Machine main body of belt conveyor dismantling robot

Abstract

The utility model relates to a machine main body of a belt conveyor dismantling robot, and belongs to the technical field of belt conveyors. The device is arranged between a self-moving machine tail and a machine body of the belt conveyor, a conveying belt on the belt conveyor penetrates through a machine body main body, and a walking mechanism is arranged at the lower end of the machine body main body; the machine body comprises a top frame, six supporting legs, a front inner supporting deviation adjusting frame and a rear inner supporting deviation adjusting frame, the top frame is of a horizontally-arranged square frame structure, and the front vertical supporting leg, the middle vertical supporting leg and the rear vertical supporting leg are arranged on the left side edge and the right side edge of the lower end face of the top frame respectively. The inner supporting deviation adjusting frame is of a U-shaped structure with an upward opening, and the two ends of the upper side of the inner supporting structure are fixedly connected with the supporting legs on the two sides respectively. The problem that a robot body main body capable of automatically advancing along with a self-moving tail does not exist at present is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of belt conveyors, and in particular relates to a body of a belt conveyor dismantling robot. Background Art

[0002] As a supporting equipment for intelligent comprehensive mining working faces, the retractable belt conveyor is suitable for connecting the scraper transfer machine with the working face conveyor through a self-moving tail in the transport lane of the coal mine working face. It has a self-moving tail that moves independently with the transfer machine as a fulcrum. The self-moving tail has the function of moving forward and adjusting its posture to ensure that the center line of the tail is aligned with the center line of the belt after moving forward, thereby ensuring smooth chute transportation and transfer, and meeting the supporting requirements of high-yield and high-efficiency working faces with high footage and fast advancement.

[0003] During the production process, the retractable belt conveyor must shorten its length as the working face advances, and the fuselage also needs to be disassembled continuously accordingly. When disassembling the middle part of the fuselage, it must be completed in a stopped state, and cannot be completed in one shift, thus failing to ensure continuous production. This seriously restricts the smooth implementation of coal mining operations in the intelligent comprehensive mining face and reduces the overall efficiency. Therefore, a demolition robot that can move synchronously with the self-moving machine tail is needed to dismantle the belt conveyor fuselage without stopping the machine. At this time, it is necessary to design a body of a demolition robot that can move forward automatically to meet the main needs of the demolition robot. Utility Model Content

[0004] The utility model overcomes the shortcomings of the prior art and provides a body of a belt conveyor dismantling robot, thereby solving the problem of the current lack of a body of a robot that can automatically move forward with a self-moving tail.

[0005] In order to achieve the above purpose, the utility model is implemented through the following technical solutions.

[0006] A body of a belt conveyor dismantling robot is arranged between the self-moving tail of the belt conveyor and the fuselage. The conveyor belt on the belt conveyor passes through the body, and a walking mechanism is arranged at the lower end of the body. The body includes a top frame, six supporting legs and two front and rear internal supporting and adjusting frames. The top frame is a horizontally arranged square frame structure. The front, middle and rear three vertical supporting legs are respectively arranged at the left and right edges of the lower end surface of the top frame. The internal supporting and adjusting frames are U-shaped structures with an opening upward. The upper ends of the internal supporting structure are respectively fixedly connected to the supporting legs on both sides.

[0007] Furthermore, the front internal support and deflection adjustment frame is arranged between the two supporting legs in the middle, and the rear internal support and deflection adjustment frame is arranged between the two supporting legs at the rear end.

[0008] Furthermore, the internal support and deviation adjustment frame includes vertical sliding frames on both sides and a horizontal cylinder at the bottom. The two ends of the upper ends of the vertical sliding frames on both sides are respectively fixedly connected to the middle of the end surfaces of the supporting legs on both sides that are close to each other; the horizontal cylinder is a horizontally arranged double-rod hydraulic cylinder, and the two piston rod ends of the horizontal cylinder are respectively connected to the lower ends of the vertical sliding frames on both sides, and the cylinder body height of the horizontal cylinder is lower than the height of the lowest end of the supporting leg.

[0009] Furthermore, a reinforcing rod is fixedly provided between the supporting leg and the top frame or between the front and rear adjacent supporting legs.

[0010] Furthermore, the walking mechanism includes two left-right symmetrical walking rails, six walking supports, six lifting cylinders, and two pushing cylinders. The six walking supports and the six lifting cylinders correspond to the six supporting legs respectively; the two walking rails are horizontally arranged along the front-to-back direction, and the two walking rails are respectively arranged under the left and right rows of supporting legs; three walking supports are respectively slidably arranged on the upper end surface of each walking rail, and the three walking supports are respectively arranged at the lower ends of the three supporting legs on the same side.

[0011] Furthermore, a lifting link is hinged at the lower end of each supporting leg, the first angle of the lifting link is hinged to the lower end of the supporting leg, and the second angle of the lifting link is hinged to the upper end of the walking support at the lower end of the supporting leg; a lifting cylinder is hinged on each supporting leg, one end of the cylinder bottom of the lifting cylinder is hinged to the supporting leg, and one end of the piston rod of the lifting cylinder is hinged to the third angle of the lifting link at the lower end of the supporting leg.

[0012] Furthermore, a push cylinder is respectively arranged between the two supporting legs at the middle end and the walking track on the same side, one end of the cylinder bottom of the push cylinder is hinged to the supporting leg, and one end of the piston rod of the push cylinder is hinged to the walking track; one end of the piston rod of the push cylinder is inclined toward the rear and lower side.

[0013] Furthermore, a belt supporting mechanism is also provided inside the fuselage body, and the belt supporting mechanism includes fixed frames on left and right sides and a row of belt supporting frames in the middle; the fixed frames on left and right sides are respectively arranged between the supporting legs on both sides, and the fixed frames are located in the vertical plane in the front-to-back direction, and the upper ends of the fixed frames are fixedly connected to the top plate frame, and a sliding track is respectively provided on the end surfaces of the sides of the fixed frames close to each other, and a row of belt supporting frames are arranged along the front-to-back direction, and a row of belt supporting frames are slidably arranged between the sliding tracks on both sides.

[0014] Furthermore, the belt support frame includes a roller frame, an upper roller group, a fixed rod, a lower roller, and a sliding wheel; the roller frame is located in a vertical plane in the left and right directions, and an upper roller group is arranged inside the roller frame; a group of sliding wheels are rotatably arranged at the left and right ends of the roller frame, and the sliding wheels at both ends are respectively connected to the sliding tracks on both sides in a rolling manner; a vertical fixed rod is respectively arranged at the left and right ends of the lower end surface of the roller frame, and a lower roller is rotatably arranged between the lower ends of the two fixed rods; the conveyor belt of the belt conveyor on the upper side is in contact with the upper roller group, and the conveyor belt of the belt conveyor on the lower side is in contact with the lower roller.

[0015] The beneficial effects of the utility model compared with the prior art are:

[0016] The utility model provides a belt conveyor dismantling robot with a body, which is arranged at the junction of a retractable belt conveyor and a self-moving tail in a coal mine underground comprehensive mining working face. The walking mechanism can realize synchronous movement of the body with the self-moving tail without the need for an additional moving mechanism, thereby ensuring that the dismantling robot can complete the synchronous forward movement with the self-moving tail without stopping the machine; the belt supporting mechanism can lift the conveyor belt passing through the body of the dismantling robot, thereby ensuring that the belt conveyor belt can also perform normal conveying operations during the dismantling of the belt conveyor body, thereby realizing the dismantling of the belt conveyor body without stopping the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The utility model is further described in detail below in conjunction with the accompanying drawings:

[0018] Figure 1 It is a three-dimensional schematic diagram of the utility model as a whole Figure 1 ;

[0019] Figure 2 It is a three-dimensional schematic diagram of the utility model as a whole Figure 2 ;

[0020] Figure 3 It is a front view of the utility model as a whole;

[0021] Figure 4 It is a schematic diagram of the connection between the main body of the fuselage and the walking mechanism;

[0022] Figure 5 It is a three-dimensional schematic diagram of the belt support frame;

[0023] Among them, 1 is the top frame, 2 is the supporting leg, 3 is the internal supporting and adjusting frame, 4 is the reinforcing rod, 5 is the supporting block, 6 is the walking track, 7 is the walking support, 8 is the lifting cylinder, 9 is the pushing cylinder, 10 is the lifting connecting rod, 11 is the fixing frame, 12 is the belt support frame, 13 is the sliding track, 14 is the roller frame, 15 is the upper roller group, 16 is the fixing rod, 17 is the lower roller, and 18 is the sliding wheel. DETAILED DESCRIPTION

[0024] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail in combination with the embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. The technical solution of the present invention is described in detail below in combination with the embodiments and the accompanying drawings, but the scope of protection is not limited thereto.

[0025] like Figure 1 As shown in FIG. 5 , the utility model provides a body of a belt conveyor dismantling robot, which is arranged between the self-moving tail of the belt conveyor and the body. The conveyor belt on the belt conveyor passes through the body. A walking mechanism is arranged at the lower end of the body. The body moves forward synchronously with the self-moving tail through the walking mechanism.

[0026] The fuselage body includes a top frame 1, six supporting legs 2 and two front and rear internal supporting and deflection adjusting frames 3.

[0027] The top frame 1 is a horizontally arranged square frame structure, and a row of vertical support legs 2 is respectively arranged at the left and right edges of the lower end surface of the top frame 1, each row includes three support legs 2, and the three support legs 2 are respectively arranged at the front end, middle part and rear end of the top frame 1. The front internal support and deflection adjustment frame 3 is arranged between the two support legs 2 in the middle part, and the rear internal support and deflection adjustment frame 3 is arranged between the two support legs 2 at the rear end.

[0028] The internal support and deviation adjustment frame 3 is a U-shaped structure with an opening upward, including vertical sliding frames on both sides and a horizontal cylinder 5 at the bottom. The two ends of the upper ends of the vertical sliding frames on both sides are respectively fixedly connected to the middle of the end surfaces of the supporting legs 2 on both sides that are close to each other; the horizontal cylinder 5 is a horizontally arranged double-rod hydraulic cylinder, and the two piston rod ends of the horizontal cylinder 5 are respectively connected to the lower ends of the vertical sliding frames on both sides. The cylinder body height of the horizontal cylinder 5 is lower than the height of the lowest end of the supporting leg 2, and the fuselage main body is supported by the cylinder body of the horizontal cylinder 5.

[0029] A reinforcing rod 4 is fixedly arranged between the supporting legs 2 and the top frame 1 or between the front and rear adjacent supporting legs 2, and the overall strength of the fuselage body is strengthened by the reinforcing rod 4. The walking mechanism includes two left-right symmetrical walking rails 6, six walking supports 7, six lifting cylinders 8, and two push cylinders 9. The six walking supports 7 and the six lifting cylinders 8 correspond to the six supporting legs 2 respectively.

[0030] Two running rails 6 are horizontally arranged along the front-back direction, and the two running rails 6 are respectively arranged below the left and right rows of supporting legs 2. Three running supports 7 are respectively slidably arranged on the upper end surface of each running rail 6, and the three running supports 7 are respectively arranged at the lower ends of the three supporting legs 2 on the same side.

[0031] A lifting link 10 is hinged at the lower end of each support leg 2. The lifting link 10 is a triangular block structure. The first corner of the lifting link 10 is hinged to the lower end of the support leg 2, and the second corner of the lifting link 10 is hinged to the upper end of the walking support 7 at the lower end of the support leg 2. A lifting cylinder 8 is hinged on each support leg 2. One end of the cylinder bottom of the lifting cylinder 8 is hinged to the support leg 2, and one end of the piston rod of the lifting cylinder 8 is hinged to the third corner of the lifting link 10 at the lower end of the support leg 2. The hinge axes at the three corners of the triangular connection hole are all horizontally arranged along the left and right directions.

[0032] A push cylinder 9 is respectively arranged between the two supporting legs 2 at the middle end and the running track 6 on the same side, one end of the cylinder bottom of the push cylinder 9 is hinged to the supporting leg 2, and one end of the piston rod of the push cylinder 9 is hinged to the running track 6. One end of the piston rod of the push cylinder 9 is tilted toward the rear and downward.

[0033] The two lifting cylinders 8 at the front and the two lifting cylinders 8 at the middle are hinged at the middle height of the front end surface of the corresponding support leg 2, and the two lifting cylinders 8 at the rear are hinged at the middle height of the rear end surface of the corresponding support leg 2. The two push cylinders 9 are hinged at the middle height of the rear end surface of the corresponding support leg 2.

[0034] A belt-supporting mechanism is also provided inside the fuselage body, and the belt-supporting mechanism includes a fixed frame 11 on the left and right sides and a row of belt-supporting frames 12 in the middle. The fixed frames 11 on the left and right sides are respectively arranged between the support legs 2 on both sides, and the fixed frames 11 are located in a vertical plane in the front-to-back direction. The upper end of the fixed frame 11 is fixedly connected to the top plate frame, and a sliding track 13 is respectively provided on the end surface of the fixed frames 11 on both sides that are close to each other, and the sliding track 13 is horizontally arranged along the front-to-back direction. A row of belt-supporting frames 12 are arranged in an array along the front-to-back direction, and a row of belt-supporting frames 12 are slidably arranged between the sliding tracks 13 on both sides. The belt-supporting frames 12 include a roller frame 14, an upper roller group 15, a fixing rod 16, a lower roller 17, and a sliding wheel 18. The roller frame 14 is located in a vertical plane in the left-to-right direction, and an upper roller group 15 is arranged inside the roller frame 14. A set of sliding wheels 18 are rotatably arranged at the left and right ends of the roller frame 14, and the sliding wheels 18 at both ends are respectively connected to the inside of the sliding tracks 13 on both sides in a rolling manner. A vertical fixed rod 16 is respectively arranged at the left and right ends of the lower end surface of the roller frame 14, and a lower roller 17 is rotatably arranged between the lower ends of the two fixed rods 16. The conveyor belt on the upper side of the belt conveyor contacts with the upper roller group 15, and the conveyor belt on the lower side of the belt conveyor contacts with the lower roller 17.

[0035] The working principle of the utility model is:

[0036] The robot is set between the body of the belt conveyor and the tail of the self-moving machine, so that the conveyor belt of the belt conveyor passes through the body of the robot, ensuring that the conveyor belt on the upper side of the belt conveyor contacts the upper roller group 15 of the belt support frame 12, and the conveyor belt on the lower side of the belt conveyor contacts the lower roller 17 of the belt support frame 12. The conveyor belt section passing through the body of the robot is supported by the belt support frame 12, so that the belt conveyor can perform the conveying operation normally.

[0037] In the underground fully-mechanized mining face of a coal mine, as the chute working face advances, the length of the belt conveyor needs to be adjusted to make the length of the belt conveyor adapt to the mining rhythm. When the self-moving tail moves forward, the robot follows the self-moving tail through the walking mechanism. When the robot needs to move forward, the piston rods of all the lifting cylinders 8 are controlled to extend synchronously, and the lifting cylinder 8 drives the walking support 7 to rotate downward through the lifting connecting rod 10. Through the interaction force between the walking support 7 and the walking track 6, the main body of the fuselage is driven to rise as a whole, so that the support block 5 at the lower end of the internal support and adjustment frame 3 of the main body of the fuselage gradually breaks away from contact with the ground, until the piston rod of the lifting cylinder 8 is fully extended, and the main body of the fuselage rises to the highest position; in this process, the angle of the push cylinder 9 changes accordingly, and at the same time, the main body of the fuselage and the walking track 6 slide relative to each other to a certain extent along the front and rear directions. When the main body of the fuselage is completely raised, the walking track 6 is in close contact with the ground, and the main body of the fuselage is supported on the upper end of the walking track 6 through the walking support 7. Then the piston rods of the push cylinders 9 on both sides are controlled to extend, driving the entire body to slide forward on the upper end of the walking track 6. During this process, the rollers inside the walking support 7 slide on the upper end of the walking track 6, thereby realizing the forward movement of the entire robot.

[0038] When the head of the transfer machine deviates from the forward direction of the working surface, or when the belt conveyor deviates from the self-moving device, it can be straightened. The operation procedure is to control the piston rod of the lifting cylinder 8 to retract so that the cylinder body of the horizontal cylinder 5 contacts the bottom plate of the chute, and then control the piston rods on both sides of the horizontal cylinder 5 to retract so that the left and right positions of the fuselage body are adjusted to achieve straightening. That is, the front and rear ends of the fuselage body can be moved in one direction at the same time, the front or rear end of the fuselage body can be moved separately, and the front and rear ends of the fuselage body can be moved in opposite directions at the same time.

[0039] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A body of a belt conveyor dismantling robot, characterized in that: The conveyor belt on the belt conveyor passes through the main body of ...

2. The body of the belt conveyor dismantling robot according to claim 1, characterized in that: The front internal support deflection adjustment frame (3) is arranged between the two support legs (2) in the middle, and the rear internal support deflection adjustment frame (3) is arranged between the two support legs (2) at the rear end.

3. The body of the belt conveyor dismantling robot according to claim 1, characterized in that: The internal support deflection adjustment frame (3) comprises vertical sliding frames on both sides and a horizontal cylinder (5) at the bottom, wherein the upper ends of the vertical sliding frames on both sides are respectively fixedly connected to the middle of the end surfaces of the supporting legs (2) on both sides that are close to each other; the horizontal cylinder (5) is a horizontally arranged double-rod hydraulic cylinder, wherein the two piston rod ends of the horizontal cylinder (5) are respectively connected to the lower ends of the vertical sliding frames on both sides, and the cylinder body height of the horizontal cylinder (5) is lower than the height of the lowest end of the supporting leg (2).

4. The body of the belt conveyor dismantling robot according to claim 1, characterized in that: A reinforcing rod (4) is fixedly arranged between the supporting leg (2) and the top frame (1) or between the front and rear adjacent supporting legs (2).

5. The body of the belt conveyor dismantling robot according to claim 1, characterized in that: The walking mechanism comprises two left-right symmetrical walking rails (6), six walking supports (7), six lifting cylinders (8), and two push cylinders (9), wherein the six walking supports (7) and the six lifting cylinders (8) respectively correspond to the six supporting legs (2); the two walking rails (6) are horizontally arranged along the front-back direction, and the two walking rails (6) are respectively arranged below the left and right rows of supporting legs (2); three walking supports (7) are respectively slidably arranged on the upper end surface of each walking rail (6), and the three walking supports (7) are respectively arranged at the lower ends of the three supporting legs (2) on the same side.

6. The body of the belt conveyor dismantling robot according to claim 5, characterized in that: A lifting link (10) is hingedly connected to the lower end of each supporting leg (2), the first corner of the lifting link (10) is hingedly connected to the lower end of the supporting leg (2), and the second corner of the lifting link (10) is hingedly connected to the upper end of the walking support (7) at the lower end of the supporting leg (2); a lifting cylinder (8) is hingedly connected to each supporting leg (2), one end of the cylinder bottom of the lifting cylinder (8) is hingedly connected to the supporting leg (2), and one end of the piston rod of the lifting cylinder (8) is hingedly connected to the third corner of the lifting link (10) at the lower end of the supporting leg (2).

7. The body of the belt conveyor dismantling robot according to claim 6, characterized in that: A push cylinder (9) is respectively arranged between the two support legs (2) at the middle end and the travel track (6) on the same side; one end of the cylinder bottom of the push cylinder (9) is hinged to the support leg (2); one end of the piston rod of the push cylinder (9) is hinged to the travel track (6); one end of the piston rod of the push cylinder (9) is arranged to be inclined toward the rear and downward.

8. The body of the belt conveyor dismantling robot according to claim 1, characterized in that: A belt-supporting mechanism is also arranged inside the fuselage body, and the belt-supporting mechanism comprises left and right fixing frames (11) and a row of belt-supporting frames (12) in the middle; the left and right fixing frames (11) are respectively arranged between the support legs (2) on both sides, the fixing frames (11) are located in a vertical plane in the front-to-back direction, the upper ends of the fixing frames (11) are fixedly connected to the top plate frame, and a sliding track (13) is respectively arranged on the end surfaces of the fixing frames (11) on both sides that are close to each other, and the row of belt-supporting frames (12) are arranged in an array along the front-to-back direction, and the row of belt-supporting frames (12) are slidably arranged between the sliding tracks (13) on both sides.

9. The body of the belt conveyor dismantling robot according to claim 8, characterized in that: The belt support frame (12) comprises a roller frame (14), an upper roller group (15), a fixed rod (16), a lower roller (17), and a sliding wheel (18); the roller frame (14) is located in a vertical plane in the left-right direction, and an upper roller group (15) is arranged inside the roller frame (14); a group of sliding wheels (18) are rotatably arranged at the left and right ends of the roller frame (14), and the sliding wheels (18) at the two ends are respectively connected to the inside of the sliding tracks (13) on both sides in a rolling manner; a vertical fixed rod (16) is arranged at the left and right ends of the lower end surface of the roller frame (14), and a lower roller (17) is rotatably arranged between the lower ends of the two fixed rods (16); the conveyor belt of the belt conveyor located on the upper side contacts the upper roller group (15), and the conveyor belt of the belt conveyor located on the lower side contacts the lower roller (17).

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