Safety rope picking and hanging device and picking and hanging method

Abstract

The invention provides a safety rope picking and hanging device. The safety rope picking and hanging device comprises a base, a fixed table, a horizontal table and a mechanical arm. A stand column is fixed to the base, a cantilever is arranged on the front side of the upper end of the stand column, and a balance weight is arranged on the rear side of the upper end of the stand column. The fixing table is arranged at the end of the cantilever, a sliding hole is formed in the middle of the fixing table, a sliding rail is vertically assembled in the sliding hole in a sliding mode, and a driving mechanism is arranged between the sliding rail and the fixing table. The horizontal table is arranged at the lower end of the sliding rail, a transverse sliding table is slidably arranged on the lower side of the horizontal table, and a first air cylinder is arranged between the transverse sliding table and the horizontal table; the mechanical arm is matched with the rope head and longitudinally arranged on the lower side of the transverse sliding table in a sliding mode, and a second air cylinder is arranged between the rear end of the mechanical arm and the transverse sliding table.

Description

Technical Field

[0001] The present invention belongs to the field of mining equipment, and particularly relates to a safety rope detaching and attaching device and a detaching and attaching method thereof. Background Art

[0002] A safety rope is used for inclined shaft transportation. When connecting a three-ring chain between two carriages of a string of cars, it is necessary to first connect the head car and the end car of the string of cars. In this way, if the three-ring chain connecting two certain mine cars breaks or is not inserted properly, resulting in connection failure, the safety rope can turn over the sliding string of cars, and the string of cars will not continue to slide down the well rapidly along the track, causing an accident. At present, the detaching and attaching of the safety rope are all completed manually, with a large labor intensity. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a safety rope detaching and attaching device and a detaching and attaching method thereof, which are used to solve or partially solve the above deficiencies.

[0004] The present invention provides a safety rope detaching and attaching device for detaching and attaching a safety rope. The end of the safety rope is connected with a rope head, and the device includes: A base, on which a column is fixed. A cantilever is arranged on the front side of the upper end of the column, and a counterweight is arranged on the rear side of the upper end of the column; A fixed table, which is arranged at the end of the cantilever. A sliding hole is arranged in the middle of the fixed table, and a slide rail is vertically slidably assembled in the sliding hole. A driving mechanism is arranged between the slide rail and the fixed table; A horizontal table, which is arranged at the lower end of the slide rail. A transverse slide table is slidably arranged on the lower side of the horizontal table. A first air cylinder is arranged between the transverse slide table and the horizontal table; A manipulator, which is matched with the rope head. The manipulator is longitudinally slidably arranged on the lower side of the transverse slide table, and a second air cylinder is arranged between the rear end of the manipulator and the transverse slide table.

[0005] The present invention also has the following optional features.

[0006] Optionally, the manipulator includes: A longitudinal slide table, the upper side of which is longitudinally slidably matched with the lower side of the transverse slide table; A fixed clamping piece, which is fixed on the longitudinal slide table and extends out of the front end of the longitudinal slide table; A support, which is arranged on the lower side of the longitudinal slide table and extends below the fixed clamping piece. A moving clamping piece is hinged on the support; An electromagnet, one end of which is connected to the longitudinal slide table and the other end is hinged to the rear end of the moving clamping piece.

[0007] Optionally, the driving mechanism includes a pair of motors, the two motors are respectively arranged on both sides of the fixed platform, the main shaft of each motor extends into the sliding hole, and is connected with a gear, racks are respectively arranged on both sides of the slide rail, and the racks are meshed with the gears.

[0008] Optionally, a displacement sensor is further arranged on the fixed platform, and the displacement sensor detects the longitudinal movement distance of the slide rail.

[0009] Optionally, a rope picking mechanism is further included, the rope picking mechanism is arranged on one side of the lower end of the slide rail, and a rope picking rod is arranged in the rope picking mechanism.

[0010] Optionally, the rope picking mechanism includes: A horizontal plate, one side of the horizontal plate is fixedly connected to one side of the lower end of the slide rail, a longitudinal horizontal guide sleeve is arranged on the horizontal plate, and the rope picking rod is slidably assembled in the longitudinal horizontal guide sleeve; A third cylinder, which is connected between the horizontal plate and the rear end of the rope picking rod.

[0011] The present invention also provides a method for detaching and attaching a safety rope, which is implemented by using the safety rope detaching and attaching device described above, and includes the following steps: Step S001: The driving mechanism drives the slide rail to move downward, so that the manipulator is aligned with the rope end of the safety rope installed on the mine car lock head in the vertical direction; Step S002: The first cylinder drives the transverse slide table to move transversely, so that the manipulator is aligned with the rope end of the safety rope in the horizontal direction; Step S003: The second cylinder drives the manipulator to move forward, so that the manipulator moves forward to the position of the rope end of the safety rope; Step S004: The iron core of the electromagnet extends out, driving the front end of the moving clip to clamp the rope end of the safety rope against the fixed clip, and then the second cylinder drives the manipulator to move backward to remove the rope end at the mine car lock head.

[0012] The safety rope detaching and attaching device and method of the present invention drive the slide rail to move up and down through the driving mechanism to adjust the height of the manipulator, so that the manipulator is aligned with the rope end of the safety rope installed on the mine car lock head in the vertical direction. The transverse slide table can move transversely to align the manipulator with the rope end of the safety rope horizontally; the manipulator can move forward to the mine car lock head to clamp the rope end of the safety rope, and then the manipulator moves backward to remove the rope end at the mine car lock head. The safety rope detaching and attaching device and method of the present invention realize the automation of detaching and attaching the safety rope of the mine car, and reduce the labor intensity of the staff. Description of the Drawings

[0013] Figure 1 It is the overall structure diagram of the safety rope detaching and attaching device of the embodiment of the present invention; Figure 2 is Figure 1 the structural diagram of the fixed table in Figure 3 is Figure 1 the structural diagram of the manipulator in Figure 4 is Figure 3 the lower side structural diagram of

[0014] In the above figures: 1. safety rope; 2. rope end; 3. base; 4. column; 5. cantilever; 6. counterweight; 7. fixed table; 8. slide rail; 801. rack; 9. horizontal table; 10. transverse slide table; 11. first cylinder; 12. manipulator; 1201. longitudinal slide table; 1202. fixed clamping piece; 1203. support; 1204. moving clamping piece; 1205. electromagnet; 13. second cylinder; 14. driving mechanism; 15. displacement sensor; 16. rope picking mechanism; 1601. rope picking rod; 1602. horizontal plate; 1603. longitudinal horizontal guide sleeve; 1604. third cylinder.

[0015] The following will further elaborate on the present invention in conjunction with the drawings and embodiments. Specific embodiments

[0016] Referring to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 ,an embodiment of the present invention provides a safety rope attaching and detaching device for attaching and detaching the safety rope 1. The end of the safety rope 1 is connected with a rope end 2, and the device includes: a base 3, a fixed table 7, a horizontal table 9 and a manipulator 12; a column 4 is fixed on the base 3, a cantilever 5 is arranged on the front side of the upper end of the column 4, and a counterweight 6 is arranged on the rear side of the upper end of the column 4; the fixed table 7 is arranged at the end of the cantilever 5, a sliding hole is arranged in the middle of the fixed table 7, a slide rail 8 is vertically slidably assembled in the sliding hole, and a driving mechanism 14 is arranged between the slide rail 8 and the fixed table 7; the horizontal table 9 is arranged at the lower end of the slide rail 8, a transverse slide table 10 is slidably arranged on the lower side of the horizontal table 9, and a first cylinder 11 is arranged between the transverse slide table 10 and the horizontal table 9; the manipulator 12 is matched with the rope end 2, the manipulator 12 is longitudinally slidably arranged on the lower side of the transverse slide table 10, and a second cylinder 13 is arranged between the rear end of the manipulator 12 and the transverse slide table 10.

[0017] The driving mechanism 14 drives the slide rail 8 to move up and down, so as to adjust the height of the manipulator 12, making the manipulator 12 align with the rope end 2 of the safety rope 1 installed on the mine car lock head in the vertical direction; A pair of T-shaped guide rails are horizontally arranged on the lower side of the horizontal platform 9, and a pair of T-shaped grooves are horizontally arranged on the upper side of the horizontal slide 10. The T-shaped guide rails are matched with the T-shaped grooves. Driven by the first cylinder 11, the horizontal slide 10 can move horizontally to horizontally adjust the manipulator 12, making the manipulator 12 horizontally align with the rope end 2 of the safety rope 1; Driven by the second cylinder 13, the manipulator 12 can move forward, so that the manipulator 12 can move forward to the mine car lock head to clamp the rope end 2 of the safety rope 1, and then driven by the second cylinder 13, the manipulator 12 moves backward to remove the rope end 2 at the mine car lock head.

[0018] Embodiment 2 Reference Figure 1 、 Figure 3 and Figure 4 On the basis of Embodiment 1, the manipulator 12 includes: a longitudinal slide 1201, a fixed clip 1202, a support 1203 and an electromagnet 1205; The upper side of the longitudinal slide 1201 is longitudinally slidably matched with the lower side of the horizontal slide 10; The fixed clip 1202 is fixed on the longitudinal slide 1201 and extends out of the front end of the longitudinal slide 1201; The support 1203 is arranged on the lower side of the longitudinal slide 1201 and extends below the fixed clip 1202. A moving clip 1204 is hinged on the support 1203; One end of the electromagnet 1205 is connected to the longitudinal slide 1201, and the other end is hinged to the rear end of the moving clip 1204.

[0019] A pair of T-shaped guide rails are longitudinally arranged on the lower side of the horizontal slide 10, and a pair of T-shaped grooves are longitudinally arranged on the upper side of the longitudinal slide 1201. The T-shaped guide rails are matched with the T-shaped grooves; The middle part of the longitudinal moving clip 1204 is hinged on the support 1203. When the iron core of the electromagnet 1205 extends, it drives the front end of the moving clip 1204 to clamp towards the fixed clip 1202, and the rope end 2 of the safety rope 1 can be clamped; When the iron core of the electromagnet 1205 retracts, it drives the moving clip 1204 to open downward, and the rope end 2 of the safety rope 1 can be released.

[0020] Embodiment 3 Reference Figure 2 On the basis of Embodiment 1, the driving mechanism 14 includes a pair of motors. The two motors are respectively arranged on both sides of the fixed table 7. The main shaft of each motor extends into the sliding hole and is connected with a gear. Rack bars 801 are respectively arranged on both sides of the slide rail 8, and the rack bars 801 are meshed with the gears.

[0021] By controlling the rotation directions of the two motors, the slide rail 8 can be driven to rise or fall in the fixed platform 7.

[0022] Embodiment 4 Reference Figure 2 , on the basis of Embodiment 3, a displacement sensor 15 is further provided on the fixed platform 7, and the displacement sensor 15 detects the longitudinal movement distance of the slide rail 8.

[0023] Since the heights of the mine car lock heads are the same, the height of the manipulator 12 for detaching and attaching the safety rope 1 can be preset in advance, and then its height can be made to correspond to the detection value of the displacement sensor 15. In this way, the height of the manipulator 12 can be determined by virtue of the longitudinal movement distance of the slide rail 8 detected by the displacement sensor 15.

[0024] Embodiment 5 Reference Figure 1 , Figure 3 and Figure 4 , on the basis of Embodiment 1, a rope picking mechanism 16 is further included. The rope picking mechanism 16 is arranged on one side of the lower end of the slide rail 8, and a rope picking rod 1601 is arranged in the rope picking mechanism 16.

[0025] When detaching the rope end 2 of the safety rope 1, the safety rope 1 can be first picked up by the rope picking mechanism 16 to prevent the safety rope 1 from affecting the manipulator 12 from detaching the rope end 2 from the mine car lock head.

[0026] Embodiment 6 Reference Figure 3 and Figure 4 , on the basis of Embodiment 5, the rope picking mechanism 16 includes: a horizontal plate 1602 and a third air cylinder 1604; one side of the horizontal plate 1602 is fixedly connected to one side of the lower end of the slide rail 8, a longitudinal horizontal guide sleeve 1603 is arranged on the horizontal plate 1602, and the rope picking rod 1601 is slidably assembled in the longitudinal horizontal guide sleeve 1603; the third air cylinder 1604 is connected between the horizontal plate 1602 and the rear end of the rope picking rod 1601.

[0027] The horizontal plate 1602 is located above the horizontal platform 9, that is, the rope picking mechanism 16 is located above the manipulator 12. Before picking the rope, the third air cylinder 1604 extends backward to pull the rope picking rod 1601 to contract. When picking the rope, the third air cylinder 1604 retracts forward to drive the rope picking rod 1601 to extend to the lower side of the safety rope 1, and then the slide rail 8 rises to drive the rope picking rod 1601 of the rope picking mechanism 16 to pick up the safety rope 1 upward.

[0028] Embodiment 7 Reference Figures 1 to 4, based on any of the above embodiments, the present invention further provides a method for detaching and attaching a safety rope, which is implemented by using the safety rope detaching and attaching device described in any of the above, and includes the following steps: Step S001: The driving mechanism 14 drives the slide rail 8 to move downward, so that the manipulator 12 is aligned with the rope end 2 of the safety rope 1 installed on the mine car lock head in the vertical direction; Step S002: The first cylinder 11 drives the transverse slide 10 to move horizontally, so that the manipulator 12 is aligned with the rope end 2 of the safety rope 1 in the horizontal direction; Step S003: The second cylinder 13 drives the manipulator 12 to move forward, so that the manipulator 12 moves forward to the position of the rope end 2 of the safety rope 1; Step S004: The iron core of the electromagnet 1205 extends out, driving the front end of the moving clip 1204 to clamp the rope end 2 of the safety rope 1 against the fixed clip 1202, and then the second cylinder 13 drives the manipulator 12 to move backward to remove the rope end 2 at the mine car lock head.

[0029] When it is necessary to hang the rope end 2 of the safety rope 1 on the mine car lock head, the driving mechanism 14 drives the slide rail 8 to move up and down, so that the manipulator 12 holding the rope end 2 is aligned with the mine car lock head in the vertical direction; then the first cylinder 11 drives the transverse slide 10 to move horizontally, so that the manipulator 12 is aligned with the mine car lock head in the horizontal direction; the second cylinder 13 drives the manipulator 12 to move forward, so that the manipulator 12 moves forward to the position of the mine car lock head; the iron core of the electromagnet 1205 retracts, driving the front end of the moving clip 1204 to open, leaving the rope end 2 of the safety rope 1 in the mine car lock head, and then the second cylinder 13 drives the manipulator 12 to retract backward.

[0030] As mentioned above, the above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims. The components and structures not described in detail in this embodiment are well-known components and common structures or common means in this industry, and will not be described one by one here.

Claims

1. A safety rope attaching and detaching device for attaching and detaching a safety rope (1), wherein a rope end (2) is connected to the end of the safety rope (1), characterized in that Comprising: A base (3), on which a column (4) is fixed. On the front side of the upper end of the column (4), a cantilever (5) is provided, and on the rear side of the upper end of the column (4), a counterweight (6) is provided; A fixed table (7), which is arranged at the end of the cantilever (5). A sliding hole is provided in the middle of the fixed table (7), and a slide rail (8) is vertically slidably assembled in the sliding hole. A driving mechanism (14) is provided between the slide rail (8) and the fixed table (7); A horizontal table (9), which is arranged at the lower end of the slide rail (8). A transverse slide table (10) is slidably arranged on the lower side of the horizontal table (9). A first air cylinder (11) is provided between the transverse slide table (10) and the horizontal table (9); A manipulator (12), which is matched with the rope end (2). The manipulator (12) is longitudinally slidably arranged on the lower side of the transverse slide table (10). A second air cylinder (13) is provided between the rear end of the manipulator (12) and the transverse slide table (10).

2. The insurance rope hanging and detaching device according to claim 1, wherein, The manipulator (12) includes: A longitudinal slide table (1201), the upper side of which is longitudinally slidably matched with the lower side of the transverse slide table (10); A fixed clamping piece (1202), which is fixed on the longitudinal slide table (1201) and extends out of the front end of the longitudinal slide table (1201); A support (1203), which is arranged on the lower side of the longitudinal slide table (1201) and extends below the fixed clamping piece (1202). A moving clamping piece (1204) is hinged on the support (1203); An electromagnet (1205), one end of which is connected to the longitudinal slide table (1201), and the other end is hinged to the rear end of the moving clamping piece (1204).

3. The safety rope hanging and detaching device according to claim 1, wherein, The driving mechanism (14) includes a pair of motors. The two motors are respectively arranged on both sides of the fixed table (7). The main shaft of each motor extends into the sliding hole and is connected with a gear. Rack bars (801) are respectively arranged on both sides of the slide rail (8), and the rack bars (801) are meshed with the gears.

4. The safety rope attaching / detaching device according to claim 3, characterized in that A displacement sensor (15) is further arranged on the fixed table (7), and the displacement sensor (15) detects the longitudinal moving distance of the slide rail (8).

5. The insurance rope hanging and removing device according to claim 1, characterized in that, It further includes a rope picking mechanism (16), which is arranged on one side of the lower end of the slide rail (8). A rope picking rod (1601) is arranged in the rope picking mechanism (16).

6. The safety rope attaching / detaching device according to claim 5, wherein, The rope picking mechanism (16) includes: A horizontal plate (1602), one side of which is fixedly connected to one side of the lower end of the slide rail (8). A longitudinal horizontal guide sleeve (1603) is arranged on the horizontal plate (1602), and the rope picking rod (1601) is slidably assembled in the longitudinal horizontal guide sleeve (1603); The third cylinder (1604) is connected between the horizontal plate (1602) and the rear end of the rope picking rod (1601).

7. A method for detaching and attaching a safety rope, which is implemented by using the safety rope detaching and attaching device described in any one of the above, characterized in that, Comprising the following steps: Step S001: The driving mechanism (14) drives the slide rail (8) to move downward, so that the manipulator (12) is vertically aligned with the rope end (2) of the safety rope (1) installed on the mine car lock head; Step S002: The first cylinder (11) drives the transverse slide table (10) to move transversely, so that the manipulator (12) is horizontally aligned with the rope end (2) of the safety rope (1); Step S003: The second cylinder (13) drives the manipulator (12) to move forward, so that the manipulator (12) moves forward to the position of the rope end (2) of the safety rope (1); Step S004: The iron core of the electromagnet (1205) extends, driving the front end of the moving clamping piece (1204) to clamp the rope end (2) of the safety rope (1) against the fixed clamping piece (1202), and then the second cylinder (13) drives the manipulator (12) to move backward to remove the rope end (2) at the mine car lock head.

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