Mining multifunctional cable laying robot

Abstract

The utility model provides a mining multifunctional cable laying robot, and relates to the field of cable laying equipment. The device comprises a chassis and a telescopic arm arranged on the chassis, and the telescopic arm is connected with the chassis through a rotating disc; a cable winding and unwinding mechanism is arranged at the rear end of the telescopic arm, the cable winding and unwinding mechanism comprises a winding drum and a winding and unwinding driving mechanism, a cable is wound on the winding drum, and the winding and unwinding driving mechanism is used for driving the winding drum to rotate; a mechanical arm is arranged at the front end of the telescopic arm, and the mechanical arm pulls the cable and swings in the circumferential direction. According to the invention, on the premise of safe operation and high operation efficiency, the cable can be rapidly laid to a high place.

Description

Technical Field

[0001] The present application relates to the field of cable laying equipment, and in particular to a multifunctional cable laying robot for mining. Background Art

[0002] The power supply and distribution network of open-pit coal mines is composed of mobile substations, distribution boxes, switch cabinets, cables, lighting and indication equipment, and other electrical equipment. The power supply and distribution network of open-pit coal mines is relatively complex, with many lines and a wide power supply range.

[0003] Since each device is located on a work platform at a different height, operators need to frequently work at the top and bottom of the slope, or arrange enough operators at both locations to achieve this, which results in low work efficiency. At the same time, when conveying cables or other equipment, the operation is difficult and the corresponding safety risks increase dramatically, especially in windy or rainy and snowy weather, when the working environment is poor, cracks and holes at the bottom of the slope cannot be discovered in time, and the risk factors of the working environment increase sharply, with the risk of falling or materials falling and hitting. Moreover, when current equipment pulls cables or equipment, it is easy to cause friction with the slope surface, causing wear or even damage to the cables or equipment. Utility Model Content

[0004] In order to improve the problem of high difficulty and high safety risk in laying cables between platforms at different heights, the present application provides a multifunctional cable laying robot for mining.

[0005] The present application provides a multifunctional cable laying robot for mining, which adopts the following technical solution:

[0006] A multifunctional cable laying robot for mining comprises a chassis and a telescopic arm arranged on the chassis, wherein the telescopic arm is connected to the chassis via a turntable; a cable winding mechanism is arranged at the rear end of the telescopic arm, wherein the cable winding mechanism comprises a drum and a winding drive mechanism, a cable is wound around the drum, and the winding drive mechanism is used to drive the drum to rotate; a manipulator is arranged at the front end of the telescopic arm, wherein the manipulator pulls the cable and swings in a circumferential direction.

[0007] By adopting the above technical solution, the telescopic arm can rotate on the chassis and the telescopic arm itself can be extended. At the same time, a reel is provided at the rear end of the telescopic arm. In this way, the cable on the reel can be transported to a higher position under the guidance of the manipulator. The degree of automation is high, and there is no need for manual cable pulling. While improving the efficiency of cable laying, the safety of the operator is ensured.

[0008] Optionally, a bracket is provided at the rear end of the telescopic arm, a rotating shaft is provided on the bracket, the reel is sleeved on the rotating shaft, and a pair of first hydraulic legs are also provided on the bracket, and the first hydraulic legs are used to support the bracket and the reel; the winding and unwinding drive mechanism includes a mounting frame and a pair of rollers provided on the mounting frame, the outer edges of the rollers are in contact with the outer edges of the reel, and the mounting frame is also provided with a motor for driving the rollers to rotate.

[0009] By adopting the above technical solution, after the telescopic arm is rotated into place, the first hydraulic support leg extends out to support the bracket, which also supports the telescopic arm, ensuring that the telescopic arm can be extended upward without causing the chassis to tip over; when the motor drives the roller to rotate, the roller will drive the reel to roll, thereby realizing the cable retraction and release operation.

[0010] Optionally, the pair of rollers are spaced apart in the vertical direction, and outer sides of the pair of rollers are both sleeved with rubber sleeves for increasing friction.

[0011] By adopting the above technical solution, the two rollers are arranged at an interval, and the reel can be driven synchronously. At the same time, rubber sleeves are provided on the outer sides of the two rollers to ensure that the reel can rotate reliably and smoothly.

[0012] Optionally, the manipulator includes a telescopic rod and a connecting seat, the telescopic rod and the telescopic arm are connected via the connecting seat, and the connecting seat can swing in the circumferential direction.

[0013] By adopting the above technical solution, when the connecting seat swings, it can drive the telescopic rod to swing, so that the manipulator can cross obstacles such as earth walls, thereby improving the adaptability to different working environments.

[0014] Optionally, a retractable mechanism is provided on the connecting seat, and the retractable mechanism includes a pair of pressure rollers, and the pair of pressure rollers are used to press the cable. A hydraulic motor is provided on the outer side of any pressure roller, and the hydraulic motor is used to drive the pressure roller to rotate.

[0015] By adopting the above technical solution, when the hydraulic motor rotates, the friction between the pressure roller and the cable can assist the cable in stringing, which is convenient for controlling the cable laying speed. In this way, the retracting mechanism cooperates with the reel to ensure that during the cable laying process, the cable can remain tensioned but not tight, and will not become loose when the cable is recovered.

[0016] Optionally, a guiding mechanism is provided at the top of the telescopic arm and the top of the telescopic rod, and the guiding mechanism is used to guide the cable to move in series. The guiding mechanism includes a base, and a pair of hydraulic rods are symmetrically provided on the base. A roller is also provided on the top of the base, and one end of the roller is connected to one of the hydraulic rods, and the other end of the roller is connected to another hydraulic rod. The pair of hydraulic rods drive the roller to reciprocate, and the cable is laid on the top of the roller.

[0017] By adopting the above technical solution, a pair of hydraulic rods are actuated simultaneously to realize the reciprocating movement of the rollers along the length direction of the hydraulic rods, thereby guiding the laying of the cables and ensuring that the cables can be smoothly released from the drum.

[0018] Optionally, the roller and the pair of hydraulic rods are arranged in a U shape, a guiding mechanism is provided on both sides of the retractable mechanism, and the retractable mechanism and the pair of guiding mechanisms tension the cable.

[0019] By adopting the above technical solution, after adjusting the positions of the two rollers of the two guiding mechanisms, it is ensured that the cable can be in a tensioned state after passing through the retracting mechanism, thereby ensuring that when the pressure roller in the retracting mechanism rotates, it can drive the laying of the cable.

[0020] Optionally, a second hydraulic support leg is provided at the bottom of the chassis, and the second hydraulic support leg is used to support the chassis.

[0021] By adopting the above technical solution, the second hydraulic support leg can support the chassis and ensure that the whole can be in a stable state during the cable laying process.

[0022] In summary, this application has the following beneficial effects:

[0023] 1. Through the telescopic effect of the telescopic arm, the cable can be transported to a high position, avoiding the difficulty and high risk of manual pulling of the cable. At the same time, the manipulator at the front end of the telescopic arm can cross obstacles such as retaining walls, further improving the adaptability to different operating environments.

[0024] 2. Through the cooperation of the retracting and releasing mechanism and the guiding mechanism, the cable can be kept in a tensioned state during the laying process, thereby preventing the cable from loosening and improving the stability of the cable laying process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic stereogram of the present application;

[0026] Figure 2 is the main view of this application;

[0027] Figure 3is a schematic stereogram of a cable reeling and unwinding mechanism;

[0028] Figure 4 It is a reference diagram of the assembly state of the manipulator and the telescopic arm;

[0029] Figure 5 is a schematic three-dimensional diagram of the retracting and extending mechanism;

[0030] Figure 6 is a schematic three-dimensional diagram of the retracting and extending mechanism;

[0031] In the figure: 1, chassis; 11, turntable; 12, tire; 13, second hydraulic outrigger; 14, operating room;

[0032] 2. Telescopic arm;

[0033] 3. Cable winding and unwinding mechanism; 31. Reel; 32. Winding and unwinding driving mechanism; 321. Mounting frame; 322. Roller; 323. Motor; 33. Rotating shaft;

[0034] 4. Cable;

[0035] 5. Manipulator; 51. Telescopic rod; 52. Connecting seat;

[0036] 6. Bracket; 60. First hydraulic outrigger;

[0037] 7. Retractable and retractable mechanism; 71. Pressing roller; 72. Hydraulic motor; 73. Vertical plate;

[0038] 8. Guiding mechanism; 81. Base; 82. Hydraulic rod; 83. Roller. DETAILED DESCRIPTION

[0039] The following is combined with Figure 1-6 This application is described in further detail.

[0040] Figure 1 is a schematic three-dimensional diagram of the present application, Figure 2 is the main view of this application. Figure 1 and Figure 2 A multifunctional cable laying robot for mining includes a chassis 1, an operating room 14 and a telescopic arm 2 are arranged on the chassis 1, and off-road tires 12 and a second hydraulic outrigger 13 are arranged at the bottom of the chassis 1. The chassis 1 cooperates with the four tires 12 to perform four-wheel drive and realize three steering modes such as front wheel steering, crab steering and small angle steering. It can adapt to various complex terrains and can lay cables 4 in a small space. Under the action of the second hydraulic outrigger 13, the chassis 1 can be supported, thereby ensuring that the chassis 1 will not move during operation, thereby improving the safety of the operation.

[0041] Figure 3is a schematic three-dimensional diagram of the cable reeling mechanism. Figure 3 Combined with Figure 1 The telescopic arm 2 is connected to the chassis 1 through a turntable 11, so that the telescopic arm 2 can rotate within a certain range. A bracket 6 is provided at the rear end of the telescopic arm 2, and a cable winding mechanism 3 is installed in the bracket 6. The cable winding mechanism 3 includes a reel 31, a reel driving mechanism 32 and a rotating shaft 33. The rotating shaft 33 is installed on the bracket 6, and the reel 31 is sleeved on the outer side of the rotating shaft 33. Under the drive of the reel driving mechanism 32, the reel 31 can rotate synchronously with the rotating shaft 33. The reel driving mechanism 32 includes a mounting frame 321 and a pair of rollers 322. The pair of rollers 322 are arranged on the mounting frame 321 at intervals in the vertical direction. The outer edge of each roller 322 is in contact with the outer edge of the reel 31. At the same time, two motors 323 are also provided on the mounting frame 321. The two motors 323 are used to drive the two rollers 322. When the motor 323 drives the roller 322 to rotate, the reel 31 in contact with the roller 322 will roll, and the cable 4 is wound around the reel 31. When the reel 31 rotates, the cable 4 can be wound and unwound on the reel 31. Furthermore, a rubber sleeve is provided on the outer side of the roller 322, and the friction between the roller 322 and the reel 31 is increased by the rubber sleeve being in contact with the reel 31, thereby ensuring that the pair of rollers 322 can reliably drive the reel 31.

[0042] Figure 4 This is a reference diagram of the assembly status of the manipulator and telescopic arm. Figure 4 A manipulator 5 is provided at the front end of the telescopic arm 2. One end of the cable 4 is wound on the reel 31. The other end of the cable 4 extends along the telescopic arm 2 and is transported at the end through the manipulator 5. The manipulator 5 includes a telescopic rod 51 and a connecting seat 52. The connecting seat 52 is used to connect the telescopic rod 51 and the telescopic arm 2. At the same time, the connecting seat 52 has the ability to rotate in multiple directions. In this way, under the connection and driving action of the connecting seat 52, the telescopic rod 51 can swing in the circumferential direction.

[0043] See also Figure 2 When the chassis 1 is moved into position and supported and limited by the second hydraulic leg 13, the telescopic arm 2 is then rotated, tilted and extended, so as to transport the manipulator 5 to a higher position, thereby realizing the transportation of the cable 4 to the high step. Through the extension and swing of the telescopic rod 51, obstacles such as earth walls or fences can be crossed, thereby significantly improving the adaptability to different working environments and improving the efficiency of laying the cable 4.

[0044] See also Figure 1A first hydraulic leg 60 is also provided at the bottom of the bracket 6. After the telescopic arm 2 rotates and extends to the right position, the telescopic arm 2 is in an inclined state. At this time, the first hydraulic leg 60 extends to provide support for the bracket 6, so that the telescopic arm 2 can be prevented from tipping over due to excessive elevation angle, further improving the safety of the operation process. Moreover, the support of the first hydraulic leg 60 can make the rotation of the drum 31 more stable, so that the cable 4 can be smoothly rolled off the drum 31 and transported toward the manipulator 5.

[0045] See also Figure 4 A retractable mechanism 7 is provided on the connecting seat 52, and a guiding mechanism 8 is provided on the bracket 6, the telescopic arm 2, the connecting seat 52 and the telescopic rod 51. After the cable 4 is rolled up by the reel 31, it will extend over the top of the telescopic arm 2 and the telescopic rod 51 and pass through the guiding mechanism 8 and the retractable mechanism 7, ensuring that during the retractable process, the cable 4 can remain in a tensioned but not tight state, so that the cable 4 can be smoothly transported toward the direction of the manipulator 5 without being loosened or causing excessive pulling and friction on the cable 4, thereby ensuring that the insulation performance of the cable 4 is not affected.

[0046] Figure 5 is a schematic three-dimensional diagram of the retractable mechanism. Figure 5 Combined with Figure 4 The retracting and unwinding mechanism 7 includes a pair of vertical plates 73 and a pair of pressure rollers 71. The pair of pressure rollers 71 are arranged between the pair of vertical plates 73 at intervals in the vertical direction. The cable 4 passes from the rear side of the pair of pressure rollers 71 to the front side of the pair of pressure rollers 71, so that the cable 4 is pressed by the pair of pressure rollers 71. At the same time, a hydraulic motor 72 is also provided on the vertical plate 73. The hydraulic motor 72 is used to drive any one of the pressure rollers 71 to rotate. When the pressure roller 71 rotates, the friction between the pressure roller 71 and the cable 4 can be used to achieve an auxiliary effect on the stringing of the cable 4. That is to say, after the reel 31 reels the cable 4, the retracting and unwinding mechanism 7 located between the manipulator 5 and the reel 31 can pull the cable 4, so that the laying operation of the cable 4 is smoother.

[0047] Figure 6 is a schematic three-dimensional diagram of the retractable mechanism. Figure 6 Combined with Figure 4The guide mechanism 8 includes a base 81, a roller 83 and a pair of hydraulic rods 82. The roller 83 and the pair of hydraulic rods 82 are arranged in a U shape. One end of the roller 83 is connected to a hydraulic rod 82, and the other end of the roller 83 is connected to another hydraulic rod 82. The pair of hydraulic rods 82 can drive the roller 83, so that the roller 83 can reciprocate along the length direction of the hydraulic rod 82. The cable 4 is mounted on the top of the roller 83. When the hydraulic rod 82 adjusts the position of the roller 83, the cable 4 will be lifted or lowered accordingly, so as to adjust the posture of the cable 4, ensuring that the cable 4 can be reliably transported to a high place. A guide mechanism 8 is provided on both sides of the retractable mechanism 7, so that the bending degree of the cable 4 at the retractable mechanism 7 can be reliably controlled, thereby improving the control effect of the tension degree of the cable 4, ensuring that the cable 4 can reliably move and will not be excessively worn or damaged.

[0048] See also Figure 1 and Figure 2 A display is provided in the operating room 14, which can simultaneously display information such as arm length, height, extension length, angle, load weight, maximum load, etc., and can set parameters or adjust modes, so that operators can perform operations more safely and reliably. At the same time, while completing the task of laying the cable 4, the present application can also transport goods or equipment, realize multiple uses of one machine, and eliminate potential safety hazards. While ensuring the safety of operators, it improves work efficiency, shortens power outage time, and brings greater economic and safety benefits to enterprises.

[0049] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A multifunctional cable laying robot for mining, characterized in that: It comprises a chassis (1) and a telescopic arm (2) arranged on the chassis (1), wherein the telescopic arm (2) is connected to the chassis (1) via a rotating disk (11); A cable reeling mechanism (3) is provided at the rear end of the telescopic arm (2), the cable reeling mechanism (3) comprising a reel (31) and a reeling drive mechanism (32), a cable (4) being wound around the reel (31), and the reeling drive mechanism (32) being used to drive the reel (31) to rotate; A manipulator (5) is provided at the front end of the telescopic arm (2), and the manipulator (5) pulls the cable (4) and swings in a circumferential direction.

2. A multifunctional cable laying robot for mining according to claim 1, characterized in that: A bracket (6) is provided at the rear end of the telescopic arm (2), a rotating shaft (33) is provided on the bracket (6), the reel (31) is sleeved on the rotating shaft (33), and a pair of first hydraulic legs (60) are also provided on the bracket (6), the first hydraulic legs (60) are used to support the bracket (6) and the reel (31); The unwinding driving mechanism (32) comprises a mounting frame (321) and a pair of rollers (322) arranged on the mounting frame (321), the outer edges of the rollers (322) being in contact with the outer edge of the reel (31), and the mounting frame (321) is also provided with a motor (323) for driving the rollers (322) to rotate.

3. A multifunctional cable laying robot for mining according to claim 2, characterized in that: The pair of rollers (322) are arranged at intervals in the vertical direction, and the outer sides of the pair of rollers (322) are both sleeved with rubber sleeves for increasing friction.

4. A multifunctional cable laying robot for mining according to claim 1, characterized in that: The manipulator (5) comprises a telescopic rod (51) and a connecting seat (52); the telescopic rod (51) and the telescopic arm (2) are connected via the connecting seat (52); and the connecting seat (52) can swing in a circumferential direction.

5. A multifunctional cable laying robot for mining according to claim 4, characterized in that: The connecting seat (52) is provided with a retractable mechanism (7), the retractable mechanism (7) comprising a pair of pressure rollers (71), the pair of pressure rollers (71) being used to press the cable (4), a hydraulic motor (72) being provided on the outer side of any of the pressure rollers (71), the hydraulic motor (72) being used to drive the pressure rollers (71) to rotate.

6. A multifunctional cable laying robot for mining according to claim 5, characterized in that: A guiding mechanism (8) is provided at the top of the telescopic arm (2) and the top of the telescopic rod (51). The guiding mechanism (8) is used to guide the cable (4) to move in series. The guiding mechanism (8) comprises a base (81). A pair of hydraulic rods (82) are symmetrically provided on the base (81). A roller (83) is also provided at the top of the base (81). One end of the roller (83) is connected to one of the hydraulic rods (82), and the other end of the roller (83) is connected to another hydraulic rod (82). The pair of hydraulic rods (82) drives the roller (83) to reciprocate, and the cable (4) is laid on the top of the roller (83).

7. A multifunctional cable laying robot for mining according to claim 6, characterized in that: The roller (83) and the pair of hydraulic rods (82) are arranged in a U shape, and a guide mechanism (8) is provided on both sides of the retractable mechanism (7). The retractable mechanism (7) and the pair of guide mechanisms (8) tension the cable (4).

8. A multifunctional cable laying robot for mining according to claim 1, characterized in that: A second hydraulic support leg (13) is provided at the bottom of the chassis (1), and the second hydraulic support leg (13) is used to support the chassis (1).

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