Coal collecting robot

Abstract

The utility model provides a coal collecting robot which comprises a crawler walking mechanism and a coal breaking and collecting mechanism. The crawler walking mechanism is arranged beside the scraper conveyor and used for driving the coal breaking and collecting mechanism to advance along the scraper conveyor. The coal breaking and collecting mechanism is arranged at the front end of the crawler walking mechanism and comprises a plurality of rotatable arc-shaped raking claws; the coal breaking and collecting mechanism is used for scraping scattered coal beside the scraper conveyor in a rotary tunneling mode and throwing the scattered coal onto the scraper conveyor in the mode of being perpendicular to the conveying direction of the scraper conveyor. According to the coal collecting robot, the coal collecting efficiency can be improved, the cleanliness during coal briquette cleaning is improved, and the labor intensity is reduced.

Description

Technical Field

[0001] The utility model relates to the field of coal mine tunnel coal cleaning equipment, in particular to a coal collecting robot. Background Art

[0002] During underground coal mining, large amounts of coal often collapse and accumulate, forming large heaps. These heaps impede the shearer's ability to cut the coal in the lower triangle at the tail of the machine. Furthermore, as the working face advances, the heaps accumulate. If not cleared promptly, these heaps obstruct personnel access and increase resistance to the machine's movement. Currently, manual cleaning is often used, resulting in high workload and low efficiency.

[0003] The utility model patent with authorization announcement number CN220200487U discloses a floating coal cleaning device for a scraper conveyor for mining and a scraper conveyor, comprising a support connection assembly and a floating coal cleaning assembly. The support connection assembly includes a support plate, and the floating coal cleaning assembly includes a coal shovel plate and a drive member. The coal shovel plate is located above the support plate, the coal shovel plate is perpendicular to the support plate, and the bottom of the coal shovel plate is in contact with the support plate. One end of the drive member is connected to the support plate, and the other end of the drive member is connected to the coal shovel plate. The floating coal cleaning device and scraper conveyor for mining are provided with a coal shovel plate on the support plate. Driven by the drive member, the coal shovel plate moves back and forth, thereby moving the coal in the coal pile area in front of the tail of the machine toward the coal shearer drum. The coal blocks are then transported away by the coal shearer drum, so that the coal blocks will not accumulate in front of the tail of the machine without affecting the coal mining efficiency, and will not affect the cutting of the coal shearer and the movement of the tail of the machine. However, the device cannot shovel the floating coal directly onto the scraper conveyor, and the cleaning efficiency needs to be improved. Utility Model Content

[0004] In order to improve the efficiency of coal collection, increase the cleanliness of coal blocks during cleaning, and reduce labor intensity, the technical solution adopted by the utility model is: a coal collection robot, including a crawler walking mechanism and a coal breaking and collecting mechanism;

[0005] The crawler walking mechanism is arranged beside the scraper conveyor and is used to drive the coal breaking and collecting mechanism to move along the scraper conveyor;

[0006] The coal breaking and collecting mechanism is arranged at the front end of the crawler walking mechanism. The coal breaking and collecting mechanism includes a plurality of rotatable arc-shaped rake claws. The coal breaking and collecting mechanism is used to scrape the loose coal beside the scraper conveyor in a rotating excavation manner, and to throw the loose coal onto the scraper conveyor in a form perpendicular to the conveying direction of the scraper conveyor.

[0007] Based on the above, in order to limit and guide the scattering range of the lifted coal blocks, the coal breaking and collecting mechanism also includes a mounting frame for installing the arc-shaped rake claw, and an outer baffle is provided on the side of the mounting frame away from the scraper conveyor, and an inner baffle is provided on the side of the mounting frame close to the scraper conveyor. The outer baffle is parallel to the conveying direction of the scraper conveyor, and the inner baffle is perpendicular to the conveying direction of the scraper conveyor.

[0008] Based on the above, in order to use the arc-shaped rake claws to scrape the tunnel floor, an eccentric mechanism is provided on the mounting frame, and multiple arc-shaped rake claws are installed on the eccentric mechanism through a transmission shaft. The eccentric mechanism is used to drive the arc-shaped rake claws to perform eccentric movement, so that the top of the arc-shaped rake claws moves to the lower side and then moves horizontally.

[0009] Based on the above, alloy picks for crushing coal blocks are installed on the arc-shaped rake claws.

[0010] Based on the above, in order to facilitate adjustment of the operating range, the mounting frame and the crawler walking mechanism can be connected in a lifting manner.

[0011] Based on the above, the crawler walking mechanism is provided with a driving mechanism for driving the arc-shaped rake claw to rotate.

[0012] Based on the above, the angles between two adjacent arc-shaped rake claws are equal.

[0013] Based on the above, in order to facilitate positioning and remote control operations, a laser locator and a camera are installed on the crawler walking mechanism.

[0014] The present invention has substantial features and progress compared with the existing technology. Specifically, the coal collecting robot provided by the present invention is equipped with a crawler walking mechanism that can walk independently on one side of the scraper conveyor, and a coal crushing and collecting mechanism is installed at the front end of the crawler walking mechanism. The coal crushing and collecting mechanism can be used to throw coal blocks onto the scraper conveyor by combining the rotating action of the coal crushing and collecting mechanism with the movement of the crawler walking mechanism, thereby avoiding manual coal cleaning operations, reducing labor intensity and improving coal collecting efficiency.

[0015] At the same time, by designing the front end of the coal crushing and collecting mechanism into at least three arc-shaped rake claws and installing multiple alloy picks on the arc-shaped rake claws, on the one hand, it is convenient for the coal blocks to be thrown out of the coal crushing and collecting mechanism, and on the other hand, the alloy picks can be used to crush the coal blocks, thereby further improving the coal cleaning efficiency.

[0016] Furthermore, by combining the Lello triangle law, an eccentric mechanism is installed on the coal breaking and collecting mechanism, so that the running trajectory of the three arc-shaped rake claws can be made into a square-like shape, so that the top of the arc-shaped rake claws will move in the horizontal direction when moving to the lower side. Therefore, during the coal block cleaning, the arc-shaped rake claws can be used to scrape the bottom plate of the tunnel, effectively preventing the uncleaned coal blocks at the bottom from generating resistance to the entire machine and affecting the propulsion efficiency of the entire machine.

[0017] Furthermore, the coal collection robot is extremely compact, making it suitable for coal mine construction. It is remotely operated, eliminating the need for close proximity to personnel even in harsh conditions. It is also equipped with intelligent features such as a laser positioner, UWB positioning, and a camera, enabling remote, real-time monitoring of its operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of the coal collecting robot provided by the utility model.

[0019] Figure 2 This is a schematic diagram of the end face structure of the coal collecting robot provided by the utility model.

[0020] Figure 3 This is a partial structural diagram of the coal collecting robot provided by the utility model.

[0021] In the figure: 1. Scraper conveyor; 2. Crawler traveling mechanism; 3. Driving mechanism; 4. Coal breaking and collecting mechanism; 5. Outer baffle; 6. Arc-shaped rake claw; 7. Eccentric mechanism; 8. Inner baffle; 9. Mounting frame. DETAILED DESCRIPTION

[0022] The technical solution of the present utility model is further described in detail below through specific implementation methods.

[0023] Example 1

[0024] This embodiment provides a coal collecting robot. Figure 1 、 Figure 2 、 Figure 3 As shown, it includes a crawler traveling mechanism 2 and a coal breaking and collecting mechanism 4. The crawler traveling mechanism 2 is arranged beside the scraper conveyor 1, and is used to drive the coal breaking and collecting mechanism 4 to move along the scraper conveyor 1.

[0025] The coal crushing and collecting mechanism 4 is arranged at the front end of the crawler walking mechanism 2. The coal crushing and collecting mechanism 4 includes three rotatable arc-shaped rake claws 6, and the angles between two adjacent arc-shaped rake claws 6 are equal.

[0026] The coal breaking and collecting mechanism 4 is used to scrape the loose coal beside the scraper conveyor 1 in a rotary excavation manner, and to throw the loose coal onto the scraper conveyor 1 in a form perpendicular to the conveying direction of the scraper conveyor.

[0027] To limit and guide the spread of lifted coal, the coal crushing and collecting mechanism 4 also includes a mounting bracket 9 for mounting the curved rake claws 6. An outer baffle 5 is provided on the side of the mounting bracket 9 facing away from the scraper conveyor 1, and an inner baffle 8 is provided on the side of the mounting bracket 9 facing the scraper conveyor 1. The outer baffle 5 is parallel to the conveying direction of the scraper conveyor 1, while the inner baffle 8 is perpendicular to the conveying direction of the scraper conveyor 1.

[0028] The crawler walking mechanism 2 is provided with a driving mechanism 3 for driving the arc-shaped rake claw 6 to rotate.

[0029] Example 2

[0030] This embodiment provides a coal collection robot. The main difference from Embodiment 1 is that, in this embodiment, an eccentric mechanism 7 is provided on the mounting frame 9 to enable the use of curved rake claws to scrape the roadway floor. Three curved rake claws 6 are mounted on the eccentric mechanism 7 via a transmission shaft. The eccentric mechanism 7 is used to drive the curved rake claws 6 to perform eccentric movement, causing the tips of the curved rake claws 6 to perform horizontal movement when they move downward.

[0031] Example 3

[0032] This embodiment provides a coal collecting robot, which is mainly different from the first embodiment in that, in this embodiment, alloy picks for crushing coal blocks are installed on the arc-shaped rake claws.

[0033] Example 4

[0034] This embodiment provides a coal collection robot. The main difference from the first embodiment is that, in this embodiment, the mounting frame is escalably connected to the crawler mechanism to facilitate adjustment of the operating range. To facilitate positioning and remote control operations, the crawler mechanism is equipped with a laser locator and a camera.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model and not to limit it; although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the utility model can still be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solution of the utility model, they should all be included in the scope of the technical solution for which protection is requested in the utility model.

Claims

1. A coal collecting robot, characterized by: It includes crawler traveling mechanism and coal breaking and collecting mechanism; The crawler walking mechanism is arranged beside the scraper conveyor and is used to drive the coal breaking and collecting mechanism to move along the scraper conveyor; The coal breaking and collecting mechanism is arranged at the front end of the crawler walking mechanism. The coal breaking and collecting mechanism includes a plurality of rotatable arc-shaped rake claws. The coal breaking and collecting mechanism is used to scrape the loose coal beside the scraper conveyor in a rotating excavation manner, and to throw the loose coal onto the scraper conveyor in a form perpendicular to the conveying direction of the scraper conveyor.

2. The coal collecting robot according to claim 1, characterized in that: The coal breaking and collecting mechanism also includes a mounting frame for mounting the arc-shaped rake claws, an outer baffle is provided on the side of the mounting frame away from the scraper conveyor, and an inner baffle is provided on the side of the mounting frame close to the scraper conveyor, the outer baffle is parallel to the conveying direction of the scraper conveyor, and the inner baffle is perpendicular to the conveying direction of the scraper conveyor.

3. The coal collecting robot according to claim 2, characterized in that: An eccentric mechanism is provided on the mounting frame, and a plurality of the arc-shaped rake claws are mounted on the eccentric mechanism through a transmission shaft. The eccentric mechanism is used to drive the arc-shaped rake claws to perform eccentric movement, so that the top of the arc-shaped rake claws moves horizontally when it moves to the lower side.

4. The coal collecting robot according to claim 1, characterized in that: The arc-shaped rake claws are equipped with alloy picks for crushing coal blocks.

5. The coal collecting robot according to claim 2 or 3, characterized in that: The mounting frame is connected to the crawler walking mechanism in a liftable manner.

6. The coal collecting robot according to claim 1, 2, 3 or 4, characterized in that: The crawler walking mechanism is provided with a driving mechanism for driving the arc-shaped rake claw to rotate.

7. The coal collecting robot according to claim 6, characterized in that: The angles between two adjacent arc-shaped rake claws are equal.

8. The coal collecting robot according to claim 7, characterized in that: The crawler walking mechanism is equipped with a laser positioning and a camera.

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