Mining auxiliary force arm system

Abstract

The invention relates to a mining auxiliary force arm system which comprises a frame body, a longitudinal moving device, a transverse moving device, a mechanical arm, a claw machine positioner, a clamping claw positioner, a suspension cage positioner and an inductive switch, the frame body is arranged in a roadway, one end of the frame body is connected with a suspension cage, and the frame body connected with an outlet section of the suspension cage is horizontally and linearly arranged; the mechanical arm can move orthogonally through the longitudinal moving device and the transverse moving device, the clamping jaw and the jaw machine positioner are laser receivers, the clamping jaw positioner is arranged on the mechanical arm, the cage positioner is an emitter, the cage positioner is arranged on the upper edge of an opening of a cage, and the jaw machine positioner is arranged on the transverse moving device. A transmitting end of an inductive switch is arranged at the joint of the frame body connected with the outlet section of the suspension cage and entering the linear section; and a receiving end of the inductive switch is arranged on the transverse moving device and is electrically connected with the claw machine positioner. According to the device, the manipulator can be effectively connected in the vertical direction, the gravity center faces the interior of a mine tunnel, cage lifting accidents are avoided, and sufficient escape opportunities are provided under the condition that the accidents happen.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mine transportation, in particular to a mine auxiliary force arm system. BACKGROUND

[0002] The device commonly known as "cage" is a kind of lifting device that carries workers, goods and other objects to a certain height for operation.

[0003] When carrying workers and materials downhole during underground operation, the safety of the hoisting and lifting equipment is very important. Most hoisting equipment has an overload prevention control device, and the control form is single. There is no ultra-light control device and device to prevent the steel cable from sliding out of the fixed pulley. Only the operator's full concentration is relied on to achieve safe operation. Therefore, it often happens that when operating in the mine, the position of the workers and materials in the cage is too heavy, the cage deviates from the normal track when descending, causing the cage to be stranded halfway or the cage to have descended to the bottom. Due to failure, the steel cable drum of the hoisting and lifting machine fails to stop running in time, so that the length of the steel cable is longer than the length of the hoisting point and the hoisted point, and the steel cable slides out of the fixed pulley on the cage, or even the cage is severely tilted, causing safety hazards.

[0004] A mine auxiliary force arm system is needed to solve the above problems. SUMMARY

[0005] The present application is to solve the problem that the cage deviates from the normal track when descending, causing the cage to be stranded halfway or the cage to have descended to the bottom. Due to failure, the steel cable drum of the hoisting and lifting machine fails to stop running in time, so that the length of the steel cable is longer than the length of the hoisting point and the hoisted point, and the steel cable slides out of the fixed pulley on the cage, or even the cage is severely tilted, causing safety hazards. The present application provides a mine auxiliary force arm system that uses a mine grabbing method to solve the above problems.

[0006] This invention provides a frame, a longitudinal moving device, a lateral moving device, a robotic arm, a gripper locator, a claw locator, a cage locator, and an inductive switch. The frame is installed inside the tunnel, with one end connected to the cage. The frame connecting to the cage's exit section is arranged in a horizontal straight line. The longitudinal moving device is longitudinally movable at the upper end of the frame, and the lateral moving device is laterally movable and connected to the longitudinal moving device. The robotic arm is movably installed on the lower surface of the lateral moving device and can move laterally under the lateral moving device. The lateral moving device can move longitudinally through the longitudinal moving device. The gripper locator and the claw locator are both laser receivers. The gripper locator is located on the upper surface of the robotic arm, and the cage locator is a strip-shaped laser emitter. The cage locator is horizontally installed on the upper edge of the cage opening. The claw locator is installed on the lateral moving device at the same height as the cage locator in its naturally stopped state. The frame connecting to the cage's exit section has an inductive switch transmitter at the connection point into the straight section, and the inductive switch receiver is located on the lateral moving device and electrically connected to the claw locator.

[0007] In a preferred embodiment of the mining auxiliary lever system of the present invention, the lateral movement device includes a first H-beam, a second H-beam, a manipulator mounting base, and a set of moving wheels. The first H-beam and the second H-beam are fixedly connected to the longitudinal movement device at both ends. The first H-beam and the second H-beam are parallel to each other. The set of moving wheels is fixedly disposed on both sides of the manipulator mounting base. The working surface of the set of moving wheels is higher than the upper surface of the manipulator mounting base. The manipulator mounting base is movably disposed between the first H-beam and the second H-beam via the set of moving wheels.

[0008] The mining auxiliary lever system of the present invention, in a preferred embodiment, includes a manipulator rotating part, a manipulator connecting part, a manipulator end part, and a manipulator functional part. The manipulator rotating part is movably disposed at the bottom end of the manipulator fixed base. One end of the manipulator connecting part is movably connected to the manipulator rotating part, and the other end is movably connected to the manipulator end part. The manipulator functional part is movably connected to the free end of the manipulator connecting part and the free end of the manipulator end part. The movement between the manipulator rotating part and the manipulator connecting part, between the manipulator connecting part and the manipulator end part, and between the manipulator end part and the manipulator functional part is controlled by hydraulic rods. The manipulator functional part is used to grab mine cars in the roadway.

[0009] The mining auxiliary lever system of the present invention, in a preferred embodiment, includes a frame comprising a plurality of first columns, a plurality of second columns, a first guide rail, and a second guide rail. The number of first columns and second columns are the same and they are arranged opposite each other on both sides of the roadway. The first guide rail is disposed on the upper end of the first column and is connected to the first column. The second guide rail is disposed on the upper end of the second column and is connected to each of the second columns.

[0010] In a preferred embodiment of the mining auxiliary lever system of the present invention, the longitudinal moving device includes a first longitudinal moving device and a second longitudinal moving device. The first longitudinal moving device is disposed on a first guide rail, and the second longitudinal moving device is disposed on a second guide rail. The two ends of a first I-beam are respectively connected to the first longitudinal moving device and the second longitudinal moving device, and the two ends of a second I-beam are respectively connected to the first longitudinal moving device and the second longitudinal moving device.

[0011] In a preferred embodiment, the mine auxiliary lever system of the present invention further includes a transmission belt, a first pulley, a first pulley mounting base, a second pulley, and a second pulley mounting base. The two ends of the first pulley mounting base are respectively disposed on the upper surface of the inner lower flange of one end of the first I-beam and the upper surface of the inner lower flange of the same end of the second I-beam. The two ends of the second pulley mounting base are respectively disposed on the upper surface of the inner lower flange of the other end of the first I-beam and the upper surface of the inner lower flange of the other end of the second I-beam. The first pulley is disposed on the upper surface of the first pulley mounting base and is axially arranged along the longitudinal direction of the roadway. The second pulley is disposed on the upper surface of the second pulley mounting base and is axially arranged along the longitudinal direction of the roadway. The transmission belt connects the output ends of the first pulley and the second pulley. The robot arm fixing base is fixedly disposed in the middle of the transmission belt.

[0012] The beneficial effects of this invention are as follows:

[0013] The robotic arm is positioned inside the mine tunnel and uses its extended claws to contact the hoisting cage, enabling external intervention. Due to the characteristics of the mine tunnel, the hoisting cage inevitably encounters lateral tunnels as it descends a certain height during its vertical movement. Therefore, the robotic arm can effectively connect vertically, with its center of gravity pointing inwards into the mine tunnel, preventing hoisting cage accidents and providing ample escape opportunities in the event of an accident. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a mining auxiliary lever system;

[0015] Figure 2 A schematic diagram of a lateral movement device for a mining auxiliary lever arm system;

[0016] Figure 3 This is a schematic diagram of the frame of a mining auxiliary lever system;

[0017] Figure 4 A schematic diagram of a mining auxiliary lever system manipulator;

[0018] Figure 5 This is a schematic diagram of a longitudinal movement device for a mining auxiliary lever system.

[0019] Figure label:

[0020] 1. Frame; 11. First column; 12. Second column; 13. First guide rail; 14. Second guide rail; 2. Longitudinal moving device; 21. First longitudinal moving device; 22. Second longitudinal moving device; 3. Lateral moving device; 31. First I-beam; 32. Second I-beam; 33. Robot arm mounting base; 35. Transmission belt; 36. First pulley; 37. First pulley mounting base; 38. Second pulley; 39. Second pulley mounting base; 4. Robot arm; 41. Robot arm rotating part; 42. Robot arm connecting part; 43. Robot arm end; 44. Robot arm functional part; 5. Claw positioner; 6. Gripper positioner; 7. Cage positioner; 8. Induction switch. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0022] Example 1

[0023] like Figure 1 As shown, the system includes a frame 1, a longitudinal moving device 2, a lateral moving device 3, a robotic arm 4, a gripper locator 5, a clamping gripper 6, a cage locator 7, and a sensor switch 8. The frame 1 is installed inside the tunnel, with one end connected to the cage. The frame 1 connected to the cage outlet section is arranged in a horizontal straight line. The longitudinal moving device 2 is longitudinally movable at the upper end of the frame 1. The lateral moving device 3 is laterally movable and connected to the longitudinal moving device 2. The robotic arm 4 is movably installed on the lower surface of the lateral moving device 3 and can move laterally under the lateral moving device 3. The lateral moving device 3 can be connected to the longitudinal moving device 2. The longitudinal movement device 2 moves longitudinally. Both the gripper positioner 6 and the claw positioner are laser receivers. The gripper positioner 6 is set on the upper surface of the robot arm 4. The cage positioner 7 is a strip laser emitter. The cage positioner 7 is set horizontally on the upper edge of the cage opening. The claw positioner 5 is set on the transverse movement device 3 and is at the same height as the cage positioner 7 in the naturally stopped state. The frame 1 connecting the cage exit section is equipped with the transmitter of the induction switch 8 at the connection point of the straight section. The receiver of the induction switch 8 is set on the transverse movement device 3 and is electrically connected to the claw positioner 5.

[0024] like Figure 2As shown, the lateral moving device 3 includes a first I-beam 31, a second I-beam 32, a robot arm mounting base 33, and a set of moving wheels 34. The first I-beam 31 is fixedly connected to the longitudinal moving device 2 at both ends, and the second I-beam 32 is also fixedly connected to the longitudinal moving device 2 at both ends. The first I-beam 31 and the second I-beam 32 are parallel to each other. The set of moving wheels 34 is fixedly installed on both sides of the robot arm mounting base 33. The working surface of the set of moving wheels 34 is higher than the upper surface of the robot arm mounting base 33. The robot arm mounting base 33 is movably installed between the first I-beam 31 and the second I-beam 32 through the set of moving wheels 34.

[0025] like Figure 3 As shown, the robotic arm 4 includes a robotic arm rotating part 41, a robotic arm connecting part 42, a robotic arm end 43, and a robotic arm functional part 44. The robotic arm rotating part 41 is movably disposed at the bottom end of the robotic arm fixed base 33. One end of the robotic arm connecting part 42 is movably connected to the robotic arm rotating part 41, and the other end is movably connected to the robotic arm end 43. The robotic arm functional part 44 is movably connected to the free end of the robotic arm connecting part 42 and the free end of the robotic arm end 43. The movement between the robotic arm rotating part 41 and the robotic arm connecting part 42, between the robotic arm connecting part 42 and the robotic arm end 43, and between the robotic arm end 43 and the robotic arm functional part 44 are all controlled by hydraulic rods. The robotic arm functional part 44 is used to grab mine cars in the roadway.

[0026] like Figure 4 As shown, the frame 1 includes several first columns 11, several second columns 12, a first guide rail 13, and a second guide rail 14. The number of first columns 11 and second columns 12 are the same and they are arranged opposite each other on both sides of the roadway. The first guide rail 13 is located on the upper end of the first column 11 and is connected to the first column 11. The second guide rail 14 is located on the upper end of the second column 12 and is connected to each of the second columns 12.

[0027] like Figure 5 As shown, the longitudinal moving device 2 includes a first longitudinal moving device 21 and a second longitudinal moving device 22. The first longitudinal moving device 21 is disposed on the first guide rail 13, and the second longitudinal moving device 22 is disposed on the second guide rail 14. The first I-beam 31 is connected to the first longitudinal moving device 21 and the second longitudinal moving device 22 at both ends, and the second I-beam 32 is connected to the first longitudinal moving device 21 and the second longitudinal moving device 22 at both ends.

[0028] This device serves as both an auxiliary centering mechanism for the hoist cage and a trolley-pushing mechanism. Under normal usage, it is used solely for trolley pushing. When the device moves within the range of the inductive switch, the receiver receives a signal from the transmitter, and the gripper positioner activates. The gripper positioner receives the laser beam emitted by the hoist cage positioner. Based on the linear propagation characteristics of laser light, when the hoist cage is misaligned, the gripper positioner loses the laser signal, thus determining misalignment. Due to the structural characteristics connecting the hoist cage shaft and the tunnel, the hoist cage will inevitably tilt forward. The robotic arm continues to move towards the shaft position. When the gripper positioner on the robotic arm receives a signal, it can locate the top of the hoist cage. The top edge of the hoist cage should be in a straight line along the signal receiving and transmitting direction. The robotic gripper then moves along the direction of the laser beam at the top of the hoist cage until it contacts the top. Further feeding then completes the centering of the hoist cage.

[0029] Example 2

[0030] Based on Embodiment 1, optionally, the lateral moving device 3 further includes a transmission belt 35, a first pulley 36, a first pulley mounting base 37, a second pulley 38, and a second pulley mounting base 39. The two ends of the first pulley mounting base 37 are respectively disposed on the upper surface of the inner lower flange of one end of the first I-beam 31 and the upper surface of the inner lower flange of the same end of the second I-beam 32. The two ends of the second pulley mounting base 39 are respectively disposed on the upper surface of the inner lower flange of the other end of the first I-beam 31 and the upper surface of the inner lower flange of the other end of the second I-beam 32. The first pulley 36 is disposed on the upper surface of the first pulley mounting base 37 and is axially arranged along the longitudinal direction of the roadway. The second pulley 38 is disposed on the upper surface of the second pulley mounting base 39 and is axially arranged along the longitudinal direction of the roadway. The conveyor belt connects the output ends of the first pulley 36 and the second pulley 38. The robot arm fixing base 33 is fixedly disposed in the middle of the conveyor belt.

[0031] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A mining auxiliary lever system, characterized in that: The system includes a frame (1), a longitudinal moving device (2), a transverse moving device (3), a robotic arm (4), a gripper locator (5), a clamp locator (6), a cage locator (7), and an inductive switch (8). The frame (1) is located inside the tunnel, with one end connected to the cage. The frame (1) connected to the cage outlet section is arranged in a horizontal straight line. The longitudinal moving device (2) is longitudinally movable at the upper end of the frame (1). The transverse moving device (3) is transversely movable and connected to the longitudinal moving device (2). The robotic arm (4) is movably disposed on the lower surface of the transverse moving device (3). The robotic arm (4) can move laterally under the transverse moving device (3). The transverse moving device (3) is traversable. The longitudinal movement device (2) moves longitudinally. The gripper locator (6) and the claw locator are both laser receivers. The gripper locator (6) is set on the upper surface of the robot (4). The cage locator (7) is a strip laser emitter. The cage locator (7) is set horizontally on the upper edge of the cage opening. The claw locator (5) is set on the transverse movement device (3) and is at the same height as the cage locator (7) in the cage's natural stopping state. The frame (1) connecting the cage exit section is provided with the transmitting end of the induction switch (8) at the connection point of the straight section. The receiving end of the induction switch (8) is set on the transverse movement device (3) and electrically connected to the claw locator (5).

2. The mining auxiliary lever system according to claim 1, characterized in that: The lateral moving device (3) includes a first I-beam (31), a second I-beam (32), a robot arm mounting base (33), and a set of moving wheels (34). The first I-beam (31) is fixedly connected to the longitudinal moving device (2) at both ends, and the second I-beam (32) is fixedly connected to the longitudinal moving device (2) at both ends. The first I-beam (31) and the second I-beam (32) are parallel to each other. The set of moving wheels (34) is fixedly disposed on both sides of the robot arm mounting base (33). The working surface of the set of moving wheels (34) is higher than the upper surface of the robot arm mounting base (33). The robot arm mounting base (33) is movably disposed between the first I-beam (31) and the second I-beam (32) through the set of moving wheels (34).

3. The mining auxiliary lever system according to claim 1, characterized in that: The robotic arm (4) includes a robotic arm rotating part (41), a robotic arm connecting part (42), a robotic arm end (43), and a robotic arm functional part (44). The robotic arm rotating part (41) is movably disposed at the bottom end of the robotic arm fixed base (33). One end of the robotic arm connecting part (42) is movably connected to the robotic arm rotating part (41), and the other end is movably connected to the robotic arm end (43). The robotic arm functional part (44) is movably connected to the free end of the robotic arm connecting part (42) and the free end of the robotic arm end (43). The movement between the robotic arm rotating part (41) and the robotic arm connecting part (42), between the robotic arm connecting part (42) and the robotic arm end (43), and between the robotic arm end (43) and the robotic arm functional part (44) is controlled by hydraulic rods. The robotic arm functional part (44) is used to grab mine cars in the roadway.

4. The mining auxiliary lever system according to claim 1, characterized in that: The frame (1) includes a plurality of first columns (11), a plurality of second columns (12), a first guide rail (13), and a second guide rail (14). The number of first columns (11) and second columns (12) are the same and they are arranged opposite to each other on both sides of the alleyway. The first guide rail (13) is located on the upper end of the first column (11) and is connected to the first column (11). The second guide rail (14) is located on the upper end of the second column (12) and is connected to each of the second columns (12).

5. A mining auxiliary lever system according to claim 3, characterized in that: The longitudinal moving device (2) includes a first longitudinal moving device (21) and a second longitudinal moving device (22). The first longitudinal moving device (21) is disposed on the first guide rail (13), and the second longitudinal moving device (22) is disposed on the second guide rail (14). The first I-beam (31) is connected to the first longitudinal moving device (21) and the second longitudinal moving device (22) at both ends, and the second I-beam (32) is connected to the first longitudinal moving device (21) and the second longitudinal moving device (22) at both ends.

6. A mining auxiliary lever system according to claim 1, characterized in that: The lateral moving device (3) further includes a transmission belt (35), a first pulley (36), a first pulley mounting seat (37), a second pulley (38), and a second pulley mounting seat (39). The first pulley mounting seat (37) is respectively located on the upper surface of the inner lower flange of one end of the first I-beam (31) and the upper surface of the inner lower flange of the same end of the second I-beam (32). The second pulley mounting seat (39) is respectively located on the upper surface of the inner lower flange of the other end of the first I-beam (31). The upper surface of the inner lower flange of the surface and the other end of the second I-beam (32), the first pulley (36) is disposed on the upper surface of the first pulley mounting base (37) and is axially arranged along the longitudinal direction of the roadway, the second pulley (38) is disposed on the upper surface of the second pulley mounting base (39) and is axially arranged along the longitudinal direction of the roadway, the conveyor belt connects the output end of the first pulley (36) and the output end of the second pulley (38), and the robot arm fixing base (33) is fixedly disposed in the middle of the conveyor belt.

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