Pipeline installation mechanical arm and coal mine multi-pipeline conveying device

Abstract

The present application relates to coal mine pipeline mechanical arm technical field, specifically to a pipeline installation mechanical arm and coal mine multi-pipeline conveying device, which comprises a carrying mechanism and a pipeline clamping mechanism fixed to the execution end of the carrying mechanism; the pipeline clamping mechanism comprises a clamping base and a clamping arm, and the lower side of the clamping arm forms an arc-shaped clamping part for clamping the pipeline; the two sides of the clamping base are provided with clamping sliding shafts, and the clamping arm is slidingly fitted on the clamping sliding shafts through clamping sliding columns; the two sides of the clamping base are provided with clamping push rods; the push head of the clamping push rod is fixed to the side of the clamping sliding column; the outer side of the arc-shaped clamping part is provided with an upper supporting rotating assembly, and the side of the other arc-shaped clamping part is embedded with a laser sensor; the present application solves the technical problem of how to realize the automatic alignment of the flange channels of adjacent pipelines.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine pipeline mechanical arm, and particularly relates to a pipeline installation mechanical arm and a coal mine multi-pipeline conveying device. BACKGROUND

[0002] In order to meet the needs of underground coal mining, various functional pipelines are arranged in the underground roadway, such as water supply and drainage pipes, ventilation pipes, gas extraction pipes, etc. A pipeline installation robot for tunneling face is applied to the pipeline installation operation in the coal mine roadway, and has the functions of pipeline grabbing, carrying, installation and the like.

[0003] A pipeline installation robot for coal mine is disclosed in Chinese Patent No. CN116728375A, which is connected with a clamping claw at the end of a mechanical arm, and realizes automatic grabbing and lifting of the pipeline in the limited space of the coal mine roadway through the clamping claw. The labor intensity of workers in the process of installing the pipeline in the roadway is greatly reduced, and the construction efficiency is improved. After the pipeline is installed on the pipeline rack, the adjacent pipelines are connected through the flange connection, so that the installation personnel need to manually align the flange channels of the adjacent pipelines before installation.

[0004] Therefore, the existing problem is how to realize automatic alignment of the flange channels of adjacent pipelines. SUMMARY

[0005] The present application provides a pipeline installation mechanical arm and a coal mine multi-pipeline conveying device, which aims to solve the problem of how to realize automatic alignment of the flange channels of adjacent pipelines.

[0006] The technical scheme used in the present application is as follows:

[0007] The first aspect of the present application provides a pipeline installation mechanical arm, which comprises a carrying mechanism and a pipeline clamping mechanism fixed at the execution end of the carrying mechanism. The pipeline clamping mechanism comprises a clamping base and a clamping arm, and the lower side of the clamping arm forms an arc-shaped clamping part for clamping the pipeline. The two sides of the clamping base are provided with clamping sliding shafts, and the clamping arm is slidingly fitted on the clamping sliding shafts through clamping sliding columns. The two sides of the clamping base are provided with clamping push rods. The push head of the clamping push rod is fixed with the side part of the clamping sliding column. The outer side of the arc-shaped clamping part is provided with an upper supporting rotating assembly, and the side part of the other arc-shaped clamping part is inlaid with a laser sensor. The upper supporting rotating assembly is used to lift the pipeline and separate it from the pipeline rack, and drive the pipeline to rotate so that the flange channel of the pipeline is aligned with the laser sensor.

[0008] Furthermore, the upper support rotating assembly includes an upper support push plate and an upper support guide post. The upper support guide post is fixed to the side of the arc-shaped clamping part, and the upper support push plate is slidably fitted onto the upper support guide post. The upper support push plate is provided with upper support guide wheels at its four corners. The upper support guide wheels are located on both sides of the arc-shaped clamping part. An adjustment motor is provided on the inner side of the upper support guide wheel. The adjustment motor is used to drive the roller of the upper support guide wheel to rotate. An upper support push rod is provided on the lower side of the clamping arm. The push head of the upper support push rod is fixed to the upper support push plate.

[0009] Furthermore, the conveying mechanism includes a transverse guide rail screw slide table positioned opposite each other on both sides. A conveying bracket is provided on the slider of the transverse guide rail screw slide table, and a vertical push rod is provided on the conveying bracket. The push head of the vertical push rod extends downward through the conveying bracket and is fixed to the conveying switching component. The output end of the conveying switching component is fixed to the pipe clamping mechanism. The conveying switching component is used to switch between the feeding mode and the pipe conveying mode.

[0010] Furthermore, the handling and switching assembly includes a switching base frame, with the push head of the vertical push rod fixed to the upper side of the switching base frame; a drive push rod is fixed to the side of the switching base frame via a push rod plate; a drive push block is fixed to the push head of the drive push rod, and a drive guide shaft is rotatably engaged with the drive push block via a bearing; the inner side of the drive guide shaft is fixed to the side of the clamping base via a mounting ear; the outer side of the drive guide shaft is fixed to one side of the drive swing plate, and a drive guide wheel is rotatably engaged with the other side of the drive swing plate; a transverse guide groove is horizontally opened on the switching base frame, and the drive guide wheel rolls within the transverse guide groove; a downward-sloping oblique guide groove is opened on the lower side of the transverse guide groove, and a switching guide groove corresponding to the oblique guide groove is opened on the upper side of the transverse guide groove; a switching cylinder is provided on the switching base frame, with the push head of the switching cylinder fixed to a linkage block, and a triangular guide block and a rectangular guide block spaced apart on the linkage block; the triangular guide block and the rectangular guide block slide within the switching guide groove.

[0011] The second aspect of this application proposes a multi-pipeline conveying device for coal mines, including the pipeline installation robotic arm of the above-described embodiment, and also including a conveying vehicle. The pipeline installation robotic arm is mounted on the conveying vehicle, and the conveying vehicle is also equipped with a pipe box for storing pipelines. The conveying vehicle is used to drive the pipeline installation robotic arm and the pipe box to move.

[0012] Furthermore, the pipe box is a square box structure located on the upper side of the frame, and the inside of the pipe box is provided with L-shaped brackets, with two brackets per group.

[0013] Furthermore, a partition shaft is provided between the card holder and the pipe box. A baffle plate is rotatably fitted on the partition shaft via a torsion spring. The torsion spring is used to keep the baffle plate horizontal when no external force is applied. The baffle plate has a triangular cross-section. A first locking groove is formed on the side of the card holder, and a second locking groove is formed at the bottom of the first locking groove. A clutch locking component is fitted in the first and second locking grooves. The clutch locking component includes a locking base plate and a locking slide pin slidably fitted on the locking base plate. A locking pressure plate is provided on one side of the locking slide pin. The locking pressure plate is slidably fitted in the first locking groove, and a locking pressure head is provided on the side of the locking pressure plate. The locking pressure head is slidably fitted in the second locking groove, and the end of the locking pressure head extends out of the second locking groove and is engaged with the upper side of the barrier plate; a locking spring is sleeved on the locking slide column; the locking base plate is fixed to the side of the card holder, and the side of the card holder is provided with an unlocking guide wheel; an unlocking shaft is slidably fitted on the pipe box, and an unlocking pressure plate is provided on one side of the unlocking shaft, and an unlocking connecting plate is provided on the other side of the unlocking shaft; an unlocking spring passes through the unlocking shaft between the unlocking pressure plate and the pipe box; an unlocking rope is fixed on the locking pressure plate, and the other end of the unlocking rope passes around the unlocking guide wheel and passes out from the side of the first locking groove and is fixed to the unlocking connecting plate.

[0014] Furthermore, the transport bracket of the transport mechanism is equipped with an unlocking push rod, and an unlocking head is fixed on the push head of the unlocking push rod. The unlocking head is used to unlock the baffle plate when the pipe is placed in the pipe box, so that the baffle plate can rotate upward relative to the pipe.

[0015] Furthermore, the conveyor vehicle includes a frame and a column located on the lower side of the frame. The lower side of the column is equipped with a traveling wheel, which is driven to rotate by a traveling motor, thereby moving the entire conveyor vehicle.

[0016] The beneficial effects achieved by this invention are as follows: During pipeline installation, the transport mechanism first moves the pipeline clamping mechanism to the location of the pipeline to be installed; the clamping push rods on both sides of the clamping base are activated, pushing the clamping slide column to slide along the clamping slide shaft, so that the clamping arms on both sides come closer and clamp the pipeline through the arc-shaped clamping part; then the transport mechanism transfers the pipeline to the pipeline rack and activates the upper support rotating assembly; the upper support push rod pushes the upper support push plate to move upward along the upper support guide column, so that the upper support guide wheel contacts the pipeline and lifts the pipeline, separating it from the pipeline rack; the adjustment motor is activated to drive the upper support guide wheel to rotate, causing the pipeline to rotate around the axis, and the laser sensor on the other side detects the pipeline flange channel in real time. When the flange channel is aligned with the laser reference (i.e., aligned with the adjacent pipeline flange), the adjustment motor stops; the upper support push rod is reset, and the pipeline falls back to the pipeline rack. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the pipe installation robotic arm structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the pipe clamping mechanism of the present invention.

[0019] Figure 3 This is a schematic diagram of the upper rotating assembly structure of the present invention.

[0020] Figure 4 This is a schematic diagram of the operation of the upper rotating component of the present invention.

[0021] Figure 5 This is a schematic diagram of the transport mechanism structure of the present invention.

[0022] Figure 6 This is a schematic diagram of the transport and switching component structure of the present invention.

[0023] Figure 7 This is a schematic diagram of the material loading mode of the handling and switching component of the present invention.

[0024] Figure 8 This is a schematic diagram of the pipeline transport mode of the transport switching component of the present invention.

[0025] Figure 9 This is a schematic diagram of the structure of the coal mine multi-pipeline conveying device of the present invention.

[0026] Figure 10 This is a schematic diagram of the card holder structure of the present invention.

[0027] Figure 11 This is a schematic diagram of the cross-sectional structure of the card holder of the present invention.

[0028] Figure 12 This is a schematic diagram of the clutch locking component of the present invention.

[0029] Figure 13 This is a schematic diagram of the clutch locking mechanism of the present invention.

[0030] Figure 14 This is a schematic diagram of the unlocking shaft and unlocking pressure plate structure of the present invention.

[0031] In the diagram, 1. Clamping base; 2. Clamping arm; 3. Arc-shaped clamping part; 4. Clamping slide shaft; 5. Clamping slide column; 6. Clamping push rod; 7. Laser sensor; 8. Upper support push plate; 9. Upper support guide column; 10. Upper support guide wheel; 11. Adjustment motor; 12. Upper support connecting plate; 13. Push plate ear; 14. Upper support push rod; 15. Horizontal guide rail screw slide table; 16. Transport bracket; 17. Vertical push rod; 18. Transport switching assembly; 19. Switching base; 20. Push rod plate; 21. Drive push rod; 22. Drive push block; 23. Drive guide shaft; 24. Mounting ear; 25. Drive swing plate; 26. Drive guide wheel; 27. Horizontal guide groove; 28. Angled guide groove; 29. 30. Switching guide groove; 31. Switching cylinder; 32. Linkage block; 33. Triangular guide block; 34. Rectangular guide block; 35. Conveyor vehicle; 36. Frame; 37. Column; 38. Traveling wheel; 39. Traveling motor; 40. Pipe box; 41. Card holder; 42. Partition shaft; 43. Barrier plate; 44. First locking groove; 45. Second locking groove; 46. Locking base plate; 47. Locking slide column; 48. Locking pressure plate; 49. Anti-detachment plate; 50. Locking spring; 51. Unlocking guide wheel; 52. Unlocking shaft; 53. Unlocking pressure plate; 54. Unlocking connecting plate; 55. Unlocking spring; 56. Unlocking rope; 57. Unlocking push rod; 58. Unlocking head. Detailed Implementation

[0032] To facilitate understanding of the present invention by those skilled in the art, specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood through the specific circumstances.

[0034] like Figures 1-2As shown, this invention provides a pipe installation robotic arm, including a transport mechanism and a pipe clamping mechanism fixed to the execution end of the transport mechanism. The transport mechanism is used to drive the pipe clamping mechanism to move (e.g., a robotic arm). The pipe clamping mechanism includes a clamping base 1 and a clamping arm 2. The lower side of the clamping arm 2 forms an arc-shaped clamping part 3 for clamping the pipe. Clamping sliding shafts 4 are provided on both sides of the clamping base 1, and clamping sliding columns 5 are slidably fitted onto the clamping sliding shafts 4. The clamping arm 2 is fixed to both sides of the clamping sliding columns 5. Clamping push rods 6 (which can be any of electric push rods, hydraulic push rods, or pneumatic push rods) are provided on both sides of the clamping base 1. The push head of the clamping push rod 6 extends inside the clamping base 1 and is fixed to the side of the clamping sliding column 5. The extension and retraction of the clamping push rod 6 drives the clamping sliding column 5 to slide along the clamping sliding shaft 4, causing the clamping arm 2 to move closer, and the arc-shaped clamping part 3 clamps and fixes the pipe. The transport mechanism drives the entire pipe clamping mechanism to move, so that the pipe is installed on the pipe rack. Figures 2-3 As shown, an upper support rotating assembly is provided on the outer side of the arc-shaped clamping part 3, and a laser sensor 7 is embedded in the side of the other side of the arc-shaped clamping part 3; the upper support rotating assembly includes an upper support push plate 8 and an upper support guide post 9. The upper support guide post 9 is fixed to the side of the arc-shaped clamping part 3, and the upper support push plate 8 is slidably fitted onto the upper support guide post 9; upper support guide wheels 10 are provided at the four corners of the upper support push plate 8 (two on one side, four in total). The upper support guide wheels 10 are located on both sides of the arc-shaped clamping part 3, and an adjustment motor 11 is provided on the inner side of the upper support guide wheel 10. The adjustment motor 11 is used to drive the rollers of the upper support guide wheel 10 to rotate, performing... Angle adjustment; the upper support push plates 8 on both sides are fixed by the upper support connecting plate 12. The upper side of the upper support push plate 8 is provided with a push plate ear 13, and the lower side of the clamping arm 2 is provided with an upper support push rod 14. The push head of the upper support push rod 14 passes through the clamping arm 2 and is fixed with the push plate ear 13; the upper support push rod 14 is used to drive the upper support push plate 8 to move as a whole, so that the roller of the upper support guide wheel 10 contacts the pipe and lifts the pipe and separates it from the pipe rack; the adjustment motor 11 is used to drive the roller of the upper support guide wheel 10 to rotate, so that the flange channel of the pipe is aligned with the laser sensor 7, thereby aligning the flange channels of adjacent pipes.

[0035] like Figure 4 As shown, during pipe installation, the transport mechanism first moves the pipe clamping mechanism to the location of the pipe to be installed; the clamping push rods 6 on both sides of the clamping base 1 are activated, pushing the clamping slide column 5 to slide along the clamping slide shaft 4, so that the clamping arms 2 on both sides are close together, and the pipe is clamped by the arc-shaped clamping part 3; then the transport mechanism transfers the pipe to the pipe rack and activates the upper lifting rotation assembly; the upper lifting push rod 14 pushes the upper lifting push plate 8 to move upward along the upper lifting guide column 9, so that the upper lifting guide wheel 10 contacts the pipe and lifts the pipe, separating it from the pipe rack; the adjustment motor 11 is activated to drive the upper lifting guide wheel 10 to rotate, causing the pipe to rotate around the axis, and the laser sensor 7 on the other side detects the pipe flange channel in real time. When the flange channel is aligned with the laser reference (i.e., aligned with the adjacent pipe flange), the adjustment motor 11 stops; the upper lifting push rod 14 is reset, and the pipe falls back to the pipe rack.

[0036] This application proposes a pipe clamping mechanism and an upper lifting and rotating assembly with a specific structure. It is equipped with a laser and guide wheel linkage structure with a specific structure that can drive the pipe angular fine adjustment in a specific way. This allows the device to automatically align and finely adjust the pipe flange channel while in the clamping state. Through a closed-loop process of "transportation, lifting, rolling correction, and returning to the pipe rack", the mechanism decomposes the traditional hoisting and manual pipe rotation into two steps: fine adjustment of the clamping arm 2 and the guide wheel. It not only uses the arc-shaped clamping part 3 to prevent the pipe from slipping laterally during transportation, but also uses the rolling of the guide wheel to convert sliding friction into rolling friction.

[0037] The conveying mechanism is used to move the pipe clamping mechanism, but if... Figure 5 As shown, the conveying mechanism includes a transverse guide rail screw slide 15 (with its own drive source) positioned opposite each other on both sides. A conveying bracket 16 is mounted on the slider of the transverse guide rail screw slide 15, and a vertical push rod 17 is mounted on the conveying bracket 16. The push head of the vertical push rod 17 extends downward through the conveying bracket 16 and is fixed to a conveying switching assembly 18. The output end of the conveying switching assembly 18 is fixed to the pipe clamping mechanism. The conveying switching assembly 18 is used to switch between the feeding mode and the pipe conveying mode. The transverse guide rail screw slide 15 drives the pipe clamping mechanism to adjust its lateral position, and the vertical push rod 17 drives the pipe clamping mechanism to adjust its height. Figure 6 As shown, the handling and switching assembly 18 includes a switching base 19 with an inverted L-shaped cross-section. The push head of the vertical push rod 17 is fixed to the upper side of the switching base 19. A drive push rod 21 is fixed to the side of the switching base 19 via a push rod plate 20. A drive push block 22 is fixed to the push head of the drive push rod 21. A drive guide shaft 23 is rotatably fitted on the drive push block 22 via a bearing. The inner side of the drive guide shaft 23 is fixed to the side of the clamping base 1 via a mounting ear 24. The outer side of the drive guide shaft 23 is fixed to one side of the drive swing plate 25. A drive guide wheel 26 is rotatably fitted on the other side of the drive swing plate 25. A transverse guide groove 27 is horizontally opened on the switching base 19. The drive guide wheel 26 rolls within the transverse guide groove 27. The lower side of the transverse guide groove 27... An inclined guide groove 28 sloping downward to the left is provided. A switching guide groove 29 corresponding to the inclined guide groove 28 is provided on the upper side of the transverse guide groove 27. A switching cylinder 30 is provided on the switching base frame 19. The push head of the switching cylinder 30 is fixed to the linkage block 31. A triangular guide block 32 and a rectangular guide block 33 are spaced apart on the linkage block 31. The triangular guide block 32 and the rectangular guide block 33 are slidably engaged in the switching guide groove 29. When the switching cylinder 30 extends, the triangular guide block 32 and the rectangular guide block 33 are reset along the switching guide groove 29, forming a straight slide groove with the transverse guide groove 27. When the switching cylinder 30 retracts, the lower inclined side of the triangular guide block 32 is connected to the upper inclined side of the inclined guide groove 28, forming a zigzag slide groove with the transverse guide groove 27.

[0038] When it is necessary to move the pipes from the loading platform to pipe box 39, such as Figure 7 As shown, the switching cylinder 30 extends, the push head drives the linkage block 31 to move, the triangular guide block 32 and the rectangular guide block 33 reset along the switching guide groove 29, and form a straight slide groove with the transverse guide groove 27. At this time, the mechanism is in the feeding mode. Through the transverse guide rail screw slide 15, the conveying mechanism moves to one side of the feeding platform. The drive push rod 21 is activated, the drive guide wheel 26 rolls along the straight slide groove, and the drive guide shaft 23 drives the pipe clamping mechanism to move to the top edge of the feeding platform. The vertical push rod 17 extends and drives the pipe clamping mechanism to descend. The pipe clamping mechanism clamps the pipe. Under the drive of the vertical push rod 17 and the transverse guide rail screw slide 15, the pipe of the feeding platform is transported into the pipe box 39.

[0039] When it is necessary to install the pipes inside the pipe box 39 onto the pipe rack, such as Figure 8 As shown, the switching cylinder 30 retracts, and its pusher drives the triangular guide block 32 and rectangular guide block 33 on the linkage block 31 to move along the switching guide groove 29. The lower inclined side of the triangular guide block 32 connects with the upper inclined side of the inclined guide groove 28, so that the horizontal guide groove 27 and the inclined guide groove 28 form a zigzag slide, and the mechanism switches to the pipe handling mode; the vertical push rod 17 and the horizontal guide rail screw slide 15 move, and the pipe clamping mechanism moves to the position corresponding to the pipe box 39. The pipe clamping mechanism clamps the pipe, the vertical push rod 17 retracts, and the pipe clamping mechanism... The pipe is lifted and removed from the pipe box 39; the drive push rod 21 extends, and its push head drives the drive push block 22 to move. The drive guide shaft 23 moves with the drive push block 22. At the same time, the drive guide wheel 26 on the outside of the drive swing plate 25 rolls along the zigzag groove. Under the guidance of the inclined guide groove 28, the drive guide wheel 26 drives the drive swing plate 25 and the drive guide shaft 23 to deflect, thereby causing the pipe clamping mechanism fixed to the drive guide shaft 23 to rotate 90 degrees as a whole. Driven by the vertical push rod 17 and the transverse guide rail screw slide 15, the pipe is transferred to the pipe rack.

[0040] like Figure 9 As shown, the second aspect of the present invention proposes a multi-pipeline conveying device for coal mines, including the pipeline installation robotic arm of the above embodiment, and a conveying vehicle 34. The pipeline installation robotic arm is mounted on the conveying vehicle 34, and the conveying vehicle 34 is also provided with a pipeline box 39 for storing pipelines. The conveying vehicle 34 is used to drive the pipeline installation robotic arm and the pipeline box 39 to move. The conveying vehicle 34 includes a frame 35 and a column 36 located on the lower side of the frame 35. The lower side of the column 36 is provided with a traveling wheel 37, which is driven to rotate by a traveling motor 38, thereby driving the conveying vehicle 34 to move as a whole. The pipeline box 39 is a square box structure located on the upper side of the frame 35. The pipeline box 39 has L-shaped cross-section brackets 40 arranged opposite each other inside, with five sets of brackets 40 arranged in pairs. The pipelines are stacked and stored in the brackets 40.

[0041] Pipes are stacked and stored in the rack 40. During movement, adjacent pipes are prone to collision. To solve this problem, such as... Figure 10 As shown, a partition shaft 41 is provided between the card holder 40 and the pipe box 39. A baffle plate 42 (not shown) is rotatably coupled to the partition shaft 41 via a torsion spring. The torsion spring is used to keep the baffle plate 42 horizontal when no external force is applied. The baffle plate 42 has a triangular cross section, and two sets are provided in pairs. Figures 11-13 As shown, a first locking groove 43 is formed on the side of the card holder 40, and a second locking groove 44 is formed at the bottom of the first locking groove 43. The first locking groove 43 and the second locking groove 44 together form a through stepped groove. A clutch locking component is fitted in the first locking groove 43 and the second locking groove 44. The clutch locking component includes a locking base plate 45 and a locking slide post 46 slidably fitted on the locking base plate 45. A locking pressure plate 47 is provided on one side of the locking slide post 46, and an anti-disengagement plate 48 is provided on the other side of the locking slide post 46. The locking pressure plate 47 is slidably fitted on the first locking groove 45. Within the locking groove 43, a locking pressure head 49 is provided on the side of the locking pressure plate 47. The locking pressure head 49 is slidably fitted within the second locking groove 44, and its end extends out of the second locking groove 44 and engages with the upper side of the baffle plate 42, preventing the baffle plate 42 from rotating downwards, thereby supporting the pipeline. A locking spring 50 is fitted onto the locking slide post 46, and the locking spring 50 is engaged between the locking pressure plate 47 and the locking base plate 45. The locking base plate 45 is fixed to the side of the bracket 40, and an unlocking guide wheel 51 is provided on the side of the bracket 40. Figure 14 As shown, an unlocking shaft 52 is slidably fitted onto the pipe box 39. An unlocking pressure plate 53 is provided on one side of the unlocking shaft 52, and an unlocking connecting plate 54 is provided on the other side. An unlocking spring 55 passes through the unlocking shaft 52 between the unlocking pressure plate 53 and the pipe box 39. An unlocking rope 56 is fixed to the locking pressure plate 47. The other end of the unlocking rope 56 passes around the unlocking guide wheel 51 and then passes through the side of the first locking groove 43 to be fixed to the unlocking connecting plate 54. Figure 9 As shown, the transport bracket 16 of the transport mechanism is equipped with an unlocking push rod 57. An unlocking head 58 is fixed on the push head of the unlocking push rod 57. The unlocking head 58 is used to unlock the baffle plate 42 when the pipe is placed in the pipe box 39, so that the baffle plate 42 can rotate upward relative to the pipe. When the unlocking pressure plate 53 is pushed, the unlocking connecting plate 54 pulls the unlocking rope 56, causing the locking pressure head 49 to slide along the second locking groove 44, and the locking pressure head 49 separates from the baffle plate 42, thus unlocking the baffle plate 42.

[0042] In this solution, the structure aims to address the issues of adjacent collisions during pipe stacking and movement, as well as protection during pipe retrieval. During pipe installation and retrieval, three pipes can be stored between a set of clamps 40. When storing the first pipe, the unlocking pressure plate 53 is continuously pressed, and the first pipe is placed at the bottom of the pipe box 39. When storing the second pipe, after the second pipe passes through the upper barrier plate 42, the unlocking pressure plate 53 is released, and the locking pressure head 49 locks the barrier plate 42, placing the second pipe on the lower barrier plate 42. When storing the third pipe, the upper barrier plate 42 remains horizontally locked, and the pipe can be placed directly on it, achieving layered isolation storage of the three pipes, spatially isolating the pipes and solving the problem of collisions during movement.

[0043] During the pipe installation and removal phase, the pipes are removed in the following order: top, middle, and bottom. The top pipe is removed directly from the horizontally locked upper baffle plate 42. When removing the middle pipe, the pipe is moved upward to press against the upper baffle plate 42, causing it to rotate upward against the force of the torsion spring. After the pipe passes smoothly, the baffle plate 42 returns to a horizontal position under the action of the torsion spring. Similarly, when removing the bottom pipe, the lower baffle plate 42 is pressed to rotate upward to allow it to pass. If the pipe is not securely clamped during the removal process, the locked baffle plate 42 can provide protection. The falling pipe will be caught by the locked baffle plate 42 below, preventing it from directly hitting the pipe below and reducing the risk of pipe damage.

[0044] Unless otherwise specified, the above methods of fixing all use common technical means employed by industry professionals, such as welding, nesting, or threaded fixing.

[0045] The following points need to be explained:

[0046] The accompanying drawings of the embodiments of the present invention only involve the structures involved in the embodiments of the present invention; other structures can refer to general designs.

[0047] For clarity, the thickness of layers or regions is enlarged or reduced in the accompanying drawings used to describe embodiments of the invention; that is, these drawings are not drawn to scale. It is understood that when an element such as a layer, film, region, or substrate is referred to as being “above” or “below” another element, the element may be “directly” located “above” or “below” the other element, or there may be intermediate elements present.

[0048] Where there is no conflict, the embodiments of the present invention and the features thereof can be combined with each other to obtain new embodiments.

[0049] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A pipe installation robotic arm, characterized in that, The device includes a conveying mechanism and a pipe clamping mechanism fixed to the execution end of the conveying mechanism. The pipe clamping mechanism includes a clamping base (1) and a clamping arm (2). An arc-shaped clamping part (3) for clamping the pipe is formed on the lower side of the clamping arm (2). A clamping sliding shaft (4) is provided on both sides of the clamping base (1). The clamping arm (2) is slidably engaged with the clamping sliding shaft (4) through a clamping sliding column (5). A clamping push rod (6) is provided on both sides of the clamping base (1). The push head of the clamping push rod (6) is fixed to the side of the clamping sliding column (5). An upper lifting rotation assembly is provided on the outer side of the arc-shaped clamping part (3). A laser sensor (7) is embedded on the side of the other side of the arc-shaped clamping part (3). The upper lifting rotation assembly is used to lift the pipe and separate it from the pipe rack. It also drives the pipe to rotate so that the flange channel of the pipe is aligned with the laser sensor (7). The transport mechanism includes a transport switching assembly (18), the output end of which is fixed to the pipe clamping mechanism; the transport switching assembly (18) includes a switching base frame (19), the push head of the vertical push rod (17) is fixed to the upper side of the switching base frame (19); the side of the switching base frame (19) is fixed with a drive push rod (21) via a push rod plate (20); a drive push block (22) is fixed to the push head of the drive push rod (21), and a drive guide shaft (23) is rotatably fitted on the drive push block (22) via a bearing; the inner side of the drive guide shaft (23) is fixed to the side of the clamping base (1) via a mounting ear (24); the outer side of the drive guide shaft (23) is fixed to one side of the drive swing plate (25), and the drive swing plate (25) is fixed to one side of the clamping base (1). 5) On the other side, a drive guide wheel (26) is rotatably engaged; a horizontal guide groove (27) is horizontally opened on the switching base frame (19), and the drive guide wheel (26) rolls in the horizontal guide groove (27); a slanted guide groove (28) inclined to the lower left is opened on the lower side of the horizontal guide groove (27), and a switching guide groove (29) corresponding to the slanted guide groove (28) is opened on the upper side of the horizontal guide groove (27); a switching cylinder (30) is provided on the switching base frame (19), and the push head of the switching cylinder (30) is fixed to the linkage block (31). A triangular guide block (32) and a rectangular guide block (33) are spaced apart on the linkage block (31); the triangular guide block (32) and the rectangular guide block (33) slide in the switching guide groove (29).

2. The pipeline installation robotic arm according to claim 1, characterized in that, The upper support rotating assembly includes an upper support push plate (8) and an upper support guide post (9). The upper support guide post (9) is fixed to the side of the arc-shaped clamping part (3), and the upper support push plate (8) is slidably fitted on the upper support guide post (9). The upper support push plate (8) has upper support guide wheels (10) at its four corners. The upper support guide wheels (10) are located on both sides of the arc-shaped clamping part (3). The inner side of the upper support guide wheel (10) is provided with an adjustment motor (11). The adjustment motor (11) is used to drive the roller of the upper support guide wheel (10) to rotate. The lower side of the clamping arm (2) is provided with an upper support push rod (14). The push head of the upper support push rod (14) is fixed to the upper support push plate (8).

3. The pipeline installation robotic arm according to claim 1, characterized in that, The conveying mechanism includes a transverse guide rail screw slide (15) located on both sides. A conveying bracket (16) is provided on the slider of the transverse guide rail screw slide (15). A vertical push rod (17) is provided on the conveying bracket (16). The push head of the vertical push rod (17) extends downward through the conveying bracket (16) and is fixed to the conveying switching component (18). The conveying switching component (18) is used to switch between the feeding mode and the pipeline conveying mode.

4. A multi-pipeline conveying device for coal mines, characterized in that, The system includes the pipe installation robotic arm as described in claim 1, and also includes a transport vehicle (34). The pipe installation robotic arm is mounted on the transport vehicle (34), and the transport vehicle (34) is also equipped with a pipe box (39) for storing pipes. The transport vehicle (34) is used to move the pipe installation robotic arm and the pipe box (39).

5. A multi-pipeline conveying device for coal mines according to claim 4, characterized in that, The pipe box (39) is a square box structure located on the upper side of the frame (35). Inside the pipe box (39) are L-shaped brackets (40) with opposite sides. The brackets (40) are in pairs.

6. A multi-pipeline conveying device for coal mines according to claim 5, characterized in that, A partition shaft (41) is provided between the card holder (40) and the pipe box (39). A barrier plate (42) is rotatably fitted on the partition shaft (41) via a torsion spring. The torsion spring is used to keep the barrier plate (42) horizontal when it is not subjected to external force. The barrier plate (42) has a triangular cross section. A first locking groove (43) is provided on the side of the card holder (40), and a second locking groove (44) is provided at the bottom of the first locking groove (43). A clutch locking component is fitted in the first locking groove (43) and the second locking groove (44). The clutch locking component includes a locking base plate (45) and a locking slide post (46) that is slidably fitted on the locking base plate (45). A locking pressure plate (47) is provided on one side of the locking slide post (46). The locking pressure plate (47) is slidably fitted in the first locking groove (43), and a locking pressure head (49) is provided on the side of the locking pressure plate (47). The locking pressure head (49) slides... The end of the locking head (49) extends out of the second locking groove (44) and is engaged with the upper side of the barrier plate (42); a locking spring (50) is sleeved on the locking slide (46); the locking base plate (45) is fixed to the side of the card holder (40), and the side of the card holder (40) is provided with an unlocking guide wheel (51); an unlocking shaft (52) is slidably fitted on the pipe box (39), an unlocking pressure plate (53) is provided on one side of the unlocking shaft (52), and an unlocking connecting plate (54) is provided on the other side of the unlocking shaft (52). An unlocking spring (55) passes through the unlocking shaft (52) between the unlocking pressure plate (53) and the pipe box (39); an unlocking rope (56) is fixed on the locking pressure plate (47), and the other end of the unlocking rope (56) passes around the unlocking guide wheel (51) and passes out from the side of the first locking groove (43) and is fixed to the unlocking connecting plate (54).

7. A multi-pipeline conveying device for coal mines according to claim 6, characterized in that, The transport bracket (16) of the transport mechanism is provided with an unlocking push rod (57). An unlocking head (58) is fixed on the push head of the unlocking push rod (57). The unlocking head (58) is used to unlock the barrier plate (42) when the pipe is placed in the pipe box (39), so that the barrier plate (42) can rotate upward relative to the pipe.

8. A multi-pipeline conveying device for coal mines according to claim 4, characterized in that, The conveyor vehicle (34) includes a frame (35) and a column (36) located on the lower side of the frame (35). The lower side of the column (36) is provided with a traveling wheel (37). The traveling wheel (37) is driven to rotate by a traveling motor (38), which drives the conveyor vehicle (34) to move as a whole.

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