Self-moving tail pipeline mounting device

Abstract

The utility model provides a self-moving tail pipeline installation device which comprises a self-moving support and a pipeline installation 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 pipeline clamping assembly is arranged on the mechanical arm assembly so as to move along with the mechanical arm assembly; the mechanical arm assembly is used for driving the pipeline clamping assembly to transport a to-be-installed pipeline to the side portion, located on the side edge of the self-moving support, of a roadway and driving the to-be-installed pipeline to ascend and descend. The mechanical arm assembly has a storage state, and in the storage state, the mechanical arm assembly and the pipeline clamping assembly avoid the side of the roadway. According to the utility model, the operation mode of manual transportation and pipeline installation is effectively replaced, the manpower is saved, the pipeline installation efficiency is improved, a gas transportation pipe, an air guide pipe and a water pipe required by the mining work can be timely installed, and the potential safety hazard is effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mine pipeline laying equipment, and particularly relates to a pipeline installation device for a self-propelled shearer tail. Background Art

[0002] During coal mining in coal mines, a belt conveyor is usually used to transport the mined coal. The belt conveyor includes a transport belt, a self-propelled shearer tail device, and a transfer machine. The self-propelled shearer tail device relies on the transfer machine as a fixed support point, and uses the push cylinders on the self-propelled shearer tail device to push the self-propelled shearer tail device and the transport belt to move, so that the transport belt on the self-propelled shearer tail device can be quickly advanced according to the transport requirements, and then move along with the mining face.

[0003] At present, when the self-propelled shearer tail device is working, since the self-propelled shearer tail occupies a relatively large part of the space in the coal mine roadway, the space between the self-propelled shearer tail device and the roadway side is limited and not enough to accommodate other special equipment. When professional special construction is required on both sides of the self-propelled shearer tail device (for example, when pipelines need to be installed), various construction devices in the prior art cannot be used, and usually only manual construction can be carried out (for example, manually transporting the pipeline to the designated position and then relying on manual labor to install the pipeline); as the mining depth increases, the workload of manually installing pipelines on the roadway side will increase exponentially, resulting in a large number of required workers, low overall work efficiency and great potential safety hazards; moreover, if the pipeline installation is carried out after the self-propelled shearer tail device leaves, it may cause the delay of the pipeline installation operation, resulting in the untimely installation of the gas transport pipe, air duct and water pipe required for mining work, which not only seriously reduces the overall construction efficiency and cannot meet the production needs of rapid tunneling and transporting materials, but also easily causes safety accidents (for example, safety accidents such as gas explosion may occur due to the inability to quickly transport gas through the pipeline). Content of the Utility Model

[0004] The utility model provides a pipeline installation device for a self-propelled shearer tail to solve the problem that the construction devices in the prior art cannot efficiently install pipelines on both sides of the roadway when the self-propelled shearer tail device is working.

[0005] To solve the above problems, the present utility model provides a pipe installation device for a self - moving tail of a shearer, comprising: a self - moving support movably arranged in a roadway and extending along the extension direction of the roadway; a conveyor belt assembly arranged on the self - moving support and circulating along the extension direction of the self - moving support for transporting materials; a robotic arm assembly movably arranged at one end of the self - moving support away from the mining face of the roadway; a pipe clamping assembly arranged on the robotic arm assembly to move along with the robotic arm assembly; wherein, the robotic arm assembly is used to drive the pipe clamping assembly to transport the pipe to be installed to the sidewall of the roadway on the side of the self - moving support and drive the pipe to be installed to move up and down for pipe installation; the robotic arm assembly has a storage state, in which the robotic arm assembly and the pipe clamping assembly avoid the sidewall of the roadway.

[0006] Further, the pipe clamping assembly includes a clamping turntable, a first clamping jaw, a second clamping jaw, a first opening - closing oil cylinder and a second opening - closing oil cylinder; the clamping turntable is rotatably arranged on the robotic arm assembly; the first clamping jaw and the second clamping jaw are respectively rotatably arranged on the clamping turntable; the first clamping jaw and the second clamping jaw are arranged at intervals; two ends of the first opening - closing oil cylinder are respectively connected to the clamping turntable and the first clamping jaw for driving the first clamping jaw to rotate; two ends of the second opening - closing oil cylinder are respectively connected to the clamping turntable and the second clamping jaw for driving the second clamping jaw to rotate; wherein, the pipe clamping assembly has a clamping state and a releasing state, in the clamping state, the first clamping jaw and the second clamping jaw clamp the pipe to be installed to drive the pipe to be installed to move; in the releasing state, the first clamping jaw and the second clamping jaw are disengaged from the pipe to be installed.

[0007] Further, the pipe installation device for the self - moving tail of the shearer further includes a rotating platform, the robotic arm assembly is arranged on the rotating platform, and the rotating platform is rotatably arranged at one end of the self - moving support away from the mining face of the roadway for driving the robotic arm assembly to rotate.

[0008] Further, the robotic arm assembly includes a first arm, a sliding frame structure, a second arm, a first telescopic cylinder and a second telescopic cylinder. The first arm is rotatably arranged on the rotating platform, and two ends of the first telescopic cylinder are respectively connected to the first arm and the rotating platform to drive the first arm to swing up and down relative to the rotating platform; the sliding frame structure is slidably arranged on the first arm along the extension direction of the first arm; the second arm is rotatably arranged on the sliding frame structure, and two ends of the second telescopic cylinder are respectively connected to the second arm and the sliding frame structure to drive the second arm to swing relative to the sliding frame structure; wherein, by adjusting the sliding distance of the sliding frame structure on the first arm, the distance between the second arm and the first arm is adjusted.

[0009] Further, the sliding frame structure includes a sliding frame body and a sliding driving oil cylinder. The sliding frame body is slidably and guidingly engaged with the first arm. Both ends of the sliding driving oil cylinder are respectively connected to the first arm and the sliding frame body for driving the sliding frame body to slide. Wherein, the second arm is rotatably arranged on the sliding frame body, and the second telescopic cylinder is connected to the sliding frame body.

[0010] Further, the robotic arm assembly further includes a third arm and a third telescopic cylinder. The third arm is rotatably arranged on the second arm. Both ends of the third telescopic cylinder are respectively connected to the third arm and the second arm to drive the third arm to swing relative to the second arm. The pipeline clamping assembly is movably arranged on the third arm. The robotic arm assembly further includes a fourth telescopic cylinder. Both ends of the fourth telescopic cylinder are respectively connected to the third arm and the pipeline clamping assembly to drive the pipeline clamping assembly to swing relative to the third arm.

[0011] Further, the self - moving tailpipe installation device of the shearer also includes a bearing fixed frame and an operating platform. The operating platform is arranged on the bearing fixed frame and is electrically connected to at least one of the robotic arm assembly, the pipeline clamping assembly, the self - moving support, and the conveyor belt assembly to control its operation. The bearing fixed frame is arranged on the self - moving support and is located above the conveyor belt assembly.

[0012] Further, the robotic arm assembly is movably arranged on the bearing fixed frame. The positions of the bearing fixed frame and / or the operating platform avoid the movement trajectories of the robotic arm assembly and the pipeline clamping assembly so that the robotic arm assembly and the pipeline clamping assembly do not collide with the bearing fixed frame and / or the operating platform.

[0013] Further, the self - moving tailpipe installation device of the shearer also includes a pipeline transport vehicle for transporting the pipeline to be installed into the movement range of the pipeline clamping assembly.

[0014] Further, the conveyor belt assembly includes a conveyor belt that rotates cyclically. The conveyor belt is arranged in the middle of the self - moving support and moves cyclically along the extending direction of the self - moving support.

[0015] Applying the technical solution of the present utility model, the present utility model provides a self - moving tailpipe installation device of a shearer, including: a self - moving support movably arranged in a roadway and extending along the extending direction of the roadway; a conveyor belt assembly arranged on the self - moving support and moving cyclically along the extending direction of the self - moving support for transporting materials; a robotic arm assembly movably arranged at one end of the self - moving support away from the mining face of the roadway; a pipeline clamping assembly arranged on the robotic arm assembly to move along with the robotic arm assembly. Wherein, the robotic arm assembly is used to drive the pipeline clamping assembly to transport the pipeline to be installed to the sidewall of the roadway on the side of the self - moving support and drive the pipeline to be installed to move up and down for pipeline installation. The robotic arm assembly has a storage state. In the storage state, the robotic arm assembly and the pipeline clamping assembly avoid the sidewall of the roadway.

[0016] The utility model realizes the assembly of the pipeline to be installed at the roadway side position on the side of the self-shifting support tail device by setting the robotic arm assembly to cooperate with the pipeline clamping assembly. When the self-shifting support tail device is working properly, it effectively replaces the operation mode of manually transporting and installing pipelines, saves manpower, reduces the labor intensity of the staff, improves the pipeline installation efficiency, enables the timely installation of the gas transportation pipeline, air duct and water pipe required for mining work, and thus effectively reduces potential safety hazards. By setting the conveyor belt assembly, it realizes the efficient transportation of the materials excavated and cleaned in the roadway, avoids the accumulation of materials on the roadway side, and thus avoids the delay of subsequent other operations in the roadway, significantly improves the overall construction efficiency in the roadway, and effectively meets the production needs of rapid tunneling and transporting materials. By setting the robotic arm assembly to have a storage state, it realizes the avoidance of the robotic arm assembly and the pipeline clamping assembly from the roadway side, and thus avoids blocking the roadway side, ensuring smooth passage of personnel. The self-shifting support tail pipeline installation device proposed by the utility model can be flexibly applied to various roadways in coal mines, and can realize the roadway processing process of laying pipes while working. The utility model has a simple structure and reliable operation, is suitable for large-scale popularization and use, and can be used in supporting with equipment such as underground mine cars and belt conveyors in the future, with comprehensive functions and flexible use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The schematic diagrams in the specification, which form a part of this application, are used to provide a further understanding of the utility model. The schematic embodiments and descriptions thereof of the utility model are used to explain the utility model and do not constitute an improper limitation to the utility model. In the drawings:

[0018] Figure 1 The external structural schematic diagram of the self-shifting support tail pipeline installation device provided by the embodiment of the utility model in the state of lifting the pipeline to be installed is shown;

[0019] Figure 2 The external structural schematic diagram of the self-shifting support tail pipeline installation device provided by the embodiment of the utility model in the storage state is shown;

[0020] Figure 3 The external structural schematic diagram of the self-shifting support tail pipeline installation device provided by the embodiment of the utility model in the state of putting down the pipeline to be installed is shown;

[0021] Figure 4 The partial structural schematic diagram of the self-shifting support tail pipeline provided by the embodiment of the utility model from a side view angle is shown.

[0022] Among them, the above-mentioned drawings include the following reference numerals:

[0023] 10, self-shifting support;

[0024] 20. Conveyor belt assembly;

[0025] 30. Robotic arm assembly; 31. First arm; 32. Slide carriage structure; 321. Slide carriage body; 33. Second arm; 34. First telescopic cylinder; 35. Second telescopic cylinder; 36. Third arm; 37. Third telescopic cylinder; 38. Fourth telescopic cylinder;

[0026] 40. Pipeline clamping assembly; 41. Clamping turntable; 42. First clamping jaw; 43. Second clamping jaw; 44. First opening and closing oil cylinder; 45. Second opening and closing oil cylinder;

[0027] 50. Rotating platform;

[0028] 60. Bearing and fixing frame;

[0029] 70. Operating table. Detailed implementation mode

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present invention.

[0031] As Figures 1 to 4 shown, the embodiment of the present invention provides a self - moving tailpipe installation device for a roadway conveyor, including: a self - moving support 10, movably arranged in the roadway, and the self - moving support 10 extends along the extension direction of the roadway; a conveyor belt assembly 20, arranged on the self - moving support 10 and circulating along the extension direction of the self - moving support 10 for transporting materials; a robotic arm assembly 30, movably arranged at one end of the self - moving support 10 away from the mining face of the roadway; a pipeline clamping assembly 40, arranged on the robotic arm assembly 30 to move along with the robotic arm assembly 30; wherein, the robotic arm assembly 30 is used to drive the pipeline clamping assembly 40 to transport the pipeline to be installed to the sidewall of the roadway on the side of the self - moving support 10 and drive the pipeline to be installed to rise and fall for pipeline installation; the robotic arm assembly 30 has a storage state, and in the storage state, the robotic arm assembly 30 and the pipeline clamping assembly 40 avoid the sidewall of the roadway.

[0032] The utility model realizes the assembly of the pipeline to be installed at the roadway side position on the side of the self-advancing tail device by setting the robotic arm assembly 30 to cooperate with the pipeline clamping assembly 40. When the self-advancing tail device is working properly, it effectively replaces the operation mode of manual transportation and installation of pipelines, saves manpower, reduces the labor intensity of workers, improves the pipeline installation efficiency, enables the timely installation of the gas transportation pipeline, air duct and water pipe required for mining work, and thus effectively reduces potential safety hazards; by setting the conveyor belt assembly 20, it realizes the efficient transportation of the materials excavated and cleaned in the roadway, avoids the accumulation of materials on the roadway side, and further avoids the delay of other subsequent operations in the roadway, significantly improves the overall construction efficiency in the roadway, and effectively meets the production needs of rapid tunneling and material transportation; by setting the robotic arm assembly 30 to have a retracted state, it realizes the avoidance of the robotic arm assembly 30 and the pipeline clamping assembly 40 from the roadway side, thus avoiding blocking the roadway side and ensuring smooth passage of personnel; the self-advancing tail pipeline installation device proposed by the utility model can be flexibly applied to various roadways in coal mines, and can realize the roadway processing process of laying pipes while working; the structure of the utility model is simple and the work is reliable, suitable for large-scale popularization and use, and can be used in combination with equipment such as underground mine cars and belt conveyors in the future, with comprehensive functions and flexible use characteristics.

[0033] As Figure 1 , Figure 2 and Figure 3 shown, the pipeline clamping assembly 40 includes a clamping turntable 41, a first clamping jaw 42, a second clamping jaw 43, a first opening and closing oil cylinder 44 and a second opening and closing oil cylinder 45; the clamping turntable 41 is rotatably arranged on the robotic arm assembly 30; the first clamping jaw 42 and the second clamping jaw 43 are respectively rotatably arranged on the clamping turntable 41; the first clamping jaw 42 and the second clamping jaw 43 are arranged at intervals; both ends of the first opening and closing oil cylinder 44 are respectively connected with the clamping turntable 41 and the first clamping jaw 42 for driving the first clamping jaw 42 to rotate; both ends of the second opening and closing oil cylinder 45 are respectively connected with the clamping turntable 41 and the second clamping jaw 43 for driving the second clamping jaw 43 to rotate; wherein, the pipeline clamping assembly 40 has a clamping state and a releasing state. In the clamping state, the first clamping jaw 42 and the second clamping jaw 43 clamp the pipeline to be installed to drive the pipeline to be installed to move; in the releasing state, the first clamping jaw 42 and the second clamping jaw 43 are disengaged from the pipeline to be installed.

[0034] Such a setting not only ensures the working reliability of the pipeline clamping assembly 40, but also simplifies the structure of the pipeline clamping assembly 40, which is convenient for subsequent installation and maintenance; in addition, it is also convenient to flexibly select the first clamping jaw 42 and the second clamping jaw 43 with different sizes to cooperate according to the type and size of the pipeline to be installed.

[0035] As Figure 1 ,Figure 2 , Figure 3 and Figure 4 As shown in Figure 4 , the self - moving shearer tail pipe installation device further includes a rotating platform 50. The robotic arm assembly 30 is arranged on the rotating platform 50. The rotating platform 50 is rotatably arranged at one end of the self - moving support 10 away from the mining face of the roadway, and is used to drive the robotic arm assembly 30 to rotate.

[0036] By setting the rotating platform 50, the rotational freedom of the robotic arm assembly 30 is ensured. Furthermore, the robotic arm assembly 30 can be flexibly rotated to the roadway rib positions on both sides of the self - moving support 10, facilitating the efficient assembly of the pipes to be installed subsequently.

[0037] As Figure 1 and Figure 3 shown, the robotic arm assembly 30 includes a first arm 31, a sliding frame structure 32, a second arm 33, a first telescopic cylinder 34, and a second telescopic cylinder 35. The first arm 31 is rotatably arranged on the rotating platform 50. The two ends of the first telescopic cylinder 34 are respectively connected to the first arm 31 and the rotating platform 50 to drive the first arm 31 to swing up and down relative to the rotating platform 50. The sliding frame structure 32 is slidably arranged on the first arm 31 along the extension direction of the first arm 31. The second arm 33 is rotatably arranged on the sliding frame structure 32. The two ends of the second telescopic cylinder 35 are respectively connected to the second arm 33 and the sliding frame structure 32 to drive the second arm 33 to swing relative to the sliding frame structure 32. Among them, by adjusting the sliding distance of the sliding frame structure 32 on the first arm 31, the distance between the second arm 33 and the first arm 31 is adjusted.

[0038] Such a setting not only ensures the working reliability of the robotic arm assembly 30, but also simplifies the structure of the robotic arm assembly 30. By setting the sliding frame structure 32 to be slidably arranged on the first arm 31 along the extension direction of the first arm 31, the movement range of the second arm 33 is further expanded. Under the condition that the moving distance of the self - moving support 10 is limited, the installation range of the pipes to be installed is effectively improved.

[0039] As Figure 1 and Figure 3 shown, the sliding frame structure 32 includes a sliding frame body 321 and a sliding drive oil cylinder. The sliding frame body 321 is in sliding and guiding cooperation with the first arm 31. The two ends of the sliding drive oil cylinder are respectively connected to the first arm 31 and the sliding frame body 321 and are used to drive the sliding frame body 321 to slide. Among them, the second arm 33 is rotatably arranged on the sliding frame body 321, and the second telescopic cylinder 35 is connected to the sliding frame body 321.

[0040] As Figure 1 and Figure 3As shown, the robotic arm assembly 30 further includes a third arm 36 and a third telescopic cylinder 37. The third arm 36 is rotatably arranged on the second arm 33. Two ends of the third telescopic cylinder 37 are respectively connected to the third arm 36 and the second arm 33 to drive the third arm 36 to swing relative to the second arm 33. The pipeline clamping assembly 40 is movably arranged on the third arm 36. The robotic arm assembly 30 further includes a fourth telescopic cylinder 38. Two ends of the fourth telescopic cylinder 38 are respectively connected to the third arm 36 and the pipeline clamping assembly 40 to drive the pipeline clamping assembly 40 to swing relative to the third arm 36.

[0041] By providing the third telescopic cylinder 37 and the fourth telescopic cylinder 38, the degrees of freedom of movement of the third arm 36 and the pipeline clamping assembly 40 are effectively increased, and thus the installation flexibility of the pipeline to be installed can be increased.

[0042] In a specific embodiment of the present utility model, the first telescopic cylinder 34, the second telescopic cylinder 35, the third telescopic cylinder 37, and the fourth telescopic cylinder 38 can all adopt electric drive hydraulic cylinders to facilitate the precise control of their operations.

[0043] As Figure 2 、 Figure 3 and Figure 4 shown, the self - propelled tail pipeline installation device further includes a bearing and fixing frame 60 and an operating platform 70. The operating platform 70 is arranged on the bearing and fixing frame 60. The operating platform 70 is electrically connected to at least one of the robotic arm assembly 30, the pipeline clamping assembly 40, the self - propelled support 10, and the conveyor belt assembly 20 to control its operation. The bearing and fixing frame 60 is arranged on the self - propelled support 10 and is located above the conveyor belt assembly 20.

[0044] By arranging the bearing and fixing frame 60 above the conveyor belt assembly 20, it not only avoids the falling rocks on the roadway roof from directly falling on the conveyor belt assembly 20, but also effectively bears the operating platform 70. Furthermore, the staff can control the operation of at least one of the robotic arm assembly 30, the pipeline clamping assembly 40, the self - propelled support 10, and the conveyor belt assembly 20 by operating the operating platform 70.

[0045] Specifically, the robotic arm assembly 30 is movably arranged on the bearing and fixing frame 60. The positions of the bearing and fixing frame 60 and / or the operating platform 70 avoid the movement trajectories of the robotic arm assembly 30 and the pipeline clamping assembly 40, so that the robotic arm assembly 30 and the pipeline clamping assembly 40 do not collide with the bearing and fixing frame 60 and / or the operating platform 70.

[0046] By arranging the positions of the bearing and fixing frame 60 and / or the operating platform 70 to avoid the movement trajectories of the robotic arm assembly 30 and the pipeline clamping assembly 40, the robotic arm assembly 30 and the pipeline clamping assembly 40 will not collide with the bearing and fixing frame 60 and / or the operating platform 70 during operation. Furthermore, the operation safety is protected and the occurrence of safety accidents is reduced.

[0047] In a specific embodiment of the present utility model, the robotic arm assembly 30 has multiple degrees of freedom and can rotate horizontally through the rotating platform 50, ensuring the installation of the pipeline to be installed on the left and right sides of the roadway; as Figure 3 shown, the robotic arm assembly 30 bends to the ground to grasp the pipeline to be installed, as Figure 1 shown, the robotic arm assembly 30 raises its head by 90° (i.e., raises the pipeline clamping assembly 40 and controls the pipeline to be installed horizontally) to install the pipeline to be installed in a relatively parallel state on the roadway side; the front end of the self-propelled support 10 and the conveyor belt assembly 20 (i.e., the end close to the mining face of the roadway) can cooperate with the transfer unit to continuously and directionally transport materials such as coal on the transfer unit; the maximum rotation angle of the rotating platform 50 is 360°, maximizing the rotation range of the pipeline clamping assembly 40.

[0048] Optionally, the self-propelled tail pipeline installation device further includes a pipeline transport vehicle for transporting the pipeline to be installed within the movement range of the pipeline clamping assembly 40.

[0049] By setting the pipeline transport vehicle, it effectively replaces manual labor to transport the pipeline to be installed within the movement range of the pipeline clamping assembly 40, thereby realizing the efficient installation of the pipeline to be installed.

[0050] Optionally, the conveyor belt assembly 20 includes a circulating conveyor belt, which is arranged in the middle of the self-propelled support 10 and moves in a cycle along the extending direction of the self-propelled support 10.

[0051] By setting the conveyor belt, it realizes the efficient transport of the materials excavated and cleaned in the roadway, avoids the accumulation of materials on the roadway side, and further avoids the delay of subsequent other operations in the roadway, significantly improving the overall construction efficiency in the roadway and effectively meeting the production needs of rapid tunneling and transporting materials.

[0052] Now, the specific working process and principle of the present utility model are described in detail as follows:

[0053] The self-propelled tail pipeline installation device proposed by the present utility model can cooperate with the existing transfer unit to continuously transport materials such as coal on the transfer unit; to install pipelines on both sides of the roadway in front of and behind the self-propelled tail in a timely manner, a robotic arm assembly 30 and a pipeline clamping assembly 40 are provided at the tail of the self-propelled tail to install pipelines with different functions on both sides of the roadway in front of and behind the self-propelled tail; while the self-propelled tail is transporting materials such as coal, it does not affect the installation of pipelines by the robotic arm assembly 30 on both sides of the roadway in front of and behind the self-propelled tail, enabling the timely installation of various pipelines to ensure safe operation; the robotic arm assembly 30 has multiple degrees of freedom and can rotate horizontally through the rotating platform 50, ensuring the installation of the pipeline to be installed on the left and right sides of the roadway; as Figure 3As shown, the robotic arm assembly 30 bends to the ground to grasp the pipeline to be installed, such as Figure 1 As shown, the robotic arm assembly 30 raises its head by 90° (i.e., raises the pipeline clamping assembly 40 and controls the pipeline to be installed horizontally) to install the pipeline to be installed on the roadway side in a relatively parallel state; the front ends of the self-advancing support 10 and the conveyor belt assembly 20 (i.e., the end close to the mining face of the roadway) can cooperate with the transfer unit to continuously and directionally transport materials such as coal on the transfer unit; the maximum rotation angle of the rotating platform 50 is 360°, so as to maximize the rotation range of the pipeline clamping assembly 40; as Figure 2 As shown, the first arm 31, the second arm 33 and the third arm 36 cooperate with each other to put the robotic arm assembly 30 in a retracted state; when the pipeline to be installed is not parallel to the ground, the clamping turntable 41 can be driven to rotate the first clamping jaw 42 and the second clamping jaw 43, so as to adjust the actual installation position of the pipeline. Through the above-mentioned multiple-degree-of-freedom adjustment, the efficiency and safety of pipeline installation on both sides of the self-advancing tail of the roadway are ensured.

[0054] In summary, the present utility model provides a self-advancing tail pipeline installation device. By setting the robotic arm assembly 30 to cooperate with the pipeline clamping assembly 40, when the self-advancing tail device is working normally, the assembly of the pipeline to be installed is realized at the position of the roadway side beside the self-advancing support 10, effectively replacing the manual transportation and installation of the pipeline, saving manpower and reducing the labor intensity of the staff, and improving the pipeline installation efficiency, so that the gas transportation pipe, air duct and water pipe required for mining work can be installed in time, thereby effectively reducing potential safety hazards; by setting the conveyor belt assembly 20, the efficient transportation of the materials excavated and cleaned in the roadway is realized, avoiding the accumulation of materials on the roadway side, and then avoiding the delay of other subsequent operations in the roadway, significantly improving the overall construction efficiency in the roadway, and effectively meeting the production needs of rapid tunneling and transporting materials; by setting the robotic arm assembly 30 to have a retracted state, the robotic arm assembly 30 and the pipeline clamping assembly 40 are avoided from blocking the roadway side, thereby avoiding blocking the roadway side and ensuring smooth passage of personnel; the self-advancing tail pipeline installation device proposed by the present utility model can be flexibly applied to various roadways in coal mines, and can realize the roadway processing process of laying pipes while working; the structure of the present utility model is simple and the work is reliable, suitable for large-scale popularization and use, and can be used in combination with equipment such as underground mine cars and belt conveyors in the future, with comprehensive functions and flexible use.

[0055] 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, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0056] Unless otherwise specifically stated, the relative arrangements of the components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, further discussion thereof is not required in subsequent drawings.

[0057] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. are usually based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the protection scope of the present invention; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0058] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both orientations of "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations of the spatial relative descriptions used herein will be made accordingly.

[0059] In addition, it should be noted that the use of terms such as "first", "second" etc. to define components is only for the convenience of differentiating the corresponding components. Without additional statements, the above terms have no special meanings, and thus should not be construed as limiting the protection scope of the present utility model.

[0060] The above are only the preferred embodiments of the present utility model, and are not used to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A self-moving tail pipe installation 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 pipeline gripping assembly (40) is arranged on the mechanical arm assembly (30) so as to move along with the mechanical arm assembly (30); The robot arm assembly (30) is used to drive the pipeline clamping assembly (40) to transport the pipeline to be installed to the side of the tunnel located on the side of the self-moving bracket (10), and drive the pipeline to be installed to rise and fall to install the pipeline; the robot arm assembly (30) has a storage state, in which the robot arm assembly (30) and the pipeline clamping assembly (40) avoid the side of the tunnel.

2. The self-moving machine tail pipeline installation device according to claim 1 is characterized in that: The pipeline clamping assembly (40) comprises a clamping turntable (41), a first clamping jaw (42), a second clamping jaw (43), a first opening and closing oil cylinder (44) and a second opening and closing oil cylinder (45); the clamping turntable (41) is rotatably arranged on the mechanical arm assembly (30); the first clamping jaw (42) and the second clamping jaw (43) are respectively rotatably arranged on the clamping turntable (41); the first clamping jaw (42) and the second clamping jaw (43) are arranged at intervals; two ends of the first opening and closing oil cylinder (44) are respectively connected to the clamping turntable (41) and the first clamping jaw (42); The first clamp (42) and the second clamp (43) are connected to each other for driving the first clamp (42) to rotate; the two ends of the second opening and closing cylinder (45) are respectively connected to the clamping turntable (41) and the second clamp (43) for driving the second clamp (43) to rotate; wherein the pipeline clamping assembly (40) has a clamping state and a loosening state, in which the first clamp (42) and the second clamp (43) clamp the pipeline to be installed to drive the pipeline to be installed to move; in the loosening state, the first clamp (42) and the second clamp (43) are disengaged from the pipeline to be installed.

3. The self-moving machine tail pipeline installation device according to claim 1 is characterized in that: The self-moving machine tail pipeline installation device also includes a rotating platform (50), and the mechanical arm assembly (30) is arranged on the rotating platform (50). The rotating platform (50) is rotatably arranged at one end of the self-moving support (10) away from the mining surface of the tunnel, and is used to drive the mechanical arm assembly (30) to rotate.

4. The self-moving machine tail pipeline installation device according to claim 3 is characterized in that: The mechanical arm assembly (30) comprises a first arm (31), a sliding frame structure (32), a second arm (33), a first telescopic cylinder (34) and a second telescopic cylinder (35); the first arm (31) is rotatably arranged on the rotating platform (50); two ends of the first telescopic cylinder (34) are respectively connected to the first arm (31) and the rotating platform (50) to drive the first arm (31) to swing up and down relative to the rotating platform (50); the sliding frame structure (32) is slidably arranged on the first arm (31) along the extension direction of the first arm (31); the second arm (33) is rotatably arranged on the sliding frame structure (32); two ends of the second telescopic cylinder (35) are respectively connected to the second arm (33) and the sliding frame structure (32) to drive the second arm (33) to swing relative to the sliding frame structure (32); wherein, by adjusting the sliding distance of the sliding frame structure (32) on the first arm (31), the distance of the second arm (33) relative to the first arm (31) is adjusted.

5. The self-moving machine tail pipeline installation device according to claim 4 is characterized in that: The sliding frame structure (32) comprises a sliding frame body (321) and a sliding drive cylinder. The sliding frame body (321) is slidingly guided with the first arm (31). Two ends of the sliding drive cylinder are respectively connected to the first arm (31) and the sliding frame body (321) for driving the sliding frame body (321) to slide. The second arm (33) is rotatably arranged on the sliding frame body (321), and the second telescopic cylinder (35) is connected to the sliding frame body (321).

6. The self-moving machine tail pipeline installation device according to claim 4, characterized in that: The mechanical arm assembly (30) further comprises a third arm (36) and a third telescopic cylinder (37); the third arm (36) is rotatably arranged on the second arm (33); two ends of the third telescopic cylinder (37) are respectively connected to the third arm (36) and the second arm (33) to drive the third arm (36) to swing relative to the second arm (33); the pipeline clamping assembly (40) is movably arranged on the third arm (36); The mechanical arm assembly (30) further comprises a fourth telescopic cylinder (38), the two ends of which are respectively connected to the third arm (36) and the pipeline clamping assembly (40) to drive the pipeline clamping assembly (40) to swing relative to the third arm (36).

7. The self-moving machine tail pipeline installation device according to claim 1, characterized in that: The self-moving machine tail pipeline installation device also includes a load-bearing fixed frame (60) and an operating table (70), wherein the operating table (70) is arranged on the load-bearing fixed frame (60), and the operating table (70) is electrically connected to at least one of the mechanical arm assembly (30), the pipeline clamping assembly (40), the self-moving bracket (10) and the transport belt assembly (20) to control the operation thereof; The load-bearing fixed frame (60) is arranged on the self-moving support (10) and is located above the transport belt assembly (20).

8. The self-moving machine tail pipeline installation device according to claim 7, characterized in that: The mechanical arm assembly (30) is movably arranged on the supporting fixed frame (60); the positions of the supporting fixed frame (60) and / or the operating table (70) avoid the movement tracks of the mechanical arm assembly (30) and the pipeline clamping assembly (40), so that the mechanical arm assembly (30) and the pipeline clamping assembly (40) do not collide with the supporting fixed frame (60) and / or the operating table (70).

9. The self-moving machine tail pipeline installation device according to claim 1, characterized in that: The self-moving tail pipeline installation device also includes a pipeline transport vehicle, and the pipeline transport vehicle is used to transport the pipeline to be installed to the movement range of the pipeline clamping assembly (40).

10. The self-moving machine tail pipeline installation device according to claim 1, characterized in that: The transport belt assembly (20) comprises a cyclically rotating transport belt, which is arranged in the middle of the self-moving support (10) and cyclically moves along the extension direction of the self-moving support (10).

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