Folding arm frame type clearance mechanical arm

Abstract

The utility model relates to the field of mining mechanical equipment, and provides a folding arm frame type bin cleaning mechanical arm which comprises a connecting plate and a mechanical arm body, the lower end of the connecting plate is hinged to a bottom-dump mine car carriage, the upper end of the connecting plate is hinged to the mechanical arm body, and a first hydraulic cylinder is connected between the connecting plate and the bottom-dump mine car carriage. A base of the first hydraulic cylinder is hinged to the bottom-dump tramcar carriage, the hinge point is located over the hinge point of the lower end of the connecting plate and the bottom-dump tramcar carriage, the telescopic end of the first hydraulic cylinder is hinged to the middle of the connecting plate, a second hydraulic cylinder is connected between the upper portion of the connecting plate and the mechanical arm, and a base of the second hydraulic cylinder is hinged to the upper portion of the connecting plate. The telescopic end of the second hydraulic cylinder is hinged to the mechanical arm. The mechanical arm is composed of a plurality of sections of folding arms, each section of folding arm is independently controlled by a third hydraulic cylinder, a rotating arm is arranged at the tail end of the folding arm, the rotating arm is connected with a bucket, excavation operation of different distances and different angles can be achieved, manual bin cleaning and even blasting operation are avoided, and production safety is improved.

Description

Technical Field

[0001] The utility model relates to the field of mine mechanical equipment, and particularly relates to a folding boom type bin cleaning manipulator. Background Technique

[0002] Bin cleaning is a key operation in the mine production process, aiming to ensure the smooth output of ore from the bin. However, due to the influence of gravity and humid environment in the bin, ore often forms a V-shaped accumulation, resulting in "floating stones" that are difficult to handle on both sides of the discharge port. These "floating stones" will hinder the normal flow of ore, making it impossible for the ore to enter the ore discharge port smoothly. In addition, the size characteristics of the bin, that is, large in the length direction and small in the outlet width, and the increase in the moisture and mud content in the ore are more likely to form a "material arch" during the ore accumulation process, which not only affects the stable and continuous discharge of ore, but also increases the difficulty and frequency of bin cleaning operations.

[0003] Traditional bin cleaning methods mainly rely on manual arch breaking to remove "floating stones", and even use explosives in some cases. These methods are not only inefficient, but also have serious safety hazards. Therefore, developing a safe and efficient bin cleaning manipulator has become an important requirement in the field of mine mechanical equipment. Content of the Utility Model

[0004] Aiming at the deficiencies of the prior art, the purpose of the utility model is to provide a folding boom type bin cleaning manipulator, which includes a connecting plate and a manipulator. The lower end of the connecting plate is hinged to the bottom-dumping truck carriage, the upper end of the connecting plate is hinged to the manipulator, a first hydraulic cylinder is connected between the connecting plate and the bottom-dumping truck carriage, the base of the first hydraulic cylinder is hinged to the bottom-dumping truck carriage, the hinge point between the base of the first hydraulic cylinder and the bottom-dumping truck carriage is directly above the hinge point between the lower end of the connecting plate and the bottom-dumping truck carriage, the telescopic end of the first hydraulic cylinder is hinged to the middle of the connecting plate, a second hydraulic cylinder is connected between the upper part of the connecting plate and the manipulator, the base of the second hydraulic cylinder is hinged to the upper part of the connecting plate, and the telescopic end of the second hydraulic cylinder is hinged to the manipulator; a rotating arm is rotatably connected to the end of the manipulator, a bucket is hinged to the end of the rotating arm, the bucket rotates by the rotation of the rotating arm to adapt to different angle operations, a fourth hydraulic cylinder is connected between the rotating arm and the bucket, and the bucket is driven by the fourth hydraulic cylinder to perform excavation operations.

[0005] Further, the robotic arm is composed of several folding arms hinged end to end. Between two adjacent folding arms, there are two short connecting rods, two long connecting rods, and a third hydraulic cylinder. The two short connecting rods are distributed on the front and rear sides of the folding arm below the hinge point of two adjacent folding arms. One end of each of the two short connecting rods is hinged to the lower folding arm. The two long connecting rods are distributed on the front and rear sides of the folding arm above the hinge point of two adjacent folding arms. One end of each of the two long connecting rods is hinged to the upper folding arm. The other ends of the two short connecting rods are hinged to the middle parts of the two long connecting rods. The other ends of the two long connecting rods are hinged to the telescopic end of the third hydraulic cylinder. The base of the third hydraulic cylinder is hinged to the middle part of the lower folding arm. The third hydraulic cylinder controls the telescoping of the folding arm.

[0006] Further, the two long connecting rods are distributed outside the two short connecting rods.

[0007] Further, the ends of the folding arms except for the two ends have bending parts.

[0008] Further, the widths of the folding arms decrease successively, and the successively decreasing width is the wall thickness of two folding arms.

[0009] Further, each folding arm is provided with V-shaped stiffeners.

[0010] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0011] 1. By arranging multiple folding arms, each folding arm is individually controlled by a third hydraulic cylinder. A rotating arm is arranged at the end folding arm, and the rotating arm is connected to the bucket, so that excavation operations at different distances and different angles can be realized, avoiding manual bin cleaning or even blasting operations, and increasing the safety of production.

[0012] 2. The widths of the folding arms decrease successively by the wall thickness of two folding arms. At the same time, the ends of the folding arms except for the two ends have bending parts. Thus, when the folding arms contract, the upper folding arm can be embedded into the lower folding arm, effectively reducing the space occupation and improving the portability and storage efficiency of the robotic arm. Description of the Drawings

[0013] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for description in the specific embodiments or the prior art. Obviously, the drawings in the following description are only one embodiment of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0014] Figure 1 It is a schematic structural diagram of a folding boom type bin cleaning robotic arm.

[0015] Figure 2It is a schematic structural diagram when the robotic arm is unfolded.

[0016] The labels in the attached drawings are: 10, bottom-dumping mine car carriage; 20, connecting plate; 30, robotic arm; 301, folding arm; 302, connecting short rod; 303, connecting long rod; 304, bucket; 305, rotating arm. Specific embodiments

[0017] To make the technical means, creative features, achieved purposes and effects of the present utility model easy to understand, the technical solutions in the specific embodiments of the present utility model are clearly and completely described below to further illustrate the present utility model. Obviously, the described specific embodiments are only a part of the embodiments of the present utility model, rather than all the styles.

[0018] As Figures 1 to 2 As shown, the folding boom type bin cleaning robotic arm includes a connecting plate 20 and a robotic arm 30. The lower end of the connecting plate 20 is hinged to the bottom-dumping mine car carriage 10, and the upper end of the connecting plate 20 is hinged to the robotic arm 30. A first hydraulic cylinder is connected between the connecting plate 20 and the bottom-dumping mine car carriage 10. The base of the first hydraulic cylinder is hinged to the bottom-dumping mine car carriage 10, and this hinge point is directly above the hinge point between the lower end of the connecting plate 20 and the bottom-dumping mine car carriage 10. The telescopic end of the first hydraulic cylinder is hinged to the middle of the connecting plate 20. A second hydraulic cylinder is connected between the upper part of the connecting plate 20 and the robotic arm 30. The base of the second hydraulic cylinder is hinged to the upper part of the connecting plate 20, and the telescopic end of the second hydraulic cylinder is hinged to the robotic arm 30.

[0019] As Figure 2As shown, the robotic arm 30 is composed of six folding arms 301 hinged end to end. Between adjacent two folding arms 301, there are two connecting short rods 302, two connecting long rods 303 and a third hydraulic cylinder. Taking the fourth and fifth folding arms 301 from bottom to top as an example, the two connecting short rods 302 are distributed on the front and rear sides of the left end of the fourth folding arm 301. One end of each of the two connecting short rods 302 is hinged to the left end of the fourth folding arm 301. The two connecting long rods 303 are distributed on the front and rear sides of the left end of the fifth folding arm 301. One end of each of the two connecting long rods 303 is hinged to the left end of the fifth folding arm 301. The middle parts of the two connecting long rods 303 are hinged to the other ends of the two connecting short rods 302. The other ends of the two connecting long rods 303 are hinged to the telescopic end of the third hydraulic cylinder. The base of the third hydraulic cylinder is hinged to the middle part of the fourth folding arm 301. The two connecting long rods 303 are outside the two connecting short rods 302, and each hinge point has a pin shaft. A rotating arm 305 is connected to the left end of the sixth folding arm 301. A bucket 304 is connected to the left end of the rotating arm 305. The lower right part of the bucket 304 is hinged to the left end of the rotating arm 305. A fourth hydraulic cylinder is connected between the upper right part of the bucket 304 and the rotating arm 305. The telescopic end of the fourth hydraulic cylinder is hinged to the upper right part of the bucket 304. The base of the fourth hydraulic cylinder is hinged to the right part of the rotating arm 305. The rotating shaft of the rotating arm 305 is inside the sixth folding arm 301. By arranging a hydraulic motor inside the sixth folding arm 301 and fixing its output end to the rotating shaft of the rotating arm 305, the rotation of the rotating arm 305 can be realized, thereby driving the bucket 304 to rotate to adapt to the work at different angles.

[0020] The width of each folding arm 301 decreases successively from bottom to top, and the successively decreased width is the wall thickness of two folding arms 301. At the same time, the ends of the folding arms 301 except for the head and tail ends have bending parts, so that when the folding arms 301 contract, the upper folding arm 301 can be embedded into the lower folding arm 301 to reduce the space occupation.

[0021] In order to make the folding arm 301 more stable when bearing the working load and prevent the structure from being damaged by the load, and in order to avoid using too much material for the folding arm 301 and make the folding arm 301 have a sufficient load-bearing capacity under the condition of being light enough, each folding arm 301 is provided with a V-shaped reinforcing rib.

[0022] Rolling bearings are adopted at the hinge points between adjacent two folding arms 301, the hinge point between the connecting plate 20 and the first folding arm 301, and the hinge point between the connecting plate 20 and the bottom-dumping mine car carriage 10. Sliding bearings are adopted at the hinge points of the bucket 304, the connecting short rods 302, the connecting long rods 303 and each hydraulic cylinder.

[0023] When the unloading operation is not required, the folding arm 301 can be folded and retracted to the bottom-dump mine car carriage 10 through each hydraulic cylinder. When the unloading operation is required, each section of the folding arm 301 is extended through each hydraulic cylinder for operation. Each hydraulic cylinder is independently controlled, enabling operations at different distances. By rotating the rotating arm 305 and cooperating with the fourth hydraulic cylinder on the rotating arm 305, excavation work at different angles can be achieved.

[0024] The above describes the main technical features, basic principles, and related advantages of the present utility model. For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-described exemplary specific embodiments, and without departing from the concept or basic features of the present utility model, the present utility model can be implemented in other specific forms. Therefore, from any perspective, the above specific embodiments should be regarded as exemplary and non-restrictive. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present utility model.

[0025] In addition, it should be understood that although this specification is described according to each embodiment, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A folding boom type bin cleaning robotic arm, characterized in that, It includes a connecting plate (20) and a robotic arm (30). The lower end of the connecting plate (20) is hinged to the bottom-dumping car body (10), and the upper end of the connecting plate (20) is hinged to the robotic arm (30). A first hydraulic cylinder is connected between the connecting plate (20) and the bottom-dumping car body (10). The base of the first hydraulic cylinder is hinged to the bottom-dumping car body (10). The hinge point between the base of the first hydraulic cylinder and the bottom-dumping car body (10) is directly above the hinge point between the lower end of the connecting plate (20) and the bottom-dumping car body (10). The telescopic end of the first hydraulic cylinder is hinged to the middle of the connecting plate (20). A second hydraulic cylinder is connected between the upper part of the connecting plate (20) and the robotic arm (30). The base of the second hydraulic cylinder is hinged to the upper part of the connecting plate (20), and the telescopic end of the second hydraulic cylinder is hinged to the robotic arm (30). A rotating arm (305) is rotatably connected to the end of the robotic arm (30). A bucket (304) is hinged to the end of the rotating arm (305). The rotation of the rotating arm (305) drives the bucket (304) to rotate to adapt to operations at different angles. A fourth hydraulic cylinder is connected between the rotating arm (305) and the bucket (304), and the bucket (304) is driven by the fourth hydraulic cylinder for excavation operations.

2. The folding boom type bin cleaning robot arm according to claim 1, characterized in that, The robotic arm (30) is composed of several folding arms (301) hinged end to end. Between adjacent two folding arms (301), there are two connecting short rods (302), two connecting long rods (303) and a third hydraulic cylinder. The two connecting short rods (302) are distributed on the front and back sides of the folding arm (301) below the hinge point of adjacent two folding arms (301). One end of each of the two connecting short rods (302) is hinged to the lower folding arm (301). The two connecting long rods (303) are distributed on the front and back sides of the folding arm (301) above the hinge point of adjacent two folding arms (301). One end of each of the two connecting long rods (303) is hinged to the upper folding arm (301). The other ends of the two connecting short rods (302) are hinged to the middle parts of the two connecting long rods (303). The other ends of the two connecting long rods (303) are hinged to the telescopic end of the third hydraulic cylinder. The base of the third hydraulic cylinder is hinged to the middle of the lower folding arm (301), and the third hydraulic cylinder controls the telescoping of the folding arm (301).

3. The folding boom type bin cleaning manipulator according to claim 2, wherein The two connecting long rods (303) are distributed outside the two connecting short rods (302).

4. The folding boom type bin cleaning manipulator according to claim 2, characterized in that, The ends of the folding arms (301) except for the two ends have bending parts.

5. The folding boom type bin cleaning robotic arm according to claim 2, wherein, The widths of the folding arms (301) gradually decrease from one end to the other, and the gradually decreasing width is the wall thickness of two folding arms (301).

6. The folding boom type bin cleaning manipulator according to claim 2, wherein, Each folding arm (301) is provided with a V-shaped reinforcing rib.

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