Slag removal operation system

Abstract

The utility model provides a slag removal operation system, which relates to the technical field of rail transit, and comprises an operation device, which comprises a mechanical gripper, a first main transportation structure and a first belt throwing structure arranged at the tail end of the first main transportation structure, and materials are grabbed by the mechanical gripper, moved to the first main transportation structure, transported by the first main transportation structure, and discharged by the first main transportation structure; the first throwing belt structure is used for throwing; the conveying device comprises a second main conveying structure and a second throwing belt structure, and the second main conveying structure is used for receiving the materials thrown by the first throwing belt structure; the first throwing belt structure comprises a first rotating mechanism, a pitching mechanism, a first translation mechanism and a first throwing mechanism, the pitching mechanism is arranged on the first rotating mechanism, the first translation mechanism is arranged on the pitching mechanism, the first throwing mechanism is arranged on the first translation mechanism, and the first throwing belt structure has rotating and moving functions; the relative position of the tail end of the first belt throwing structure and the second main conveying structure can be controlled, and stacking on the second main conveying structure is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of rail transit, and particularly relates to a slag cleaning operation system. Background Art

[0002] After the overhaul or major repair of railways, subways, etc., a large amount of waste ballast will be generated, and the waste ballast needs to be cleaned after the repair and inspection to avoid interfering with the subsequent train operation. At present, the collection of waste ballast mainly adopts manual collection, and the collected waste ballast is transported to the transport vehicle through a conveyor belt.

[0003] Currently, most transport vehicles are trucks. In environments such as subways and tunnels, due to the narrow space, it is difficult for trucks to turn in the space. Therefore, trucks can only drive in or out in reverse, which is prone to accidents. At the same time, the tires of trucks are also likely to damage the roadbed or railway tracks.

[0004] In addition, when transferring the waste ballast to the transport vehicle, due to the limited space, the truck can only move along the length direction of the railway track and is difficult to move in the width direction of the railway track. This also causes the conveyor belt to form a conical pile of materials when transporting the waste ballast to the truck. To increase the load capacity of the transport vehicle, it is necessary to level the pile of materials with the help of manual labor. This makes it inconvenient for workers to operate in a narrow space and puts workers at great risk.

[0005] Based on the above-mentioned drawbacks, the present application provides a slag cleaning operation system. Summary of the Utility Model

[0006] The utility model provides a slag cleaning operation system, and its purpose is to solve the problem that the waste ballast needs to be leveled when being transported from the conveyor belt to the transport vehicle.

[0007] To achieve the above purpose, an embodiment of the utility model provides a slag cleaning operation system, including:

[0008] An operation device, including a mechanical gripper, a first main transportation structure, and a first throwing belt structure arranged at the end of the first main transportation structure. The material is grabbed by the mechanical gripper, transported by the first main transportation structure, and thrown by the first throwing belt structure;

[0009] A transportation device, including a second main transportation structure and a second throwing belt structure arranged at the end of the second main transportation structure. The second main transportation structure is used to receive the material thrown by the first throwing belt structure;

[0010] The first throwing belt structure includes a first rotating mechanism, a pitching mechanism, a first translation mechanism, and a first throwing mechanism. The pitching mechanism is arranged on the first rotating mechanism and rotates driven by the first rotating mechanism. The first translation mechanism is arranged on the pitching mechanism, and the first translation mechanism changes the included angle between the first translation mechanism and the first rotating mechanism driven by the pitching mechanism. The first throwing mechanism is arranged on the first translation mechanism and moves relative to the first translation mechanism driven by the first translation mechanism.

[0011] Preferably, the second throwing belt structure includes a second rotating mechanism, a second translation mechanism, and a second throwing mechanism. The second translation mechanism is arranged on the second rotating mechanism and rotates around the second rotating mechanism. The second throwing mechanism is arranged on the second translation mechanism and moves relative to the second translation mechanism.

[0012] Preferably, a locking unit is further arranged on the first translation mechanism or the second translation mechanism. The locking unit is used to fix the relative position of the first throwing mechanism relative to the first translation mechanism or the second throwing mechanism relative to the second translation mechanism.

[0013] Preferably, the first translation mechanism includes two relatively arranged first support side walls, and first support guide wheels are arranged on the opposite sides of the two first support side walls facing each other;

[0014] The first throwing mechanism includes two first transport side walls, and first guide grooves are arranged on the sides of the two first transport side walls facing the first support side walls. The first guide grooves are arranged along the length direction of the first support side walls, and the first support guide wheels are arranged in the first guide grooves;

[0015] A first driving unit is further arranged on the first support side wall, and the first driving unit drives the first throwing mechanism to move relative to the first translation mechanism.

[0016] Preferably, the second translation mechanism includes two relatively arranged second support side walls, and second support guide wheels are arranged on the opposite sides of the two second support side walls facing each other;

[0017] The second throwing mechanism includes two second transport side walls, and second guide grooves are arranged on the sides of the two second transport side walls facing the second support side walls. The second guide grooves are arranged along the length direction of the second support side walls, and the second support guide wheels are arranged in the second guide grooves;

[0018] A second driving unit is further arranged on the second support side wall, and the second driving unit drives the second throwing mechanism to move relative to the second translation mechanism.

[0019] Preferably, the first driving unit and the second driving unit have the same structure, including a driving motor and a driving gear arranged on the driving motor. The driving motor is arranged on the first supporting side wall and the second supporting side wall. Tooth teeth are arranged at the lower ends of the first conveying side wall and the second conveying side wall and are engaged with the driving gear below the first throwing mechanism or the second throwing mechanism to drive the first throwing mechanism or the second throwing mechanism to move.

[0020] Preferably, the working device further includes a slag cleaning chassis. The mechanical gripper, the first main conveying structure and the first throwing belt structure are arranged on the slag cleaning chassis. A first bogie for traveling on the railway track is further arranged on the slag cleaning chassis;

[0021] The conveying device further includes a conveying chassis. The second main conveying structure and the second throwing belt structure are arranged on the conveying chassis. A second bogie for traveling on the railway track is further arranged on the conveying chassis;

[0022] A detachable connection unit is arranged between the slag cleaning chassis and the conveying chassis.

[0023] Preferably, a belt body for conveying materials is further arranged between two of the first conveying side walls or two of the second conveying side walls.

[0024] The above solution of the present utility model has the following beneficial effects:

[0025] In the present application, a first throwing belt structure is provided. The first throwing belt structure is arranged above the second main conveying structure. The first throwing belt structure has the functions of rotating and moving, and can control the relative position between the end of the first throwing belt structure and the second main conveying structure, avoiding the formation of a stockpile on the second main conveying structure and avoiding manual intervention. Therefore, it is more suitable for working in a narrow space; at the same time, the first throwing belt structure also has a pitching function, so that the end of the second throwing belt structure is higher than the second main conveying structure, avoiding the height mismatch between the first throwing belt structure and the second main conveying structure.

[0026] Other features and advantages of the present utility model will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is the overall schematic diagram of the present utility model;

[0028] Figure 2 is the schematic diagram of the working device;

[0029] Figure 3 is the schematic diagram of the first throwing belt structure;

[0030] Figure 4Schematic diagram of the first rotation mechanism, the first translation mechanism and the pitching mechanism;

[0031] Figure 5 Schematic diagram of the transportation device;

[0032] Figure 6 Is Figure 5 Enlarged view of part A in (the second support side wall is hidden);

[0033] Figure 7 Is Figure 6 Enlarged view of part B in ;

[0034] Figure 8 Schematic diagram of the mechanical gripper;

[0035] Figure 9 Cross-sectional view of the grab bucket.

[0036]

Description of the reference numerals

[0037] 1 - Working device, 11 - Mechanical gripper, 111 - Fixed base, 112 - Fixed section, 113 - First slewing reducer, 114 - First boom section, 1141 - First folding boom cylinder, 1142 - Link unit, 1143 - Second folding boom cylinder, 1144 - Third folding boom cylinder, 115 - Second boom section, 116 - Third boom section, 117 - Grab bucket, 1171 - Connecting part, 1172 - Gripper body, 1173 - First shaft, 1174 - Opening and closing cylinder, 1175 - Second shaft, 1176 - Third connecting rod, 1177 - Fourth connecting rod, 118 - Second slewing reducer, 12 - First main transportation structure, 13 - First throwing belt structure, 131 - First rotation mechanism, 1311 - First base, 1312 - First slewing bearing, 1313 - First push - pull cylinder, 132 - Pitching mechanism, 1321 - Second base, 1322 - Second push - pull cylinder, 1323 - Hinge seat, 133 - First translation mechanism, 1331 - First support side wall, 1332 - First support guide wheel, 1333 - Third base, 134 - First throwing mechanism, 1341 - First transportation side wall, 1342 - First guide groove, 135 - Locking unit, 1351 - Third push - pull cylinder, 1352 - Limit hole, 1362 - Driving gear, 137 - First base, 14 - Slag - cleaning chassis, 141 - First bogie, 142 - Connecting unit, 2 - Transportation device, 21 - Second main transportation structure, 22 - Second throwing belt structure, 221 - Second rotation mechanism, 222 - Second translation mechanism, 2221 - Second support side wall, 2222 - Second support guide wheel, 2223 - Fifth base, 223 - Second throwing mechanism, 2231 - Second transportation side wall, 2232 - Second guide groove, 224 - Second driving unit, 225 - Second base, 23 - Transportation chassis, 231 - Second bogie. Detailed implementation mode

[0038] To make the technical problems, technical solutions, and advantages to be solved by the present utility model clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0039] As Figures 1-9 shown, an embodiment of the present utility model provides a slag cleaning operation system, including an operation device 1 and a transportation device 2. The operation device 1 is used to grab waste slag and transport the waste slag to the transportation device 2, and the transportation device 2 is used to collect the waste slag and transport it to other places. Specifically, the operation device 1 includes a mechanical gripper 11, a first main transportation structure 12, and a first throwing belt structure 13. The mechanical gripper 11 is arranged at the starting end of the first main transportation structure 12, and the first throwing belt structure 13 is arranged below the end of the first main transportation structure 12. The mechanical gripper 11 is used to grab the waste slag and move the waste slag onto the first main transportation structure 12. Driven by the first main transportation structure 12, the waste slag falls onto the first throwing belt structure 13.

[0040] The transportation device 2 includes a second main transportation structure 21 and a second throwing belt structure 22. The starting end of the second main transportation structure 21 is arranged below the first throwing belt structure 13, and the second throwing belt structure 22 is arranged below the end of the second main transportation structure 21. The waste slag is transported by the first throwing belt structure 13 and falls onto the second main transportation structure 21, and then falls onto the second throwing belt structure 22 under the drive of the second main transportation structure 21.

[0041] Furthermore, the first throwing belt structure 13 includes a first rotating mechanism 131, a pitching mechanism 132, a first translation mechanism 133, and a first throwing mechanism 134. The pitching mechanism 132 is arranged on the first rotating mechanism 131. Driven by the first rotating mechanism 131, the pitching mechanism 132 can rotate around the z-axis. The first translation mechanism 133 is arranged on the pitching mechanism 132. Driven by the pitching mechanism 132, the first translation mechanism 133 can change the angle with the first rotating mechanism 131 and maintain the current angle. The first throwing mechanism 134 is arranged on the first translation mechanism 133, and the first throwing mechanism 134 can move relative to the first translation mechanism 133 under the drive of the first translation mechanism 133.

[0042] In this embodiment, to clearly express the motion states of each component, the plane where the first rotating mechanism 131 is located is defined as the xy plane, and at the same time, the rotation axis of the first rotating mechanism 131 is arranged along the z-axis direction.

[0043] A detachable connection unit 142 is arranged between the operation device 1 and the transportation device 2, and the operation device 1 and the transportation device 2 can be separated. The transportation device 2 loads the waste slag and moves the waste slag to other places.

[0044] In this application, the waste ballast is transported to the first throwing belt structure 13 by the first main transportation structure 12. Since the first throwing belt structure 13 has a rotating function, the end of the first throwing belt structure 13 can rotate around the first rotating mechanism 131. When feeding the second main transportation structure 21, the relative position of the first throwing belt structure 13 relative to the second main transportation structure 21 can be changed by rotation, so that the waste ballast can be paved on the second main transportation structure 21 to avoid forming a material pile. Utilizing the rotating function of the first throwing belt structure 13 can effectively avoid the intervention of workers and reduce the risk of workers.

[0045] Furthermore, the first throwing belt structure 13 also has the functions of translation and pitching. By moving the first throwing mechanism 134 and adjusting the angle and extension length between the first throwing mechanism 134 and the first rotating mechanism 131, it can be ensured that the end of the first throwing mechanism 134 is directly above the starting end of the second main transportation structure 21.

[0046] The second throwing belt structure 22 includes a second rotating mechanism 221, a second translation mechanism 222 and a second throwing mechanism 223. The second translation mechanism 222 is arranged on the second rotating mechanism 221 and rotates around the second rotating mechanism 221. The second throwing mechanism 223 is arranged on the second translation mechanism 222, and the second throwing mechanism 223 moves relative to the second translation mechanism 222.

[0047] Exemplarily, this application provides a first throwing belt structure 13, which includes a first base 137 arranged on the working device 1. The first rotating mechanism 131 is arranged on the first base 137. The first rotating mechanism 131 includes a first base platform 1311 and a first rotating support 1312 arranged on the first base platform 1311. The outer ring of the first rotating support 1312 is fixed on the first base platform 1311. The pitching mechanism 132 includes a second base platform 1321. The second base platform 1321 is arranged above the first base platform 1311 and is fixedly connected to the inner ring of the first rotating support 1312. By arranging the first rotating support 1312 between the first base platform 1311 and the second base platform 1321, it is ensured that the second base platform 1321 can rotate relative to the first base platform 1311. The first rotating mechanism 131 further includes a first push-pull oil cylinder 1313. The fixed end of the first push-pull oil cylinder 1313 is hinged to the first base platform 1311, and the movable end is hinged to the second base platform 1321. The second push-pull oil cylinder 1322 can realize remote and automatic control of the rotation of the second base platform 1321 relative to the first base platform 1311.

[0048] Preferably, there are two first push-pull oil cylinders 1313, and the two first push-pull oil cylinders 1313 are centrosymmetric about the first rotary support 1312. The setting of the two first push-pull oil cylinders 1313 can ensure the more stable rotation of the second base 1321. At the same time, by increasing the number of the first push-pull oil cylinders 1313, the redundant setting is improved, and the service life of the first rotation mechanism 131 is extended.

[0049] Furthermore, the pitching mechanism 132 further includes a second push-pull oil cylinder 1322 and a hinge seat 1323 for being arranged on the second base 1321. The hinge seat 1323 is fixedly arranged on the second base 1321 and is rotatably connected with the first translation mechanism 133. The second push-pull oil cylinder 1322 is rotatably arranged on the second base 1321, and the telescopic end of the second push-pull oil cylinder 1322 is rotatably connected with the first translation mechanism 133. Under the push of the second push-pull oil cylinder 1322, the first translation mechanism 133 can rotate around the hinge seat 1323, change the included angle between the first translation mechanism 133 and the second base 1321, and maintain the stability of this included angle.

[0050] The first translation mechanism 133 includes a third base 1333 and first support side walls 1331 arranged on both sides of the third base 1333. The hinge seat 1323 is rotatably connected with the first support side wall 1331, and the telescopic end of the second push-pull oil cylinder 1322 is rotatably connected with the third base 1333. Under the action of the second push-pull oil cylinder 1322, the included angle between the third base 1333 and the second base 1321 can be changed.

[0051] On the opposite sides of the two first support side walls 1331 facing each other, first support guide wheels 1332 are further arranged. The first throwing mechanism 134 includes two relatively arranged first transport side walls 1341, and the two first transport side walls 1341 are arranged between the two first support side walls 1331. The length directions of the two first transport side walls 1341 are arranged along the x-axis direction. On the side of each first transport side wall 1341 facing the first support side wall 1331, a first guide groove 1342 is arranged, and the first guide groove 1342 is arranged along the x-axis direction. The first support guide wheels 1332 are arranged in the first guide groove 1342.

[0052] Preferably, at least two first support guide wheels 1332 are arranged on each first transport side wall 1341. The multiple first support guide wheels 1332 jack up the first transport side wall 1341 in the first guide groove 1342 and maintain the stability of the first transport side wall 1341.

[0053] A first driving unit is further arranged on the first transport side wall 1341, and the first driving unit drives the first throwing mechanism 134 to move relative to the first translation mechanism 133.

[0054] Exemplarily, in this embodiment, a first driving unit is provided, which includes a driving motor. A driving gear 1362 is provided at the output end of the driving motor. The driving motor is fixed on the first supporting side wall 1331, and the output end of the driving motor passes through the first supporting side wall 1331 and then is provided with the driving gear 1362. Teeth are provided below the first conveying side wall 1341. The teeth are arranged along the x-axis direction of the first conveying side wall 1341 and mesh with the driving gear 1362. The movement of the first throwing mechanism 134 relative to the first translation mechanism 133 is driven by the driving of the driving motor and the meshing of the teeth and the driving gear.

[0055] Preferably, two driving gears 1362 are provided. The two driving gears 1362 are connected by a transmission shaft, and the transmission shaft is in transmission connection with the output end of the driving motor. Correspondingly, teeth are provided below both of the first conveying side walls 1341. Arranging two sets of teeth and driving gears 1362 in cooperation can effectively reduce the interference between the first conveying side wall 1341 and the first supporting side wall 1331, and also facilitate the smoother sliding of the first throwing mechanism 134 relative to the first translation mechanism 133.

[0056] Preferably, a rack with teeth is provided below the first conveying side wall 1341. The rack is detachably connected to the first conveying side wall 1341, which is convenient for replacement when the teeth are damaged.

[0057] To keep the phase position between the first throwing mechanism 134 and the first translation mechanism 133 stable, a locking unit 135 is further provided on the first translation mechanism 133.

[0058] Exemplarily, in this embodiment, a locking unit 135 is provided. The locking unit 135 includes a third push-pull oil cylinder 1351. The third push-pull oil cylinder 1351 is provided on the first supporting side wall 1331, and the telescopic end of the third push-pull oil cylinder 1351 passes through the first supporting side wall 1331 and can abut against the first conveying side wall 1341. The relative static state between the two is achieved through the frictional force between the telescopic end of the third oil cylinder and the first conveying side wall 1341.

[0059] Preferably, a limiting hole 1352 into which the telescopic end of the third oil cylinder is inserted can also be provided on the first conveying side wall 1341, converting the frictional force into a blocking force, and the locking effect is better. A plurality of limiting holes 1352 are arranged along the x-axis direction.

[0060] In the present application, the first throwing mechanism 134 further includes a driving roller and a driven roller, which are respectively rotatably arranged on the first transport side wall 1341. The driving roller is in transmission connection with the output end of a transport motor fixed on the first transport side wall 1341. A belt body is further arranged between the driving roller and the driven roller, and the belt body rotates under the drive of the driving roller and the driven roller to play a role in transportation.

[0061] In this embodiment, a second throwing belt structure 22 is also exemplarily provided, which includes a second base 225 arranged on the transport device 2. A second rotating mechanism 221 is arranged on the second base 225. The second rotating mechanism 221 includes a fourth base and a second rotating support arranged on the fourth base. The outer ring of the second rotating support is fixedly connected to the second base 225; the second translation mechanism 222 includes a fifth base 2223, and the inner ring of the second rotating support is fixedly connected to the fifth base 2223, and the fifth base 2223 can rotate relative to the fourth base.

[0062] A fourth push-pull oil cylinder is further arranged on the fourth base. The fixed end of the fourth push-pull oil cylinder is rotatably arranged on the fourth base, and the telescopic end is rotatably arranged on the fifth base 2223.

[0063] Preferably, there are two fourth push-pull oil cylinders, and they are symmetrically arranged about the second rotating support.

[0064] The second translation mechanism 222 further includes two relatively arranged second support side walls 2221. On the facing surfaces of the two second support side walls 2221, there are second support guide wheels 2222. The second throwing mechanism 223 includes two second transport side walls 2231 arranged on the fifth base 2223. The second transport side walls 2231 are arranged between the two second support side walls 2221. A second guide groove 2232 is arranged between the second transport side walls 2231 facing the second support side walls 2221. The second guide groove 2232 is arranged along the x-axis direction, and the second support guide wheels 2222 are arranged in the second guide groove 2232.

[0065] The second throwing mechanism 223 also includes a driving roller and a driven roller, which are respectively rotatably arranged on the second moving side wall. The driving roller is in transmission connection with the output end of a transport motor fixed on the second moving side wall. A belt body is further arranged between the driving roller and the driven roller, and the belt body rotates under the drive of the driving roller and the driven roller to play a role in transportation.

[0066] A second driving unit 224 is further arranged on the second support side wall 2221, and the second driving unit 224 drives the second throwing mechanism 223 to move relative to the second translation mechanism 222.

[0067] In this embodiment, the second driving unit 224 has the same structure as the first driving unit. The driving motor is arranged on the second supporting side wall 2221, and a driving gear 1362 is arranged at the output end of the driving motor. The driving gear 1362 is in meshing transmission with the teeth located below the second conveying side wall 2231.

[0068] It can be understood that a locking unit 135 is also arranged on the second throwing mechanism 223. The locking unit 135 is used to limit the relative position between the second supporting side wall 2221 and the second conveying side wall 2231.

[0069] In this application, the working device 1 further includes a slag cleaning chassis 14. The mechanical gripper 11, the first main conveying structure 12 and the first throwing belt structure 13 are arranged on the slag cleaning chassis 14. A first bogie 141 for traveling on the railway track is arranged on the slag cleaning chassis 14.

[0070] The conveying device 2 further includes a conveying chassis 23. The second main conveying structure 21 and the second throwing belt structure 22 are arranged on the conveying chassis 23. A second bogie 231 for traveling on the railway track is further arranged on the conveying chassis 23. The aforementioned connecting unit 142 is arranged between the slag cleaning chassis 14 and the conveying chassis 23.

[0071] In this application, the first throwing belt structure 13 and the second throwing belt structure 22 are respectively fixed on the slag cleaning chassis 14 and the conveying chassis 23 through a first base 137 and a second base 225. When installing the first throwing belt structure 13 and the second throwing belt structure 22, it should be noted that the end of the first main conveying structure 12 is located above the rotating shaft of the first rotating mechanism 131, and the end of the second main conveying structure 21 is located above the rotating shaft of the second rotating mechanism 221.

[0072] In this application, the first main conveying structure 12 and the second main conveying structure 21 are belt-type conveying structures. The first main conveying structure 12 and the second main conveying structure 21 have the same structure, and both include a driving conveying roller and a driven conveying roller. A main belt body is arranged on the driving conveying roller and the driven conveying roller. The main belt body is sleeved on the driving movement roller and the driven conveying roller, so as to drive the main belt body to rotate.

[0073] The aforementioned mechanical gripper 11 is a two-piece gripper. The mechanical gripper 11 can move and rotate in three-dimensional space and grasp waste slag. The mechanical gripper 11 includes a fixed base 111 for fixing on the slag cleaning chassis 14. Above the fixed base 111, there is a fixed section 112. Between the fixed section 112 and the fixed base 111, there is a first slewing reducer 113. The fixed base 111 and the fixed section 112 are connected by the first slewing reducer 113 to realize the rotation of the fixed section 112 relative to the fixed base 111. A first boom 114 is hinged on the fixed section 112. The end of the first boom 114 is hinged with a second boom 115. The end of the second boom 115 is hinged with a third boom 116. A grab bucket 117 is arranged on the third boom 116. A second slewing reducer 118 is arranged on the third boom 116. The second slewing reducer 118 is connected with the grab bucket 117. The third boom 116 and the grab bucket 117 are connected by the second slewing reducer 118 to realize the rotation of the grab bucket 117.

[0074] A first folding boom oil cylinder 1141 is also arranged on the fixed section 112. The other end of the first folding boom oil cylinder 1141 is hinged with the first boom 114. A connecting rod unit 1142 is also arranged on the first boom 114 and the second boom 115. The connecting rod unit 1142 includes a first connecting rod and a second connecting rod. The first end of the first connecting rod is rotatably connected with the first boom 114. The first end of the second connecting rod is rotatably connected with the second boom 115. The second end of the first connecting rod and the second end of the second connecting rod are rotatably connected. A second folding boom oil cylinder 1143 is also arranged on the first boom 114. One end of the second folding boom oil cylinder 1143 is rotatably connected with the first boom 114, and the other end is rotatably connected with the second end of the second connecting rod. A third folding boom oil cylinder 1144 is arranged on the third boom 116. The third folding boom oil cylinder 1144 pushes the second slewing mechanism to rotate.

[0075] The grab bucket 117 includes a connecting part 1171 connected with the second slewing reducer 118. The upper ends of two grabber bodies 1172 are respectively provided with a first shaft 1173 rotatably connected with the connecting part 1171. Above the grabber body 1172, there is an opening and closing oil cylinder 1174. The opening and closing oil cylinder 1174 drives the grabber body 1172 to rotate around the first shaft 1173 to realize opening and closing.

[0076] Further, a second shaft 1175 is also arranged on one of the grabber bodies 1172. The second shaft 1175 is arranged in parallel with the first shaft 1173. One end of the opening and closing oil cylinder 1174 is rotatably connected with the second shaft 1175, and the other end is rotatably connected with the other grabber body 1172. A third connecting rod 1176 and a fourth connecting rod 1177 rotatably connected with the third connecting rod 1176 are also arranged on the second shaft 1175. The third connecting rod 1176 is rotatably connected with the second shaft 1175. The other end of the fourth connecting rod 1177 is rotatably connected with the upper end of the other grabber body 1172.

[0077] The above are the preferred embodiments of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present utility model, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present utility model.

Claims

1. A slag cleaning operation system, characterized in that, Comprising: An operating device (1), including a mechanical gripper (11), a first main transportation structure (12), and a first throwing belt structure (13) arranged at the end of the first main transportation structure (12). Materials are grabbed by the mechanical gripper (11) and moved to the first main transportation structure (12), transported by the first main transportation structure (12), and thrown by the first throwing belt structure (13); A transportation device (2), including a second main transportation structure (21) and a second throwing belt structure (22) arranged at the end of the second main transportation structure (21). The second main transportation structure (21) is used to receive the materials thrown by the first throwing belt structure (13); The first throwing belt structure (13) includes a first rotating mechanism (131), a pitching mechanism (132), a first translation mechanism (133), and a first throwing mechanism (134). The pitching mechanism (132) is arranged on the first rotating mechanism (131) and rotates under the drive of the first rotating mechanism (131). The first translation mechanism (133) is arranged on the pitching mechanism (132), and the first translation mechanism (133) changes the included angle between the first translation mechanism (133) and the first rotating mechanism (131) under the drive of the pitching mechanism (132). The first throwing mechanism (134) is arranged on the first translation mechanism (133) and moves relative to the first translation mechanism (133) under the drive of the first translation mechanism (133).

2. The slag removal operation system according to claim 1, characterized in that: The second throwing belt structure (22) includes a second rotating mechanism (221), a second translation mechanism (222), and a second throwing mechanism (223). The second translation mechanism (222) is arranged on the second rotating mechanism (221) and rotates around the second rotating mechanism (221). The second throwing mechanism (223) is arranged on the second translation mechanism (222) and moves relative to the second translation mechanism (222).

3. The slag removal operation system according to claim 2, wherein: A locking unit (135) is further arranged on the first translation mechanism (133) or the second translation mechanism (222). The locking unit (135) is used to fix the relative position of the first throwing mechanism (134) relative to the first translation mechanism (133) or the second throwing mechanism (223) relative to the second translation mechanism (222).

4. The slag cleaning operation system according to claim 3, characterized in that: The first translation mechanism (133) includes two relatively arranged first support side walls (1331), and first support guide wheels (1332) are arranged on the opposite surfaces of the two first support side walls (1331); The first throwing mechanism (134) includes two first transportation side walls (1341), and first guiding grooves (1342) are arranged on the surfaces of the two first transportation side walls (1341) facing the first support side walls (1331). The first guiding grooves (1342) are arranged along the length direction of the first support side walls (1331), and the first support guide wheels (1332) are arranged in the first guiding grooves (1342); A first driving unit is further provided on the first supporting side wall (1331), and the first driving unit drives the first throwing mechanism (134) to move relative to the first translation mechanism (133).

5. The slag cleaning operation system according to claim 4, characterized in that: The second translation mechanism (222) includes two relatively arranged second supporting side walls (2221), and second supporting guide wheels (2222) are arranged on the facing surfaces of the two second supporting side walls (2221); The second throwing mechanism (223) includes two second transporting side walls (2231), and second guiding grooves (2232) are arranged on the surfaces of the two second transporting side walls (2231) facing the second supporting side walls (2221). The second guiding grooves (2232) are arranged along the length direction of the second supporting side walls (2221), and the second supporting guide wheels (2222) are arranged in the second guiding grooves (2232); A second driving unit (224) is further provided on the second supporting side wall (2221), and the second driving unit (224) drives the second throwing mechanism (223) to move relative to the second translation mechanism (222).

6. The slag cleaning operation system according to claim 5, wherein: The first driving unit and the second driving unit (224) have the same structure, including a driving motor and a driving gear (1362) arranged on the driving motor. The driving motor is arranged on the first supporting side wall (1331) and the second supporting side wall (2221). Teeth are arranged at the lower ends of the first transporting side wall (1341) and the second transporting side wall (2231) to engage with the driving gear (1362). The driving gear (1362) meshes and drives with the teeth below the first throwing mechanism (134) or the second throwing mechanism (223) to drive the first throwing mechanism (134) or the second throwing mechanism (223) to move.

7. The slag cleaning operation system according to claim 1, wherein: The working device (1) further includes a slag cleaning chassis (14). The mechanical gripper (11), the first main transporting structure (12), and the first throwing belt structure (13) are arranged on the slag cleaning chassis (14). A first bogie (141) for traveling on the railway track is further arranged on the slag cleaning chassis (14); The transporting device (2) further includes a transporting chassis (23). The second main transporting structure (21) and the second throwing belt structure (22) are arranged on the transporting chassis (23). A second bogie (231) for traveling on the railway track is further arranged on the transporting chassis (23); A detachable connecting unit (142) is arranged between the slag cleaning chassis (14) and the transporting chassis (23).

8. The slag removal operation system according to claim 5, wherein: A belt body for transporting materials is further arranged between the two first transporting side walls (1341) or the two second transporting side walls (2231).

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