Self-moving tail device

Abstract

The utility model provides a self-moving machine tail device which comprises a self-moving support, a self-moving machine tail device and a self-moving machine tail device. The conveying belt assembly is arranged on the self-moving support and circularly moves in the extending direction of the self-moving support; the mechanical arm assembly is movably arranged at one end, far away from the mining surface of the roadway, of the self-moving bracket; the shoveling assembly is arranged on the mechanical arm assembly; wherein the material shoveling assembly is used for cleaning and excavating a roadway and located on the side portion of the side edge of the self-moving support, and the mechanical arm assembly drives the material shoveling assembly to convey materials obtained from the roadway to the conveying belt assembly; the mechanical arm assembly has a storage state, and in the storage state, the mechanical arm assembly and the material shoveling assembly avoid the side of the roadway. According to the self-moving support side cleaning and excavating device, efficient cleaning and excavating of the roadway side on the side edge of the self-moving support are achieved, a manual operation mode is effectively replaced, manpower is saved, the labor intensity of workers is reduced, the overall working efficiency is improved, and potential safety hazards are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mine construction equipment, in particular to a self-moving machine tail device. Background Art

[0002] During underground mining in coal mines, belt conveyors are usually used to transport the mined coal. The belt conveyors include a transport belt, a self-moving tail device and a transfer machine. The self-moving tail device relies on the transfer machine as a fixed support point, and the push cylinder on the self-moving tail device is used to push the self-moving tail device and the transport belt to move, so that the transport belt on the self-moving tail device can be quickly advanced according to the transportation requirements, and then move with the mining working face.

[0003] At present, when the self-moving machine tail device is working, the self-moving machine tail occupies a considerable part of the space in the coal mine tunnel, so that the space between the self-moving machine tail device and the tunnel wall is limited and insufficient to accommodate other special equipment. As a result, when the tunnels on both sides of the self-moving machine tail device need professional special construction (for example, when it is necessary to clean up the fallen materials near the tunnel wall), various construction devices in the prior art cannot be used, and usually only manual methods can be used for construction (for example, using manually controlled pneumatic picks to break up the fallen materials, and then shovels to dig and load rocks); with the increase of mining depth, the workload of manual excavation and cleaning of the tunnel wall will increase exponentially, which will lead to a large number of workers required, low overall work efficiency and greater safety hazards; and, if the fallen materials are cleaned up after waiting for the self-moving machine tail device to leave, the subsequent anchor protection, pipeline installation and other operations of the tunnel will be delayed, which seriously reduces the overall construction efficiency and cannot meet the production needs of rapid excavation and transportation of materials.

[0004] In summary, there is an urgent need for a device that can efficiently repair, clean and perform other construction operations on the sides of various tunnels when the self-moving tail device is working. Utility Model Content

[0005] The utility model provides a self-moving tail device to solve the problem that the construction device in the prior art cannot efficiently clean the sides of various tunnels and perform other construction actions when the self-moving tail device is working.

[0006] In order to solve the above problems, the utility model provides a self-moving tail device, comprising: a self-moving bracket, which is movably arranged in the tunnel, and the self-moving bracket is extended along the extension direction of the tunnel; a transport belt assembly, which is arranged on the self-moving bracket, and circulates along the extension direction of the self-moving bracket to transport materials; a mechanical arm assembly, which is movably arranged at one end of the self-moving bracket away from the mining face of the tunnel; a shoveling assembly, which is arranged on the mechanical arm assembly to follow the movement of the mechanical arm assembly; wherein the shoveling assembly cleans and excavates the side of the tunnel located on the side of the self-moving bracket, and the mechanical arm assembly drives the shoveling assembly to transport the material obtained from the tunnel to the transport belt assembly; the mechanical arm assembly has a storage state, in which the mechanical arm assembly and the shoveling assembly avoid the side of the tunnel.

[0007] Furthermore, the self-moving tail device also includes a moving track and a movable component, the moving track is arranged on the side of the self-moving bracket and extends along the extension direction of the self-moving bracket; the movable component can be movably arranged on the moving track and cooperate with the moving track limit to move along the extension direction of the moving track; the mechanical arm assembly is arranged on the movable assembly to follow the movement of the movable assembly; wherein the movable assembly drives the shoveling assembly to reciprocate along the lane through the mechanical arm assembly to clean the lane.

[0008] Furthermore, the self-moving tail device also includes a driving cylinder; the movable component includes a swivel base and a bearing seat, the swivel base is rotatably set on the bearing seat, and the mechanical arm assembly is set on the swivel base; the bearing seat is slidably set on the moving track and cooperates with the moving track to limit the position; the driving cylinder is set on the self-moving bracket or the moving track and is connected to the bearing seat, and is used to drive the bearing seat to move along the extension direction of the moving track.

[0009] Furthermore, the movable component includes a swivel base, a drive motor and a mobile vehicle. The swivel base is rotatably set on the mobile vehicle, and the mechanical arm assembly is set on the swivel base; the mobile vehicle is movably set on the mobile track and is limited by the mobile track; the drive motor is set on the mobile vehicle and is driven and connected to the mobile vehicle, and is used to drive the mobile vehicle to move along the extension direction of the mobile track.

[0010] Furthermore, the robotic arm assembly includes a first arm, a second arm, a first telescopic cylinder, and a second telescopic cylinder. The first arm is rotatably disposed on a movable assembly, and both ends of the first telescopic cylinder are respectively connected to the first arm and the movable assembly to drive the first arm to swing relative to the movable assembly; the second arm is rotatably disposed on the first arm, and both ends of the second telescopic cylinder are respectively connected to the second arm and the first arm to drive the second arm to swing relative to the first arm; the shoveling assembly is movably disposed on the second arm.

[0011] Furthermore, the robotic arm assembly also includes a third telescopic cylinder, the two ends of the third telescopic cylinder are respectively connected to the second arm and the shoveling assembly to drive the shoveling assembly to swing relative to the first arm; the first arm includes a built-in oil cylinder, a fixed part and a movable part, the fixed part is rotatably arranged on the movable part, the fixed part has a guide cavity inside, at least a part of the movable part is slidably arranged in the guide cavity, and is limitedly matched with the inner wall of the guide cavity; the built-in oil cylinder is arranged in the guide cavity, and the two ends are respectively connected to the fixed part and the movable part to adjust the length of the part of the movable part extending from the guide cavity; wherein, the two ends of the first telescopic cylinder are respectively connected to the fixed part and the movable part to drive the fixed part to swing relative to the movable part; the second arm is rotatably arranged on the movable part, and the two ends of the second telescopic cylinder are respectively connected to the second arm and the movable part.

[0012] Furthermore, the self-moving tail device also includes a load-bearing fixed frame and an operating table. The operating table is arranged on the load-bearing fixed frame. The operating table is electrically connected to at least one of the mechanical arm assembly, the shoveling assembly, the self-moving bracket and the transport belt assembly to control their operation; the load-bearing fixed frame is arranged on the self-moving bracket and is located above the transport belt assembly.

[0013] Furthermore, the positions of the support frame and / or the operating table avoid the movement tracks of the robot arm assembly and the shoveling assembly, so that the robot arm assembly and the shoveling assembly do not collide with the support frame and / or the operating table.

[0014] Furthermore, the self-moving tail device also includes an adjustment component, which is movably arranged on the self-moving bracket; the transport belt component includes a circulating transport belt, which is arranged in the middle of the self-moving bracket and circulates along the extension direction of the self-moving bracket; wherein, one end of the transport belt close to the mechanical arm assembly cooperates with the adjustment component; the adjustment component is used to adjust the pitch angle of the transport belt close to one end of the mechanical arm assembly, so that the transport belt can receive the material poured out from the shoveling assembly at a set angle.

[0015] Furthermore, the shoveling assembly includes a fixed hopper, an opening and closing hopper and an opening and closing cylinder, the fixed hopper is fixedly arranged on the mechanical arm assembly; the opening and closing hopper is rotatably arranged on the fixed hopper; the opening and closing cylinder is arranged on the mechanical arm assembly or on the fixed hopper, and is drivingly connected to the opening and closing hopper, and is used to drive the opening and closing hopper to open or close relative to the fixed hopper; the interior of the fixed hopper and the opening and closing hopper jointly form a accommodating chamber, and the accommodating chamber is used to accommodate materials; wherein the shoveling assembly has an open state and a closed state, in the closed state, the accommodating chamber is closed; in the open state, the accommodating chamber is connected to the outside, so that materials can enter the accommodating chamber from the outside or move out of the accommodating chamber to the outside.

[0016] Applying the technical scheme of the utility model, the utility model provides a self-moving tail device, comprising: a self-moving bracket, which is movably arranged in a tunnel, and the self-moving bracket is extended along the extension direction of the tunnel; a transport belt assembly, which is arranged on the self-moving bracket, and circulates along the extension direction of the self-moving bracket to transport materials; a mechanical arm assembly, which is movably arranged at one end of the self-moving bracket away from the mining face of the tunnel; a shoveling assembly, which is arranged on the mechanical arm assembly to follow the movement of the mechanical arm assembly; wherein the shoveling assembly cleans and excavates the side of the tunnel located on the side of the self-moving bracket, and the mechanical arm assembly drives the shoveling assembly to transport the material obtained from the tunnel to the transport belt assembly; the mechanical arm assembly has a storage state, and in the storage state, the mechanical arm assembly and the shoveling assembly avoid the side of the tunnel.

[0017] The utility model realizes efficient cleaning and excavation of the tunnel side of the self-moving support when the self-moving machine tail device works normally by arranging a mechanical arm assembly to cooperate with the shovel assembly, effectively replacing the manual operation mode, saving manpower and reducing the labor intensity of the staff, and improving the overall work efficiency and reducing safety hazards; by arranging a transport belt assembly, efficient transportation of materials excavated and cleaned in the tunnel is realized, and the accumulation of materials on the tunnel side is avoided, thereby avoiding the delay of subsequent anchor protection, pipeline installation and other operations in the tunnel, and significantly improving the overall construction efficiency in the tunnel. The rate effectively meets the production needs of rapid excavation and transportation of materials; by setting the mechanical arm assembly to a storage state, the mechanical arm assembly and the shovel assembly can avoid the side of the tunnel, thereby avoiding blocking the side of the tunnel and ensuring smooth passage of personnel; the self-moving tail device proposed in the utility model can be flexibly applied to various tunnels in coal mines, and can realize the tunnel repair process of repairing and working at the same time; the utility model has a simple structure and reliable operation, is suitable for large-scale promotion and use, and can be used in conjunction with underground mine cars, belt conveyors and other equipment in the future, and has the characteristics of comprehensive functions and flexible use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0019] Figure 1 A partial structural schematic diagram of a self-moving tail device provided by an embodiment of the utility model at an end away from the mining surface is shown;

[0020] Figure 2 A partial structural schematic diagram of a self-moving tail device provided by an embodiment of the utility model under a main viewing angle is shown;

[0021] Figure 3The figure shows a schematic structural diagram of the self-moving tail device provided by the embodiment of the utility model when the whole device is working in a lane;

[0022] Figure 4 Shows Figure 3 A local enlarged schematic diagram of point A in the middle.

[0023] The above drawings include the following reference numerals:

[0024] 10. Self-moving bracket;

[0025] 20. Transport belt assembly;

[0026] 30. Mechanical arm assembly; 31. First arm; 311. Fixed member; 312. Moving member; 32. Second arm; 33. First telescopic cylinder; 34. Second telescopic cylinder; 35. Third telescopic cylinder;

[0027] 40. Shoveling assembly; 41. Fixed hopper; 42. Opening and closing hopper; 43. Opening and closing cylinder;

[0028] 50. Mobile track;

[0029] 60. movable assembly; 61. rotating base; 62. bearing seat;

[0030] 70. Driving cylinder;

[0031] 80. Load-bearing fixing frame;

[0032] 90. Operation table;

[0033] 100. Adjustment components. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0035] like Figures 1 to 4As shown, an embodiment of the utility model provides a self-moving tail device, comprising: a self-moving support 10, which is movably arranged in the tunnel, and the self-moving support 10 is extended along the extension direction of the tunnel; a conveying belt assembly 20, which is arranged on the self-moving support 10, and circulates along the extension direction of the self-moving support 10 to transport materials; a mechanical arm assembly 30, which is movably arranged at one end of the self-moving support 10 away from the mining surface of the tunnel; a shoveling assembly 40, which is arranged on the mechanical arm assembly 30 to follow the movement of the mechanical arm assembly 30; wherein the shoveling assembly 40 cleans and excavates the gangway located on the side of the self-moving support 10, and the mechanical arm assembly 30 drives the shoveling assembly 40 to transport the materials obtained from the tunnel to the conveying belt assembly 20; Figure 1 As shown, the robot arm assembly 30 has a stowed state, in which the robot arm assembly 30 and the shovel assembly 40 avoid the side of the tunnel.

[0036] The utility model provides a mechanical arm assembly 30 and a shovel assembly 40 to cooperate with each other, and when the self-moving tail device is working normally, it can realize efficient cleaning and excavation of the tunnel side of the self-moving bracket 10, effectively replacing the manual operation mode, saving manpower and reducing the labor intensity of the staff, and improving the overall work efficiency and reducing safety hazards; by providing a transport belt assembly 20, it can realize efficient transportation of the materials excavated and cleaned in the tunnel, avoid the accumulation of materials on the tunnel side, and further avoid the delay of subsequent anchor protection, pipeline installation and other operations in the tunnel, which significantly improves the overall construction in the tunnel. Efficiency, effectively meeting the production needs of rapid excavation and transportation of materials; by setting the mechanical arm assembly 30 to have a storage state, the mechanical arm assembly 30 and the shovel assembly 40 can avoid the side of the tunnel, thereby avoiding blocking the side of the tunnel and ensuring smooth passage of personnel; the self-moving tail device proposed in the utility model can be flexibly applied to various tunnels in coal mines, and can realize the tunnel repair process of repairing and working at the same time; the utility model has a simple structure and reliable operation, is suitable for large-scale promotion and use, and can be used in conjunction with underground mine cars and belt conveyors and other equipment in the future, and has the characteristics of comprehensive functions and flexible use.

[0037] like Figure 1 As shown, the robot arm assembly 30 is in a stowed state; Figure 2 As shown, the robot arm assembly 30 is in working state.

[0038] It should be noted that: in a specific embodiment of the present invention, the front end of the self-moving bracket 10 and the transport belt assembly 20 (i.e., the end close to the mining face of the tunnel) can cooperate with the transfer unit to continuously and directionally transport coal and other materials on the transfer unit.

[0039] like Figure 1 and Figure 2As shown, the self-moving tail device also includes a moving track 50 and a movable component 60. The moving track 50 is arranged on the side of the self-moving bracket 10 and is extended along the extension direction of the self-moving bracket 10; the movable component 60 can be movably arranged on the moving track 50, and is limitedly matched with the moving track 50 to move along the extension direction of the moving track 50; the robot arm component 30 is arranged on the movable component 60 to follow the movement of the movable component 60; wherein, the movable component 60 drives the shoveling component 40 to reciprocate along the lane through the robot arm component 30 to clean the lane.

[0040] By providing the movable track 50 and the movable assembly 60, the shoveling assembly 40 can be pushed along the movable track 50 from the tunnel surface and shovel more fallen materials, thereby improving the cleaning and excavation efficiency of the tunnel.

[0041] like Figure 1 As shown, the self-moving tail device also includes a driving cylinder 70; the movable assembly 60 includes a rotating base 61 and a bearing seat 62, the rotating base 61 is rotatably arranged on the bearing seat 62, and the robot arm assembly 30 is arranged on the rotating base 61; the bearing seat 62 is slidably arranged on the moving track 50, and is limitedly matched with the moving track 50; the driving cylinder 70 is arranged on the self-moving bracket 10 or the moving track 50, and is connected to the bearing seat 62, and is used to drive the bearing seat 62 to move along the extension direction of the moving track 50.

[0042] By providing a driving cylinder 70, the support seat 62 can reliably reciprocate along the moving track 50, thereby expanding the shoveling range of the shoveling assembly 40; and, when the opening and closing hopper 42 of the shoveling assembly 40 is shoveling materials on the same level as the tunnel floor, by starting the driving cylinder 70, the opening and closing hopper 42 can be pushed back and forth along the ground, effectively imitating the overall movement of a traditional shoveling vehicle, thereby utilizing the inertia of movement to better shovel the materials in the tunnel.

[0043] Optionally, the movable component 60 includes a swivel base 61, a drive motor and a moving vehicle. The swivel base 61 is rotatably set on the moving vehicle, and the robotic arm assembly 30 is set on the swivel base 61; the moving vehicle is movably set on the moving track 50 and is limitedly matched with the moving track 50; the drive motor is set on the moving vehicle and is drive-connected to the moving vehicle, and is used to drive the moving vehicle to move along the extension direction of the moving track 50.

[0044] Such an arrangement not only ensures the simplification of the structure of the movable component 60 , but also enables the movable component 60 to work reliably on the longer moving track 50 .

[0045] like Figure 1 , Figure 2 and Figure 4As shown, the robot arm assembly 30 includes a first arm 31, a second arm 32, a first telescopic cylinder 33, and a second telescopic cylinder 34. The first arm 31 is rotatably disposed on the movable assembly 60, and both ends of the first telescopic cylinder 33 are respectively connected to the first arm 31 and the movable assembly 60 to drive the first arm 31 to swing relative to the movable assembly 60; the second arm 32 is rotatably disposed on the first arm 31, and both ends of the second telescopic cylinder 34 are respectively connected to the second arm 32 and the first arm 31 to drive the second arm 32 to swing relative to the first arm 31; the shoveling assembly 40 is movably disposed on the second arm 32.

[0046] Such an arrangement not only ensures the working reliability of the robot arm assembly 30 , but also simplifies the structure of the robot arm assembly 30 .

[0047] like Figure 1 As shown, in a specific embodiment of the present utility model, the first arm 31 is hinged on the rotary base 61, and the first telescopic cylinder 33 drives the first arm 31 to swing with the rotary base 61 as a fulcrum.

[0048] like Figure 1 , Figure 2 and Figure 4 As shown, the mechanical arm assembly 30 also includes a third telescopic cylinder 35, the two ends of which are respectively connected to the second arm 32 and the shovel assembly 40 to drive the shovel assembly 40 to swing relative to the first arm 31; the first arm 31 includes a built-in oil cylinder, a fixed part 311 and a movable part 312, the fixed part 311 is rotatably arranged on the movable assembly 60, the fixed part 311 has a guide cavity inside, at least a part of the movable part 312 is slidably arranged in the guide cavity, and is limitedly matched with the inner wall of the guide cavity; the built-in oil cylinder is arranged in the guide cavity, and the two ends are respectively connected to the fixed part 311 and the movable part 312 to adjust the length of the part of the movable part 312 extending from the guide cavity; wherein, the two ends of the first telescopic cylinder 33 are respectively connected to the fixed part 311 and the movable assembly 60 to drive the fixed part 311 to swing relative to the movable assembly 60; the second arm 32 is rotatably arranged on the movable part 312, and the two ends of the second telescopic cylinder 34 are respectively connected to the second arm 32 and the movable part 312.

[0049] By setting up the third telescopic cylinder 35, reliable control of the swinging of the shoveling assembly 40 on the first arm 31 is achieved; by setting the first arm 31 to include a built-in oil cylinder, a fixing part 311 and a moving part 312, the length of the first arm 31 can be flexibly changed, thereby increasing the shoveling range of the shoveling assembly 40.

[0050] like Figure 1 and Figure 2As shown, the self-moving tail device also includes a load-bearing fixed frame 80 and an operating table 90. The operating table 90 is arranged on the load-bearing fixed frame 80. The operating table 90 is electrically connected to at least one of the robot arm assembly 30, the shoveling assembly 40, the self-moving bracket 10 and the transport belt assembly 20 to control their operation; the load-bearing fixed frame 80 is arranged on the self-moving bracket 10 and is located above the transport belt assembly 20.

[0051] By arranging the supporting fixed frame 80 above the conveying belt assembly 20, it not only prevents the fallen rocks on the tunnel roof from falling directly onto the conveying belt assembly 20, but also effectively supports the operating platform 90, so that the staff can control the operation of at least one of the mechanical arm assembly 30, the shoveling assembly 40, the self-moving bracket 10 and the conveying belt assembly 20 by operating the operating platform 90.

[0052] Specifically, the positions of the support frame 80 and / or the operating platform 90 avoid the movement trajectories of the robot arm assembly 30 and the shoveling assembly 40 so that the robot arm assembly 30 and the shoveling assembly 40 do not collide with the support frame 80 and / or the operating platform 90 .

[0053] By setting the position of the supporting frame 80 and / or the operating table 90 to avoid the movement trajectory of the robot arm assembly 30 and the shoveling assembly 40, the robot arm assembly 30 and the shoveling assembly 40 will not collide with the supporting frame 80 and / or the operating table 90 during operation, thereby protecting the safety of the operation and reducing the occurrence of safety accidents.

[0054] like Figure 1 and Figure 2 As shown, the self-moving tail device also includes an adjusting component 100, which can be movably arranged on the self-moving bracket 10; the transport belt component 20 includes a circulating transport belt, which is arranged in the middle of the self-moving bracket 10 and circulates along the extension direction of the self-moving bracket 10; wherein, one end of the transport belt close to the mechanical arm component 30 cooperates with the adjusting component 100; the adjusting component 100 is used to adjust the pitch angle of the transport belt close to one end of the mechanical arm component 30, so that the transport belt can receive the material poured out from the shoveling component 40 at a set angle.

[0055] By setting the adjustment component 100, the pitch angle of the transport belt near one end of the mechanical arm component 30 can be flexibly adjusted, thereby achieving reliable reception of the material poured out of the shoveling component 40, reducing the probability of material splashing and scattering, and improving the overall material transportation efficiency.

[0056] like Figure 1 , Figure 2 and Figure 4As shown, the shoveling assembly 40 includes a fixed hopper 41, an opening and closing hopper 42 and an opening and closing cylinder 43. The fixed hopper 41 is fixedly arranged on the mechanical arm assembly 30; the opening and closing hopper 42 is rotatably arranged on the fixed hopper 41; the opening and closing cylinder 43 is arranged on the mechanical arm assembly 30 or on the fixed hopper 41, and is drivingly connected to the opening and closing hopper 42, and is used to drive the opening and closing hopper 42 to open or close relative to the fixed hopper 41; the interior of the fixed hopper 41 and the opening and closing hopper 42 together form a containing cavity, and the containing cavity is used to contain materials; wherein the shoveling assembly 40 has an open state and a closed state, in the closed state, the containing cavity is closed; in the open state, the containing cavity is connected with the outside, so that materials can enter the containing cavity from the outside or move out of the containing cavity to the outside.

[0057] It should be noted that: in view of the limitation of the tunnel space on both sides of the self-moving bracket 10, the normal integrated loading and unloading bucket cannot reliably unload materials without leaking. Therefore, the shoveling assembly 40 in the utility model is designed as an opening and closing shoveling bucket; by setting the accommodating chamber to be closed in a closed state, splashing and falling problems during material transfer are avoided, thereby reducing the occurrence of safety accidents; by setting an opening and closing cylinder 43, part of the work of the third telescopic cylinder 35 is effectively replaced, and the opening and closing cylinder 43 directly controls the opening and closing of the accommodating chamber, thereby realizing the speed and convenience of the shoveling assembly 40 when loading and unloading materials.

[0058] In addition, a shoveling assembly 40 is provided at the tail end of the self-moving support 10 (i.e., the end away from the mining face of the tunnel), so that efficient shoveling of materials on the tunnel sides on both sides of the self-moving support 10 is achieved without relying on manual labor, thereby reducing labor intensity; and, through the cooperation of the moving track 50, the movable assembly 60 and the shoveling assembly 40, foreign objects such as roadblocks can also be cleared before subsequent steps such as anchor support and pipeline installation.

[0059] In a specific embodiment of the present utility model, the first telescopic cylinder 33, the second telescopic cylinder 34 and the third telescopic cylinder 35 can all be electrically driven hydraulic cylinders, which work in conjunction with the fixed hopper 41 and the opening and closing hopper 42 to achieve functions such as crushing materials and horizontal side unloading, thereby achieving functions such as brushing, lying on the bottom, crushing, loading and horizontal side unloading in low spaces such as tunnels.

[0060] In summary, the utility model provides a self-moving tail device. The utility model sets a mechanical arm assembly 30 and a shovel assembly 40 to work together. When the self-moving tail device is working normally, it can realize efficient cleaning and excavation of the side of the tunnel on the side of the self-moving bracket 10, effectively replacing the manual operation mode, saving manpower and reducing the labor intensity of the staff, and improving the overall work efficiency and reducing safety hazards; by setting a transport belt assembly 20, it can realize efficient transportation of the materials excavated and cleaned in the tunnel, avoid the accumulation of materials on the side of the tunnel, and thus avoid the delay of subsequent operations such as anchor protection and pipeline installation in the tunnel, which is significantly The overall construction efficiency in the tunnel is improved, and the production needs of rapid excavation and transportation of materials are effectively met; by setting the mechanical arm assembly 30 to have a storage state, the mechanical arm assembly 30 and the shovel assembly 40 can avoid the side of the tunnel, thereby avoiding blocking the side of the tunnel and ensuring smooth passage of personnel; the self-moving tail device proposed in the utility model can be flexibly applied to various tunnels in coal mines, and can realize the tunnel repair process of repairing and working at the same time; the utility model has a simple structure and reliable operation, is suitable for large-scale promotion and use, and can be used in conjunction with underground mine cars, belt conveyors and other equipment in the future, and has the characteristics of comprehensive functions and flexible use.

[0061] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0062] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0063] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present utility model; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0064] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0065] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.

[0066] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A self-moving tail device, characterized in that: include: A self-moving support (10) is movably arranged in the lane, and the self-moving support (10) is extended along the extension direction of the lane; A transport belt assembly (20) is arranged on the self-moving support (10) and cyclically moves along the extension direction of the self-moving support (10) to transport materials; A mechanical arm assembly (30) is movably arranged at one end of the self-moving support (10) away from the mining surface of the tunnel; A shoveling assembly (40) is arranged on the mechanical arm assembly (30) so as to move along with the mechanical arm assembly (30); The shoveling assembly (40) cleans and digs the side of the tunnel located on the side of the self-moving support (10), and the mechanical arm assembly (30) drives the shoveling assembly (40) to transport the materials obtained from the tunnel to the transport belt assembly (20); the mechanical arm assembly (30) has a storage state, in which the mechanical arm assembly (30) and the shoveling assembly (40) avoid the side of the tunnel.

2. The self-moving tail device according to claim 1, characterized in that: The self-moving tail device also includes a moving track (50) and a movable component (60), wherein the moving track (50) is arranged on the side of the self-moving bracket (10) and is extended along the extension direction of the self-moving bracket (10); the movable component (60) can be movably arranged on the moving track (50) and is limitedly matched with the moving track (50) to move along the extension direction of the moving track (50); the mechanical arm component (30) is arranged on the movable component (60) to follow the movement of the movable component (60); wherein the movable component (60) drives the shoveling component (40) to reciprocate along the lane through the mechanical arm component (30) to clean the lane.

3. The self-moving tail device according to claim 2, characterized in that: The self-moving tail device also includes a driving cylinder (70); the movable component (60) includes a rotating base (61) and a bearing seat (62), the rotating base (61) is rotatably arranged on the bearing seat (62), and the mechanical arm component (30) is arranged on the rotating base (61); the bearing seat (62) is slidably arranged on the moving track (50) and is limitedly matched with the moving track (50); the driving cylinder (70) is arranged on the self-moving bracket (10) or the moving track (50), and is connected to the bearing seat (62), and is used to drive the bearing seat (62) to move along the extension direction of the moving track (50).

4. The self-moving tail device according to claim 2, characterized in that: The movable component (60) includes a swivel base (61), a drive motor and a mobile vehicle. The swivel base (61) is rotatably arranged on the mobile vehicle, and the mechanical arm component (30) is arranged on the swivel base (61); the mobile vehicle is movably arranged on the mobile track (50) and is limitedly matched with the mobile track (50); the drive motor is arranged on the mobile vehicle and is drivingly connected to the mobile vehicle, and is used to drive the mobile vehicle to move along the extension direction of the mobile track (50).

5. The self-moving tail device according to claim 2, characterized in that: The mechanical arm assembly (30) includes a first arm (31), a second arm (32), a first telescopic cylinder (33), and a second telescopic cylinder (34); the first arm (31) is rotatably arranged on the movable assembly (60); the two ends of the first telescopic cylinder (33) are respectively connected to the first arm (31) and the movable assembly (60) to drive the first arm (31) to swing relative to the movable assembly (60); the second arm (32) is rotatably arranged on the first arm (31); the two ends of the second telescopic cylinder (34) are respectively connected to the second arm (32) and the first arm (31) to drive the second arm (32) to swing relative to the first arm (31); the shoveling assembly (40) is movably arranged on the second arm (32).

6. The self-moving tail device according to claim 5, characterized in that: The mechanical arm assembly (30) further comprises a third telescopic cylinder (35), two ends of which are respectively connected to the second arm (32) and the shoveling assembly (40) to drive the shoveling assembly (40) to swing relative to the first arm (31); The first arm (31) comprises a built-in oil cylinder, a fixed part (311) and a movable part (312); the fixed part (311) is rotatably arranged on the movable component (60); a guide cavity is provided inside the fixed part (311); at least a part of the movable part (312) is slidably arranged in the guide cavity and is limitedly matched with the inner wall of the guide cavity; the built-in oil cylinder is arranged in the guide cavity, and two ends are respectively connected to the fixed part (311) and the movable part (312) to adjust the length of the part of the movable part (312) extending from the guide cavity; wherein the two ends of the first telescopic cylinder (33) are respectively connected to the fixed part (311) and the movable component (60) to drive the fixed part (311) to swing relative to the movable component (60); the second arm (32) is rotatably arranged on the movable part (312), and the two ends of the second telescopic cylinder (34) are respectively connected to the second arm (32) and the movable part (312).

7. The self-moving tail device according to claim 1, characterized in that: The self-moving tail device further comprises a load-bearing fixed frame (80) and an operating platform (90), wherein the operating platform (90) is arranged on the load-bearing fixed frame (80), and the operating platform (90) is electrically connected to at least one of the mechanical arm assembly (30), the shoveling assembly (40), the self-moving bracket (10) and the transport belt assembly (20) to control the operation thereof; The load-bearing fixed frame (80) is arranged on the self-moving support (10) and is located above the transport belt assembly (20).

8. The self-moving tail device according to claim 7, characterized in that: The positions of the supporting fixed frame (80) and / or the operating platform (90) avoid the movement tracks of the mechanical arm assembly (30) and the shoveling assembly (40), so that the mechanical arm assembly (30) and the shoveling assembly (40) do not collide with the supporting fixed frame (80) and / or the operating platform (90).

9. The self-moving tail device according to claim 1, characterized in that: The self-moving tail device also includes an adjustment component (100), and the adjustment component (100) is movably arranged on the self-moving bracket (10); the transport belt component (20) includes a circulating transport belt, and the transport belt is arranged in the middle of the self-moving bracket (10) and circulates along the extension direction of the self-moving bracket (10); wherein, the end of the transport belt close to the mechanical arm component (30) cooperates with the adjustment component (100); the adjustment component (100) is used to adjust the pitch angle of the end of the transport belt close to the mechanical arm component (30), so that the transport belt receives the material dumped from the shoveling component (40) at a set angle.

10. The self-moving tail device according to claim 1, characterized in that: The shoveling assembly (40) comprises a fixed hopper (41), an opening and closing hopper (42) and an opening and closing cylinder (43), wherein the fixed hopper (41) is fixedly arranged on the mechanical arm assembly (30); the opening and closing hopper (42) is rotatably arranged on the fixed hopper (41); the opening and closing cylinder (43) is arranged on the mechanical arm assembly (30) or on the fixed hopper (41), and is drivingly connected to the opening and closing hopper (42), and is used to drive the opening and closing hopper (42) to open or close relative to the fixed hopper (41); the interior of the fixed hopper (41) and the opening and closing hopper (42) together form a receiving chamber, and the receiving chamber is used to receive materials; wherein the shoveling assembly (40) has an open state and a closed state, wherein in the closed state, the receiving chamber is closed; and in the open state, the receiving chamber is communicated with the outside, so that the materials enter the receiving chamber from the outside or move out of the receiving chamber to the outside.

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