Coal mine underground pipeline gripping device

Abstract

The utility model provides a coal mine underground pipeline gripping device, which is characterized in that a mechanical arm part is connected above a first slewing mechanism, the mechanical arm part comprises a first section arm, a first jacking device, a second section arm and a second jacking device, one end of the first section arm is hinged with a connecting seat above the first slewing mechanism, and the other end of the first section arm is hinged with a second section arm; one end of the first jacking device is hinged to the connecting seat, and the other end of the first jacking device is hinged to the first knuckle arm; the second section arm is in sliding connection with the first section arm, one end of the second jacking device is hinged to the first section arm, the other end of the second jacking device is hinged to the second section arm, and the second jacking device drives the second section arm to slide in the length direction of the first section arm; the position of the gripper part is adjusted through the mechanical arm part, and the pipeline is gripped through the gripper part. On the basis of an original structure, the lifting function is added to the mechanical arm part, the operation range is wider, the overall structural design is compact, multi-degree-of-freedom operation is achieved, the operation is more flexible, and therefore the operation efficiency is effectively improved.

Description

Technical Field

[0001] The utility model relates to a pipeline grasping device, in particular to a pipeline grasping device for underground coal mines. Background Art

[0002] At present, China is rich in coal resources. There are gaps in fully mechanized mining equipment and coal mining technology due to the shortage of energy. With the accelerating pace of coal mining, higher requirements are put forward for the operation efficiency of roadways.

[0003] On the premise of ensuring operation efficiency, safety is also an issue that cannot be ignored in coal mine operations. The timely installation of some pipelines in underground coal mines, such as gas drainage pipes, water pipes, air pipes, etc., is an extremely important link in ensuring operation efficiency and underground safety. However, the pipeline grasping devices currently used underground have a bulky structure, few degrees of freedom of movement, and low flexibility, resulting in low installation efficiency of underground coal mine pipelines and seriously affecting the overall operation efficiency. Summary of the Utility Model

[0004] The purpose of the utility model is to address the defects in the above-mentioned technologies by providing a pipeline grasping device for underground coal mines. On the basis of the original structure of the robotic arm part, a lifting function is added, the operation range is wider, and the overall structure is designed compactly, with multi-degree-of-freedom operation and greater flexibility, thereby effectively improving the operation efficiency.

[0005] The purpose of the utility model is achieved as follows: It includes:

[0006] A first slewing mechanism, which is fixedly arranged. A connecting part is provided below the first slewing mechanism and is fixedly connected to the working platform through the connecting part. A connecting seat is provided above the first slewing mechanism;

[0007] A robotic arm part, which includes a first arm, a first lifting device, a second arm, and a second lifting device. One end of the first arm is hinged to the connecting seat above the first slewing mechanism. One end of the first lifting device is hinged to the connecting seat and the other end is hinged to the first arm; The second arm is slidably connected to the first arm. One end of the second lifting device is hinged to the first arm and the other end is hinged to the second arm. The second lifting device drives the second arm to slide along the length direction of the first arm;

[0008] A gripper part, which is connected to the other end of the robotic arm part. The position of the gripper part is adjusted through the robotic arm part, and the pipeline is grasped through the gripper part.

[0009] In the above structure, the robotic arm part further includes a third arm and a fourth arm. One end of the third arm is hinged to the second arm, and the other end is hinged to the fourth arm. The third arm is equipped with a third lifting device. One end of the third lifting device is hinged to the second arm, and the other end is hinged to the third arm. The fourth arm is equipped with a fourth lifting device. One end of the fourth lifting device is hinged to the third arm, and the other end is hinged to the fourth arm.

[0010] In the above structure, a slewing frame is hinged to the end of the fourth arm. A fifth lifting device is further provided between the slewing frame and the fourth arm. One end of the fifth lifting device is hinged to the fourth arm, and the other end is hinged to the slewing frame. The slewing frame is driven to rotate along its hinge point with the fourth arm by the fifth lifting device.

[0011] In the above structure, the slewing frame is further connected with a second slewing mechanism. A gripper part is connected below the second slewing mechanism. The gripper part is driven to rotate by the second slewing mechanism.

[0012] In the above structure, the gripper part includes a rotating frame, a base, a sixth lifting device and a mechanical claw. The rotating frame is fixedly connected to the second slewing mechanism by bolts. A hanging plate is provided on each side of the rotating frame. The base is connected to the hanging plate by a pin shaft. A mechanical claw is connected to each side of the base. The opening and closing of the mechanical claw is controlled by the sixth lifting device. One end of the sixth lifting device is hinged to the mechanical claw, and the other end is hinged to the base or the rotating frame.

[0013] In the above structure, the mechanical claw includes a connecting bridge, a sleeve frame and a finger sleeve. The two sides of the connecting bridge are respectively hinged to the base and the sleeve frame and fixed by a pin shaft. The sleeve frame is provided with a connecting post. A pin hole is provided on the connecting post. The finger sleeve is sleeved on the connecting post and fixed by a pin shaft.

[0014] In the above structure, a searchlight is provided on each side of the robotic arm part.

[0015] In the above structure, the first arm is provided with a first sliding plate, and the second arm is provided with a second sliding plate. An L-shaped wing plate is provided on each side of the second sliding plate. A sliding channel is formed by the second sliding plate and the two L-shaped wing plates, so that the second arm slides on the first arm along the sliding channel.

[0016] Advantages of the present utility model: A pipe grabbing device for underground coal mines provided by this application is installed on a working platform. Through the first slewing mechanism, 360° grabbing, swinging, positioning and placing can be achieved, enabling the entire pipe grabbing manipulator for underground coal mines to rotate, allowing the multi-functional operation machine to be hoisted as a whole with the smallest possible body width. At the same time, the second boom can be lifted and extended, thus improving the adaptability to the roadway width and being able to quickly and accurately find the position. The mechanical claw structure adopts a finger sleeve form for quick replacement installation and is fixed by a pin shaft, which is convenient and fast, greatly improving the construction operation efficiency. Brief Description of the Drawings

[0017] Figure 1 is a schematic three-dimensional structure diagram of the grabbing device of the present utility model;

[0018] Figure 2 is a schematic structure diagram of the grabbing device of the present utility model;

[0019] Figure 3 is a schematic cross-sectional structure diagram of the grabbing device of the present utility model;

[0020] Figure 4 is Figure 3 the sectional view taken along line B-B in Detailed Embodiment

[0021] This application provides a pipe grabbing device for underground coal mines. Through the first slewing mechanism, 360° grabbing, swinging, positioning and placing can be achieved, enabling the entire pipe grabbing manipulator for underground coal mines to rotate, allowing the multi-functional operation machine to be hoisted as a whole with the smallest possible body width. At the same time, the second boom can be lifted and extended, thus improving the adaptability to the roadway width and being able to quickly and accurately find the position. It solves the problems in the prior art that the pipe grabbing device has a heavy structure, few degrees of freedom of movement, low flexibility, resulting in low installation efficiency of underground coal mine pipes.

[0022] The following further describes this embodiment with reference to the drawings:

[0023] By Figure 1 — Figure 4It can be seen that the present application includes a first slewing mechanism 1, which is fixedly arranged. A connecting part 110 is provided below the first slewing mechanism 1 and is fixedly connected to the working platform through the connecting part 110. A connecting seat 120 is provided above the first slewing mechanism 1. A robotic arm part 2 is also provided. The robotic arm part 2 includes a first arm 210, a first lifting device 310, a second arm 220, and a second lifting device 320. One end of the first arm 210 is hinged to the connecting seat 120 above the first slewing mechanism 1. One end of the first lifting device 310 is hinged to the connecting seat 120 and the other end is hinged to the first arm 210. The second arm 220 is slidably connected to the first arm 210. One end of the second lifting device 320 is hinged to the first arm 210 and the other end is hinged to the second arm 220. The second lifting device 320 drives the second arm 220 to slide along the length direction of the first arm 210. A gripper part 4 is provided. The gripper part 4 is connected to the other end of the robotic arm part 2. The position of the gripper part 4 is adjusted by the robotic arm part 2, and the pipeline is grabbed by the gripper part 4.

[0024] In this embodiment, the second arm 220 is slidably connected to the first arm 210, changing the original robotic arm structure, realizing the lifting and telescoping functions, thereby improving the adaptability to the roadway width, having a wider grasping range and strong flexibility.

[0025] On the basis of the above implementation manner, preferably, the robotic arm part 2 further includes a third arm 230 and a fourth arm 240. One end of the third arm 230 is hinged to the second arm 220 and the other end is hinged to the fourth arm 240. The third arm 230 is equipped with a third lifting device 330. One end of the third lifting device 330 is hinged to the second arm 220 and the other end is hinged to the third arm 230. The fourth arm 240 is equipped with a fourth lifting device 340. One end of the fourth lifting device 340 is hinged to the third arm 230 and the other end is hinged to the fourth arm 240.

[0026] On the basis of the above implementation manner, preferably, the end of the fourth arm 240 is hinged to a slewing frame 250. A fifth lifting device 350 is also provided between the slewing frame 250 and the fourth arm 240. One end of the fifth lifting device 350 is hinged to the fourth arm 240 and the other end is hinged to the slewing frame 250. The fifth lifting device 350 drives the slewing frame 250 to rotate along its hinge point with the fourth arm 240. The slewing frame 250 is also connected to a second slewing mechanism 5. The second slewing mechanism 5 is connected to the gripper part 4 below, and the gripper part 4 is driven to rotate by the second slewing mechanism 5. In this embodiment, two sets of slewing mechanisms and four robotic arms are included, realizing multi-degree-of-freedom movement, having a wider working range, flexible grasping angles, and changing the disadvantages of the previous heavy structure of the grasping device.

[0027] On the basis of the above embodiment, preferably, the gripper part 4 includes a rotating frame 410, a base 420, a sixth lifting device 430 and a mechanical claw 440; the rotating frame 410 is fixedly connected to the second rotary mechanism 5 by bolts, a hanging plate 411 is respectively provided on both sides of the rotating frame 410, the base 420 is connected to the hanging plate 411 by a pin, a mechanical claw 440 is respectively connected on both sides of the base 420, and the opening and closing of the mechanical claw 440 is controlled by the sixth lifting device 430, one end of the sixth lifting device 430 is hinged to the mechanical claw 440, and the other end is hinged to the base 420 or the rotating frame 410. The mechanical claw 440 includes a connecting bridge 441, a sleeve 442 and a finger sleeve 443; the two sides of the connecting bridge 441 are respectively hinged to the base 420 and the sleeve 442, and fixed by a pin; the sleeve 442 is provided with a connecting pile, and a pin hole is provided on the connecting pile, and the finger sleeve 443 is fixed by a pin 444 after being sleeved with the connecting pile. In this embodiment, the finger sleeve 443 determines the range of diameters of the grasped pipeline. The finger sleeve 443 and the sleeve frame 442 are quickly connected by a pin shaft, and can also be quickly disassembled and replaced to adapt to the use of pipelines with different diameters.

[0028] Based on the above implementation, preferably, a searchlight 6 is provided on both sides of the mechanical arm 2. Since the light in the mine is not good, the mechanical arm 2 and the gripper 4 may block the light in the mine while in operation, affecting the accuracy of the grasping. After being equipped with the searchlight 6, the searchlight 6 can provide good lighting during the grasping process to ensure the smooth progress of the grasping work. In this embodiment, the searchlight 6 is installed on both sides of the fourth arm 240, because the fourth arm 240 is close to the gripper 4, and when the gripper 4 rotates with the second assembly mechanism 5, the fourth arm 240 can be fixed to prevent excessive shaking of light from affecting the construction.

[0029] Based on the above embodiment, preferably, the first section arm 210 is provided with a first slide plate 211, the second section arm 220 is provided with a second slide plate 221, and an L-shaped wing plate 222 is provided on both sides of the second slide plate 221, and a sliding channel is formed by the second slide plate 221 and the two L-shaped wing plates 222, so that the second section arm 220 slides on the first section arm 210 along the sliding channel. This embodiment provides a specific form of sliding connection between the second section arm 220 and the first section arm 210, which has a simple structure and low manufacturing cost.

[0030] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0031] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

Claims

1. A coal mine underground pipeline grabbing device, characterized in that: include: A first rotating mechanism, wherein the first rotating mechanism is fixedly arranged, a connecting portion is provided below the first rotating mechanism, and the first rotating mechanism is fixedly connected to the working platform through the connecting portion, and a connecting seat is provided above the first rotating mechanism; A mechanical arm part, the mechanical arm part comprises a first section arm, a first lifting device, a second section arm, and a second lifting device, one end of the first section arm is hinged to the connecting seat above the first rotary mechanism, one end of the first lifting device is hinged to the connecting seat, and the other end is hinged to the first section arm; the second section arm is slidably connected to the first section arm, one end of the second lifting device is hinged to the first section arm, and the other end is hinged to the second section arm, and the second section arm is driven to slide along the length direction of the first section arm by the second lifting device; The gripper part is connected to the other end of the mechanical arm part, and the position of the gripper part is adjusted by the mechanical arm part, and the pipeline is grasped by the gripper part.

2. A coal mine underground pipeline grabbing device according to claim 1, characterized in that: The mechanical arm part also includes a third arm and a fourth arm, one end of the third arm is hinged to the second arm, and the other end is hinged to the fourth arm; The third boom is equipped with a third lifting device, one end of the third lifting device is hinged to the second boom, and the other end is hinged to the third boom; The fourth boom is equipped with a fourth lifting device, one end of the fourth lifting device is hinged to the third boom, and the other end is hinged to the fourth boom.

3. A coal mine underground pipeline grabbing device according to claim 2, characterized in that: The end of the fourth arm is hinged to the rotating frame, and a fifth lifting device is provided between the rotating frame and the fourth arm. One end of the fifth lifting device is hinged to the fourth arm, and the other end is hinged to the rotating frame. The fifth lifting device drives the rotating frame to rotate along the hinge point between the fifth lifting device and the fourth arm.

4. A coal mine underground pipeline grabbing device according to claim 3, characterized in that: The rotating frame is also connected to a second rotating mechanism, and a gripping part is connected to the lower part of the second rotating mechanism, and the gripping part is driven to rotate by the second rotating mechanism.

5. The underground coal mine pipeline grabbing device according to claim 4, characterized in that: The gripper portion includes a rotating frame, a base, a sixth lifting device and a mechanical claw; The rotating frame is fixedly connected to the second rotating mechanism by bolts, a hanging plate is respectively provided on both sides of the rotating frame, the base is connected to the hanging plate by a pin shaft, a mechanical claw is respectively connected to both sides of the base, and the opening and closing of the mechanical claw is controlled by a sixth jacking device, one end of the sixth jacking device is hinged to the mechanical claw, and the other end is hinged to the base or the rotating frame.

6. The underground coal mine pipeline grabbing device according to claim 5, characterized in that: The mechanical claw comprises a connecting bridge, a sleeve frame and a finger sleeve; The two sides of the connecting bridge are respectively hinged to the base and the sleeve frame and fixed by pins; The sleeve frame is provided with a connecting pile, and the connecting pile is provided with a pin hole. The finger sleeve is sleeved with the connecting pile and fixed by a pin shaft.

7. The underground coal mine pipeline grabbing device according to claim 1, characterized in that: A searchlight is respectively provided on both sides of the mechanical arm.

8. The underground coal mine pipeline grabbing device according to claim 1, characterized in that: The first arm section is provided with a first slide plate, the second arm section is provided with a second slide plate, and an L-shaped wing plate is provided on both sides of the second slide plate. A sliding channel is formed by the second slide plate and the two L-shaped wing plates, so that the second arm section slides on the first arm section along the sliding channel.

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