Manipulator for dismantling E-shaped pin

Abstract

The utility model relates to a manipulator for dismantling an E-shaped pin, and belongs to the technical field of belt conveyors. Comprising a mounting plate which is vertically arranged, two symmetrical guide groove plates are fixedly arranged on the end face of one side of the mounting plate, a guide groove is formed in each guide groove plate, each guide groove is of a U-shaped structure with an opening facing one side of the mounting plate, and each guide groove comprises a horizontal upper side section, a vertical middle section and a horizontal lower side section; a swing oil cylinder is fixedly arranged on the end face, away from the second guide groove plate, of the first guide groove plate, a piston rod of the swing oil cylinder is rotationally inserted into the two guide groove plates, two swing rods are fixedly arranged on the piston rod of the swing oil cylinder, and kidney-shaped holes are formed in the swing rods. The same actuating rod is rotatably inserted into the waist-shaped holes of the two oscillating rods, and a pull-out claw is fixedly arranged on the actuating rod; the problem that at present, a mechanical arm used for dismantling an E-shaped pin on a belt conveyor body is lacked is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of belt conveyors, and particularly relates to a manipulator for removing E-type pins. 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 body also needs to be disassembled continuously. When disassembling the middle part of the body, it must be done while the machine is stopped, and it cannot be done in one shift, so that continuous production cannot be guaranteed. This seriously restricts the smooth implementation of coal mining operations in the intelligent fully mechanized mining face and reduces the overall efficiency. Therefore, a dismantling robot that can move synchronously with the self-moving machine tail is needed to dismantle the belt conveyor body without stopping the machine.

[0004] The body of the belt conveyor is composed of a longitudinal beam, a roller frame, and an H-frame. The roller frame is connected to the longitudinal beam through a transversely arranged E-shaped pin, and the H-frame is connected to the longitudinal beam through a longitudinally arranged E-shaped pin. The transversely arranged E-shaped pin opens toward the area between the longitudinal beams on both sides, and the longitudinally arranged E-shaped pin opens vertically downward. When the body of the belt conveyor needs to be dismantled, the body can be dismantled by simply removing the set E-shaped pin and the longitudinally arranged E-shaped pin. Therefore, a manipulator for removing the E-shaped pin is required to be set on the body of the dismantling robot to realize the dismantling of the belt conveyor body without stopping the machine. Utility Model Content

[0005] The utility model overcomes the shortcomings of the prior art and provides a manipulator for removing E-type pins, thereby solving the problem of lack of a manipulator for removing E-type pins on a belt conveyor body.

[0006] In order to achieve the above purpose, the utility model is implemented through the following technical solutions.

[0007] A manipulator for removing E-type pins comprises a vertically arranged mounting plate, two symmetrical guide groove plates are fixedly arranged on one end surface of the mounting plate, a guide groove is respectively arranged on each guide groove plate, the guide groove is a U-shaped structure with an opening toward one side of the mounting plate, the guide groove comprises a horizontal upper section, a vertical middle section, and a horizontal lower section, a swing cylinder is fixedly arranged on the end surface of the first guide groove plate away from the second guide groove plate, the piston rod of the swing cylinder is rotatably inserted in the two guide groove plates, two swing rods are fixedly arranged on the piston rod of the swing cylinder, waist-shaped holes are arranged on the swing rods, the same action rod is rotatably inserted in the waist-shaped holes of the two swing rods, and a pulling claw is fixedly arranged on the action rod.

[0008] Furthermore, the two guide groove plates are kept vertical and perpendicular to the mounting plate.

[0009] Furthermore, the upper section of the guide groove and the end of the lower section of the guide groove away from the mounting plate are respectively smoothly transitionally connected to the upper and lower ends of the middle section of the guide groove.

[0010] Furthermore, the cylinder body of the swing cylinder is fixed on the first guide groove plate, the piston rod of the swing cylinder is perpendicular to the two guide groove plates, and the swing axis of the piston rod of the swing cylinder is also perpendicular to the two guide groove plates.

[0011] Furthermore, the two swing rods are located between the front and rear guide groove plates, one end of the two swing rods is fixedly connected to the piston rod of the swing cylinder, and the other end of the two swing rods is respectively provided with a waist-shaped hole with two ends passing through.

[0012] Furthermore, the action rod is parallel to the piston rod of the swing cylinder, and a rolling bearing is fixedly sleeved at both ends of the action rod. The two rolling bearings are respectively inserted into the guide grooves of the two guide groove plates, and the outer side surfaces of the rolling bearings maintain rolling contact with the inner walls of the guide grooves on both sides.

[0013] Furthermore, an anti-rotation block is fixedly provided at one end of the action rod facing the second guide groove plate; a vertical fixed plate is fixedly provided on the side of the second guide groove plate away from the first guide groove plate, a sliding plate is slidably provided on the fixed plate along the vertical direction, an anti-rotation groove is provided on the end face of the sliding plate close to the action rod, the anti-rotation groove is horizontally provided and parallel to the guide groove plate; the anti-rotation block at the end of the action rod is slidably provided inside the anti-rotation groove of the sliding plate, and the upper and lower end faces of the anti-rotation block are in sliding contact with the inner top and bottom faces of the anti-rotation groove.

[0014] Furthermore, a limiting ring is fixedly provided at both ends of the action rod, and the two limiting rings are respectively in contact with the end surfaces of one side of the two guide groove plates that are close to each other.

[0015] Furthermore, one end of the extraction claw away from the mounting plate extends vertically downward, and a extraction tip is provided at the lower end of the extraction claw; the initial position of the action rod is located at one end of the inner side of the upper section of the guide groove close to the mounting plate.

[0016] Furthermore, one end of the extraction claw away from the mounting plate is kept horizontal and is provided with an extraction tip; the initial position of the action rod is located at the inner side of the lower side section of the guide groove close to one end of the mounting plate.

[0017] The beneficial effects of the utility model compared with the prior art are:

[0018] The utility model provides a manipulator for removing E-pins. The manipulator in the first embodiment can realize automatic removal of the E-pins arranged transversely between the roller frame and the longitudinal beam. The manipulator in the second embodiment can realize automatic removal of the E-pins arranged longitudinally between the H-frame and the longitudinal beam. Manual removal is no longer required, and the belt conveyor body can be removed without stopping the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The utility model is further described in detail below in conjunction with the accompanying drawings:

[0020] Figure 1 It is a three-dimensional schematic diagram of the first embodiment Figure 1 ;

[0021] Figure 2 It is a three-dimensional schematic diagram of the first embodiment Figure 2 ;

[0022] Figure 3 It is a three-dimensional schematic diagram of the second embodiment Figure 1 ;

[0023] Figure 4 It is a three-dimensional schematic diagram of the second embodiment Figure 2 ;

[0024] Among them, 1 is a mounting plate, 2 is a guide groove plate, 3 is a guide groove, 4 is a swing cylinder, 5 is a swing rod, 6 is a waist-shaped hole, 7 is an action rod, 8 is a rolling bearing, 9 is a pull-out claw, 10 is an anti-rotation block, 11 is a fixed plate, 12 is a sliding plate, 13 is an anti-rotation groove, and 14 is a limit ring. DETAILED DESCRIPTION

[0025] 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.

[0026] Embodiment 1

[0027] like Figure 1 —2, this embodiment provides a manipulator for removing E-type pins, including a mounting plate 1, a guide groove plate 2, a swing cylinder 4, a swing rod 5, an action rod 7, a pulling claw 9, a sliding plate 12, and a mounting plate 1.

[0028] The mounting plate 1 is a vertically arranged square plate-like structure, and two symmetrical guide groove plates 2 are fixedly arranged on one end surface of the mounting plate 1. The two guide groove plates 2 are kept vertical and perpendicular to the mounting plate 1. A guide groove 3 with two ends penetrating therethrough is respectively arranged on each guide groove plate 2. The guide groove 3 is a U-shaped structure with an opening toward one side of the mounting plate 1. The guide groove 3 includes a horizontal upper section, a vertical middle section, and a horizontal lower section. The upper section of the guide groove 3 and the lower section of the guide groove 3 at one end away from the mounting plate 1 are respectively smoothly transitionally connected to the upper and lower ends of the middle section of the guide groove 3.

[0029] A swing cylinder 4 is fixedly arranged on the end surface of the first guide groove plate 2 away from the second guide groove plate 2, the cylinder body of the swing cylinder 4 is fixed on the first guide groove plate 2, the piston rod of the swing cylinder 4 is perpendicular to the two guide groove plates 2, and the piston rod of the swing cylinder 4 is rotatably inserted into the inside of the two guide groove plates 2, and the swing axis of the piston rod of the swing cylinder 4 is also perpendicular to the two guide groove plates 2.

[0030] Two swing rods 5 are fixedly arranged on the piston rod of the swing cylinder 4. The two swing rods 5 are located between the front and rear guide groove plates 2. One end of the two swing rods 5 is fixedly connected to the piston rod of the swing cylinder 4. The other ends of the two swing rods 5 are respectively provided with a waist-shaped hole 6 with two ends passing through.

[0031] The same action rod 7 is rotatably inserted in the waist-shaped holes 6 of the two swing rods 5, and the action rod 7 is parallel to the piston rod of the swing oil cylinder 4. A rolling bearing 8 is fixedly sleeved at both ends of the action rod 7, and the two rolling bearings 8 are respectively inserted in the guide grooves 3 of the two guide groove plates 2, and the outer side surfaces of the rolling bearings 8 are in rolling contact with the inner walls of the guide grooves 3 on both sides.

[0032] Two extraction claws 9 are fixedly arranged on the action rod 7 . One end of the extraction claw 9 away from the mounting plate 1 extends vertically downward, and an extraction tip is arranged at the lower end of the extraction claw 9 .

[0033] An anti-rotation block 10 is also fixedly provided at one end of the action rod 7 facing the second guide groove plate 2. A vertical fixed plate 11 is also fixedly provided on the side of the second guide groove plate 2 away from the first guide groove plate 2, and a sliding plate 12 is slidably provided on the fixed plate 11 along the vertical direction, and an anti-rotation groove 13 is provided on the end surface of the sliding plate 12 close to the action rod 7, and the anti-rotation groove 13 is horizontally provided and parallel to the guide groove plate 2. The anti-rotation block 10 at the end of the action rod 7 is slidably provided inside the anti-rotation groove 13 of the sliding plate 12, and the upper and lower end surfaces of the anti-rotation block 10 are in sliding contact with the inner top surface and bottom surface of the anti-rotation groove 13. The anti-rotation block 10 cooperates with the anti-rotation groove 13 to ensure that the action rod 7 does not rotate around its own axis during movement.

[0034] A limiting ring 14 is fixedly provided at both ends of the action rod 7 , respectively. The two limiting rings 14 are in contact with the end surfaces of the two guide groove plates 2 which are close to each other, and the action rod 7 and the two guide groove plates 2 are limited by the two limiting rings 14 .

[0035] The initial position of the actuating rod 7 is located at an end of the inner side of the upper section of the guide groove 3 close to the mounting plate 1 .

[0036] The working principle of this embodiment is:

[0037] When the E-pin to be removed is arranged horizontally, that is, the opening of the E-pin is horizontally facing the side away from the mounting plate 1, the initial position of the action rod 7 is located at the inner side of the upper section of the guide groove 3 close to the end of the mounting plate 1.

[0038] The manipulator is aligned with the E-pin on the body of the belt conveyor, with the opening of the E-pin horizontally facing the side away from the mounting plate 1, and the two extraction claws 9 are located above the E-pin.

[0039] The piston rod of the control swing oil cylinder 4 starts to swing. In the initial state, the two ends of the action rod 7 are located inside the upper section of the guide groove 3 of the two guide groove plates 2. The swing oil cylinder 4 drives the swing rod 5 to start swinging, and the swing rod 5 drives the action rod 7 to slide from the upper section of the guide groove 3 to the vertical middle section and the horizontal lower section in sequence. When the two ends of the action rod 7 slide inside the upper section of the guide groove 3, the extraction claw 9 slides horizontally in the direction close to the E-type pin; when the two ends of the action rod 7 begin to enter the middle section of the guide groove 3, the extraction claw 9 is located above the E-type pin; when the two ends of the action rod 7 slide downward inside the middle section of the guide groove 3, the extraction claw 9 gradually inserts into the E-type pin; when the two ends of the action rod 7 enter the lower section of the guide groove 3, the extraction claw 9 slides horizontally in the direction away from the body of the belt conveyor, thereby pulling the E-type pin out of the body of the belt conveyor, and then dismantling the connection between the roller frame and the longitudinal beam. The anti-rotation block 10 cooperates with the anti-rotation groove 13 to ensure that the extraction claw 9 is always at the same angle during the movement.

[0040] Embodiment 2

[0041] like Figure 3 As shown in FIG. 4 , this embodiment provides a manipulator for removing E-type pins. The difference between this embodiment and the first embodiment is that the initial position of the action rod 7 in this embodiment is located on the inner side of the lower section of the guide groove 3, close to one end of the mounting plate 1, and the extraction claw 9 in this embodiment is kept horizontal at the end away from the mounting plate 1 and is provided with an extraction tip.

[0042] The working principle of this embodiment is:

[0043] When the E-pin to be removed is arranged longitudinally, that is, the opening of the E-pin is vertically downward, the initial position of the action rod 7 is located at the inner side of the lower section of the guide groove 3 close to one end of the mounting plate 1 .

[0044] Align the manipulator with the E-pin on the body of the belt conveyor, with the opening of the E-pin pointing vertically downward and the two extraction claws 9 located on one side of the E-pin.

[0045] The piston rod of the control swing oil cylinder 4 starts to swing. In the initial state, the action rod 7 is located in the lower section of the guide groove 3 of the two guide groove plates 2, close to one end of the mounting plate 1. The swing oil cylinder 4 drives the swing rod to start swinging, and the swing rod 5 drives the action rod 7 to slide from the lower section of the guide groove 3 to the vertical middle section and the horizontal upper section in sequence. When the two ends of the action rod 7 slide in the lower section of the guide groove 3, the extraction claw 9 slides horizontally toward the direction close to the E-type pin, and the extraction claw 9 gradually inserts into the E-type pin; when the two ends of the action rod 7 slide upward in the middle section of the guide groove 3, the extraction claw 9 extracts the E-type pin from the fuselage of the belt conveyor to disassemble the connection between the H-frame and the longitudinal beam; when the two ends of the action rod 7 slide in the upper section of the guide groove 3, the E-type pin is completely extracted, and the extraction claw 9 will not interfere with other processes. The anti-rotation block 10 cooperates with the anti-rotation groove 13 to ensure that the extraction claw 9 is always at the same angle during the movement.

[0046] 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 manipulator for removing an E-pin, characterized in that: The invention comprises a vertically arranged mounting plate (1), two symmetrical guide groove plates (2) are fixedly arranged on one end surface of the mounting plate (1), a guide groove (3) is arranged on each guide groove plate (2), the guide groove (3) is a U-shaped structure with an opening facing one side of the mounting plate (1), the guide groove (3) comprises a horizontal upper section, a vertical middle section, and a horizontal lower section, a swing cylinder (4) is fixedly arranged on the end surface of the first guide groove plate (2) away from the second guide groove plate (2), the piston rod of the swing cylinder (4) is rotatably inserted into the two guide groove plates (2), two swing rods (5) are fixedly arranged on the piston rod of the swing cylinder (4), a waist-shaped hole (6) is arranged on the swing rod (5), the same action rod (7) is rotatably inserted into the waist-shaped holes (6) of the two swing rods (5), and a pulling claw (9) is fixedly arranged on the action rod (7).

2. A manipulator for removing an E-pin according to claim 1, characterized in that: The two guide groove plates (2) are both kept vertical and perpendicular to the mounting plate (1).

3. A manipulator for removing an E-pin according to claim 1, characterized in that: The upper section of the guide groove (3) and one end of the lower section of the guide groove (3) away from the mounting plate (1) are respectively smoothly transitionally connected to the upper and lower ends of the middle section of the guide groove (3).

4. A manipulator for removing an E-pin according to claim 1, characterized in that: The cylinder body of the swing oil cylinder (4) is fixed on the first guide groove plate (2), the piston rod of the swing oil cylinder (4) is perpendicular to the two guide groove plates (2), and the swing axis of the piston rod of the swing oil cylinder (4) is also perpendicular to the two guide groove plates (2).

5. A manipulator for removing an E-pin according to claim 1, characterized in that: The two swing rods (5) are located between the front and rear guide groove plates (2), one end of the two swing rods (5) is fixedly connected to the piston rod of the swing oil cylinder (4), and the other end of the two swing rods (5) is respectively provided with a waist-shaped hole (6) with two ends passing through.

6. A manipulator for removing an E-pin according to claim 1, characterized in that: The action rod (7) is parallel to the piston rod of the swing oil cylinder (4), and a rolling bearing (8) is fixedly sleeved at both ends of the action rod (7). The two rolling bearings (8) are respectively inserted into the guide grooves (3) of the two guide groove plates (2), and the outer side surfaces of the rolling bearings (8) are in rolling contact with the inner walls of the guide grooves (3) on both sides.

7. A manipulator for removing an E-pin according to claim 1, characterized in that: An anti-rotation block (10) is fixedly arranged at one end of the action rod (7) facing the second guide groove plate (2); a vertical fixed plate (11) is fixedly arranged at a side of the second guide groove plate (2) away from the first guide groove plate (2); a sliding plate (12) is slidably arranged on the fixed plate (11) along a vertical direction; an anti-rotation groove (13) is arranged on an end surface of the sliding plate (12) close to the action rod (7); the anti-rotation groove (13) is arranged horizontally and parallel to the guide groove plate (2); the anti-rotation block (10) at the end of the action rod (7) is slidably arranged inside the anti-rotation groove (13) of the sliding plate (12); the upper and lower end surfaces of the anti-rotation block (10) are in sliding contact with the inner top surface and bottom surface of the anti-rotation groove (13).

8. A manipulator for removing an E-pin according to claim 1, characterized in that: A limiting ring (14) is fixedly arranged at both ends of the action rod (7), and the two limiting rings (14) are respectively in contact with the end surfaces of one side of the two guide groove plates (2) that are close to each other.

9. A manipulator for removing an E-pin according to claim 1, characterized in that: One end of the extraction claw (9) away from the mounting plate (1) extends vertically downward, and a extraction tip is provided at the lower end of the extraction claw (9); the initial position of the action rod (7) is located at the inner side of the upper section of the guide groove (3) close to one end of the mounting plate (1).

10. A manipulator for removing an E-pin according to claim 1, characterized in that: The end of the extraction claw (9) away from the mounting plate (1) is kept horizontal and is provided with an extraction tip; the initial position of the action rod (7) is located at the inner side of the lower side section of the guide groove (3) and close to the end of the mounting plate (1).

Images