. The present invention is used for cleaning under the transfer machine. The front and rear positions of the milling head are changed by the movement of the sliding seat. The angle of the milling head is changed by rotating the rotating disk above the slewing support seat. The milling head is operated by a mechanical linkage mechanism to clean and mill the bottom drum under the transfer machine. The cleaned soil blocks are sent to the scraper by rotating the scraper wheel. The scraper transports the soil blocks away. In this way, the entire cleaning operation is carried out, which saves labor and is safer.

[0014] 2. The present invention adapts to the space below the loader through the operation adjustment of the mechanical connecting rod mechanism. The scraper is lifted by the first jack to facilitate changing the angle. The support plate is lifted by the sixth jack to facilitate changing the angle of the scraper bottom plate to adapt to the scraper angle and the space below the loader, making it more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a side view of the present invention; Figure 2 A top view of the present invention; Figure 3 It is a schematic diagram of the top view structure of the present invention; Figure 4 It is a schematic diagram of a scraper machine of the present invention.

[0016] Among them: 1. Support bottom plate; 2. Scraper bottom plate; 3. Conveying bottom plate; 4. Rotating support seat; 5. Milling head; 6. Rotating scraper; 7. Support shaft; 8. First jack; 9. Slide; 10. Support plate; 11. Second jack; 12. First mechanical arm; 13. Second mechanical arm; 14. Third mechanical arm; 15. Third jack; 16. Fourth jack; 17. Fifth jack; 18. Hinge; 19. Support plate; 20. Lower rotating shaft; 21. Sixth jack; 22. Upper rotating shaft; 23. Bracket; 24. Sprocket; 25. Chain; 26. Scraper; 27. Unloading inclined funnel; 28. Scraper; 29. ​​Sliding seat. DETAILED DESCRIPTION

[0017] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0018] Embodiment 1 according to Figure 1 , 2 As shown in Figures 3 and 4, this embodiment proposes a cleaning, milling and loading robot under a coal mine transfer machine, comprising a supporting bottom plate 1, a wheel bottom plate 2 and a conveying bottom plate 3, wherein the supporting bottom plate 1 is arranged at one side of the conveying bottom plate 3, the wheel bottom plate 2 is rotatably connected to one end of the supporting bottom plate 1, a sliding seat 29 is movably mounted on the supporting bottom plate 1 through a driving member, and a rotary supporting seat 4 is arranged above the sliding seat 29, a mechanical linkage mechanism is connected to a rotating disk above the rotary supporting seat 4, and a milling head 5 is arranged at one end of the mechanical linkage mechanism; Both sides of the top of the wheel base plate 2 are rotatably provided with rotating wheels 6, one end above the conveying base plate 3 is provided with a support shaft 7, and a scraper 28 is rotatably provided on the support shaft 7, and a first jack 8 is rotatably provided on the side above the conveying base plate 3 away from the support shaft 7, and the output end of the first jack 8 is hinged with the scraper 28. When in use, the device is placed under the transfer machine for cleaning, and the front and rear positions of the milling head 5 are changed by the movement of the sliding seat 29, and the angle of the milling head 5 is changed by rotating the rotating disk above the rotary support seat 4, and the milling head 5 is operated by the mechanical linkage mechanism to clean and mill the bottom drum under the transfer machine, and the cleaned soil blocks are sent to the scraper 28 by rotating the wheel 6, and the scraper 28 transports the soil blocks away, so as to perform the entire cleaning operation, save labor and be safer. By extending or contracting the first jack 8, the height of the unloading inclined funnel 27 of the scraper 28 can be raised or lowered, and the horizontal inclination of the scraper 28 can be adjusted to achieve the purpose of adjusting the height of the unloading inclined funnel 27 to meet the needs of actual production.

[0019] The driving member includes a slideway 9 and a support plate 10. The slideway 9 is arranged on both sides of the top of the supporting base plate 1, and the sliding seat 29 is movably installed with the slideway 9. The support plate 10 is arranged at the middle position of one end of the top of the supporting base plate 1, and a second jack 11 is arranged on both sides of one end of the support plate 10, and the output end of the second jack 11 is connected to the sliding seat 29. When in use, the sliding seat 29 and the upper structure slide forward and backward on the slideway 9 through the push of the second jack 11, so that the mechanical linkage mechanism moves forward and backward, and finally the milling head 5 moves forward and backward, and the milling operation is performed within a certain range.

[0020] The mechanical linkage mechanism includes a first mechanical arm 12, a second mechanical arm 13 and a third mechanical arm 14. The first mechanical arm 12 is hinged on the upper rotating disk of the rotary support seat 4. The second mechanical arm 13 is hinged on one end of the inner side of the first mechanical arm 12. The third mechanical arm 14 is hinged on one end of the second mechanical arm 13, and one end of the third mechanical arm 14 is connected to the milling head 5. A third jack 15 is hinged on one side of the upper rotating disk of the rotary support seat 4, and the output end of the third jack 15 is hinged to the first mechanical arm 12. A fourth jack 16 is hinged on one end of the first mechanical arm 12, and the output end of the fourth jack 16 is hinged to the second mechanical arm 13. A fifth jack 17 is hinged on one end below the second mechanical arm 13, and the output end of the fifth jack 17 is hinged to the milling head 5. When in use, the third jack 15 pushes the first mechanical arm 12 to change its angle, the fourth jack 16 pushes the second mechanical arm 13 to change its angle, and the fifth jack 17 pushes the milling head 5 to change its angle. In summary, the height and angle of the milling head 5 can be adjusted in a diversified manner to clean and mill the bottom drum under the transfer machine.

[0021] A hinge 18 is connected between the wheel bottom plate 2 and the support bottom plate 1, and the hinge 18 is provided with two groups. A support plate 19 is provided on the outer side of one end of the wheel bottom plate 2, and a lower rotating shaft 20 is provided on the outer side of the top end of the support bottom plate 1, and a sixth jack 21 is hinged on the lower rotating shaft 20, and an upper rotating shaft 22 is provided at the bottom of the support plate 19, and the output end of the sixth jack 21 is hinged to the upper rotating shaft 22. When in use, the sixth jack 21 is adjusted to extend or retract to lift the support plate 19, so as to change the angle of the wheel bottom plate 2, thereby adjusting the horizontal inclination angle of the rotating scraper head 6, so that the size of the horizontal inclination angle of the rotating scraper head 6 is consistent with the size of the horizontal inclination angle of the scraper 28, and adapts to the space below the loader.

[0022] Embodiment 2 according to Figure 1 , 2 As shown in Figures 3 and 4, this embodiment proposes a cleaning, milling and loading robot under a coal mine transfer machine, comprising a supporting bottom plate 1, a wheel bottom plate 2 and a conveying bottom plate 3, wherein the supporting bottom plate 1 is arranged at one side of the conveying bottom plate 3, the wheel bottom plate 2 is rotatably connected to one end of the supporting bottom plate 1, a sliding seat 29 is movably mounted on the supporting bottom plate 1 through a driving member, and a rotary supporting seat 4 is arranged above the sliding seat 29, a mechanical linkage mechanism is connected to a rotating disk above the rotary supporting seat 4, and a milling head 5 is arranged at one end of the mechanical linkage mechanism; Both sides of the top of the wheel base plate 2 are rotatably provided with rotating wheels 6, one end above the conveying base plate 3 is provided with a support shaft 7, and a scraper 28 is rotatably provided on the support shaft 7, and a first jack 8 is rotatably provided on the side above the conveying base plate 3 away from the support shaft 7, and the output end of the first jack 8 is hinged with the scraper 28. When in use, the device is placed under the transfer machine for cleaning, and the front and rear positions of the milling head 5 are changed by the movement of the sliding seat 29, and the angle of the milling head 5 is changed by rotating the rotating disk above the rotary support seat 4, and the milling head 5 is operated by the mechanical linkage mechanism to clean and mill the bottom drum under the transfer machine, and the cleaned soil blocks are sent to the scraper 28 by rotating the wheel 6, and the scraper 28 transports the soil blocks away, so as to perform the entire cleaning operation, save labor and be safer. By extending or contracting the first jack 8, the height of the unloading inclined funnel 27 of the scraper 28 can be raised or lowered, and the horizontal inclination of the scraper 28 can be adjusted to achieve the purpose of adjusting the height of the unloading inclined funnel 27 to meet the needs of actual production.

[0023] The driving member includes a slideway 9 and a support plate 10. The slideway 9 is arranged on both sides of the top of the supporting base plate 1, and the sliding seat 29 is movably installed with the slideway 9. The support plate 10 is arranged at the middle position of one end of the top of the supporting base plate 1, and a second jack 11 is arranged on both sides of one end of the support plate 10, and the output end of the second jack 11 is connected to the sliding seat 29. When in use, the sliding seat 29 and the upper structure slide forward and backward on the slideway 9 through the push of the second jack 11, so that the mechanical linkage mechanism moves forward and backward, and finally the milling head 5 moves forward and backward, and the milling operation is performed within a certain range.

[0024] The scraper 28 includes a bracket 23, a sprocket 24 and a chain 25. The sprocket 24 is rotatably arranged at both ends of the bracket 23, and a group of the sprockets 24 is driven to rotate by a motor, and the chain 25 is wound around the outside of the sprocket 24. A scraper 26 is arranged on the outside of the chain 25, and there are multiple groups of scrapers 26. An unloading inclined funnel 27 is arranged at one end below the bracket 23. When in use, the motor drives the sprocket 24 to rotate, so that the scraper 26 runs, which is convenient for conveying soil blocks. By extending or contracting the first jack 8, the height of the unloading inclined funnel 27 of the scraper 28 can be raised or lowered, and the horizontal inclination of the scraper 28 can be adjusted to achieve the purpose of adjusting the height of the unloading inclined funnel 27 to meet the needs of actual production.

[0025] The entire milling and digging operation adopts intelligent electro-hydraulic control and is equipped with a variety of sensor probes. After the power is started, the coal mine transfer machine's lower drum bottom cleaning, milling and digging loading robot can automatically perform milling and digging operations through perception.

[0026] The coal mine transfer machine cleaning milling and loading robot is used for cleaning under the transfer machine. The front and rear positions of the milling and digging head 5 are changed by the movement of the sliding seat 29. The angle of the milling and digging head 5 is changed by rotating the rotating disk above the slewing support seat 4. The milling and digging head 5 is operated by the mechanical linkage mechanism to clean and dig the bottom drum under the transfer machine. The cleaned soil blocks are sent to the scraper 28 by rotating the scraper 6. The scraper 28 transports the soil blocks away, thereby performing the entire cleaning operation, saving labor and being safer. At the same time, through the operation and adjustment of the mechanical linkage mechanism, the space under the loader is adapted. The scraper 29 is lifted by the first jack 8 to facilitate the change of angle. The support plate 19 is lifted by the sixth jack 21 to facilitate the change of the angle of the scraper bottom plate 2, which is adapted to the angle of the scraper 29 and the space under the loader, making it more convenient to use.

[0027] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A cleaning, milling and loading robot for coal mine transfer machines, comprising a supporting bottom plate (1), a wheel bottom plate (2) and a conveying bottom plate (3), characterized in that: The support bottom plate (1) is arranged at a side position of the conveying bottom plate (3), the scraper bottom plate (2) is rotatably connected to one end of the support bottom plate (1), a sliding seat (29) is movably mounted on the support bottom plate (1) through a driving member, and a slewing support seat (4) is arranged above the sliding seat (29), a mechanical connecting rod mechanism is connected to the rotating disk above the slewing support seat (4), and a milling head (5) is arranged at one end of the mechanical connecting rod mechanism; Rotating scrapers (6) are rotatably provided on both sides of the top of the scraper bottom plate (2); a support shaft (7) is provided at one end above the conveying bottom plate (3), and a scraper (28) is rotatably provided on the support shaft (7); a first jack (8) is rotatably provided on the side above the conveying bottom plate (3) away from the support shaft (7), and the output end of the first jack (8) is hinged to the scraper (28).

2. The cleaning, milling and loading robot under a coal mine transfer machine according to claim 1, characterized in that: The driving member comprises a slideway (9) and a support plate (10); the slideway (9) is arranged on both sides of the top of the supporting base plate (1); and the sliding seat (29) is movably mounted on the slideway (9).

3. The cleaning, milling and loading robot under a coal mine transfer machine according to claim 2, characterized in that: The support plate (10) is arranged at the middle position of one end of the top of the support base plate (1), and second jacks (11) are arranged on both sides of one end of the support plate (10), and the output end of the second jack (11) is connected to the sliding seat (29).

4. The cleaning, milling and loading robot under a coal mine transfer machine according to claim 1, characterized in that: The mechanical linkage mechanism comprises a first mechanical arm (12), a second mechanical arm (13) and a third mechanical arm (14); the first mechanical arm (12) is hinged on a rotating disk above a slewing support seat (4); the second mechanical arm (13) is hinged on one end inside the first mechanical arm (12); the third mechanical arm (14) is hinged on one end of the second mechanical arm (13); and one end of the third mechanical arm (14) is connected to the milling head (5).

5. The cleaning, milling and loading robot under a coal mine transfer machine according to claim 4, characterized in that: A third jack (15) is hingedly connected to one side of the rotating disk above the slewing support seat (4), and the output end of the third jack (15) is hingedly connected to the first mechanical arm (12); a fourth jack (16) is hingedly connected to one end of the first mechanical arm (12), and the output end of the fourth jack (16) is hingedly connected to the second mechanical arm (13); a fifth jack (17) is hingedly connected to one end below the second mechanical arm (13), and the output end of the fifth jack (17) is hingedly connected to the milling head (5).

6. The cleaning, milling and loading robot under a coal mine transfer machine according to claim 1, characterized in that: A hinge (18) is connected between the scraper bottom plate (2) and the supporting bottom plate (1), and at least two groups of hinges (18) are provided.

7. The cleaning, milling and loading robot under a coal mine transfer machine according to claim 6, characterized in that: A support plate (19) is provided on the outer side of one end of the wheel bottom plate (2), a lower rotating shaft (20) is provided on the outer side of the top end of the support bottom plate (1), and a sixth jack (21) is hinged on the lower rotating shaft (20), an upper rotating shaft (22) is provided at the bottom of the support plate (19), and an output end of the sixth jack (21) is hinged to the upper rotating shaft (22).

8. The cleaning, milling and loading robot under a coal mine transfer machine according to claim 1, characterized in that: The scraper (28) comprises a bracket (23), a sprocket (24) and a chain (25), wherein the sprocket (24) is rotatably arranged at two ends inside the bracket (23), and a group of the sprockets (24) is driven to rotate by a motor, and the chain (25) is wound around the outside of the sprocket (24).

9. The cleaning, milling and loading robot under a coal mine transfer machine according to claim 8, characterized in that: A scraper (26) is provided on the outer side of the chain (25), and a plurality of groups of scrapers (26) are provided. An unloading inclined funnel (27) is provided at one end below the bracket (23).

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