Movable crushing robot based on ultra-thin coal seam

Abstract

The movable crushing robot based on the ultra-thin coal seam comprises a machine frame and bases symmetrically installed at the bottom of the machine frame, installation plates are installed on the surfaces of the two bases, hydraulic cylinders are installed on the opposite faces of the installation plates, and a first crushing punching head is installed at one end of one hydraulic cylinder; large coal briquettes on the scraper conveyor are crushed through the movable crushing robot, the crushing mechanism is aligned with the large coal briquettes and crushes the large coal briquettes in combination with a mechanical vision recognition mode, so that normal operation of a conveying system is ensured, and the mechanism is compact in structure, small in size and capable of freely shuttling in a limited space of an ultra-thin coal seam; the large coal briquette can rapidly and accurately reach the position of the large coal briquette and can well adapt to the working environment of an ultra-thin coal seam, the anti-explosion illuminating lamp can provide bright and uniform light rays, it is ensured that workers can clearly see details of a working area, therefore, the working accuracy and efficiency are improved, and operation errors caused by insufficient illumination are reduced.

Description

Technical Field

[0001] This utility model relates to a crushing robot, specifically a mobile crushing robot for detecting, identifying, and crushing large coal blocks in extremely thin coal seams, belonging to the field of coal mining technology. Background Technology

[0002] In the coal mining industry, the mining of extremely thin coal seams is an extremely challenging task. With the deepening development of coal resources, the exploitable resources of thick and medium-thick coal seams are decreasing, making the mining and utilization of extremely thin coal seams a growing focus of industry attention. However, the mining environment of extremely thin coal seams places almost stringent requirements on the operating equipment.

[0003] In the prior art, such as the coal seam crushing device for mining engineering disclosed in patent number CN202322550855.9, the coal pushing component enables the single-pass coal mining operation to be completed, eliminating the need for the return coal mining machine to push coal empty, thus improving work efficiency. The crushing component is used to crush large coal blocks on the surface of the scraper conveyor, improving the transmission effect. However, the above-mentioned prior art solutions have the following shortcomings: due to the characteristics of coal seams, there are many large coal blocks. Such fixed crushing equipment is often unable to be reasonably laid out in extremely thin coal seam roadways due to space limitations. Moreover, it lacks flexibility and cannot promptly handle large coal blocks that randomly appear on the scraper conveyor, nor can it accurately reach the location of large coal blocks and precisely target them for crushing operations. Utility Model Content

[0004] The purpose of this invention is to provide a mobile crushing robot based on an extremely thin coal seam in order to solve at least one of the above-mentioned technical problems.

[0005] The present invention achieves the above objectives through the following technical solution: a mobile crushing robot based on an extremely thin coal seam, comprising a frame and bases symmetrically installed at the bottom of the frame, mounting plates are installed on the surfaces of both bases, and hydraulic cylinders are installed on the opposite sides of the mounting plates, one end of one hydraulic cylinder is equipped with a crushing punch head one, and one end of the other hydraulic cylinder is equipped with a crushing punch head two.

[0006] An explosion-proof camera is rotatably mounted on the side surface of the frame, and the explosion-proof camera can rotate 360° without blind spots.

[0007] As a further embodiment of this utility model: a hub frame is installed on the surface of the base, an explosion-proof wheel is installed on the surface of the hub frame, and a scraper is installed on the surface of the base above the explosion-proof wheel.

[0008] As a further improvement of this utility model: baffles are symmetrically installed on the surface of the frame, and the crushing and punching head is slidably connected between the two baffles, with the bottom of the baffles tilted towards the side away from the frame.

[0009] As a further improvement of this utility model: the first and second crushing and pressing heads are high-frequency breaker hammers, and their crushing frequency and impact force can be adjusted by controlling the output power of the hydraulic cylinder.

[0010] As a further improvement of this utility model: explosion-proof lights are symmetrically installed on the side of the frame, and the explosion-proof lights are symmetrically installed on both sides of the explosion-proof camera.

[0011] As a further improvement of this utility model: the frame is constructed by welding together several connecting rods, and the adjacent connecting rods are perpendicular to each other.

[0012] The beneficial effects of this utility model are:

[0013] This utility model is equipped with a frame base, hydraulic cylinder, crushing punch head one, crushing punch head two, explosion-proof wheels, explosion-proof camera and explosion-proof lighting, etc., which work together to crush large coal blocks on the scraper conveyor by a mobile crushing robot. Combined with the recognition method of mechanical vision, the crushing mechanism is aligned with the large coal blocks and crushed, thereby ensuring the normal operation of the conveying system.

[0014] With its compact structure and small size, this robot can move freely in the limited space of extremely thin coal seams, quickly and accurately reaching the location of large coal blocks. It can easily adapt to the cramped working environment of extremely thin coal seams. Through the close cooperation of mechanical vision recognition and flexible movement, it can efficiently crush large coal blocks on scraper conveyors, thereby ensuring the normal and continuous operation of the conveying system, improving the overall efficiency and safety of extremely thin coal seam mining operations, and promoting the technological progress and sustainable development of the coal mining industry in the field of extremely thin coal seam mining.

[0015] The explosion-proof wheels are responsible for the robot's movement, and the scraper formed on the base surface can effectively remove the coal dust adhering to the explosion-proof wheels, preventing the overall working surface of the platform from being raised due to long-term crushing and accumulation of coal dust, and ensuring the working efficiency of the crushing robot.

[0016] The explosion-proof lighting provided by the equipment offers bright and uniform illumination, ensuring that workers can clearly see the details of the work area, thereby improving work accuracy and efficiency and reducing operational errors caused by insufficient lighting. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 In this utility model Figure 1 A top-view structural diagram;

[0019] Figure 3 In this utility model Figure 1 A schematic diagram of the side view structure;

[0020] Figure 4 This is a schematic diagram of the structure of the first crushing stamping head and the second crushing stamping head in this utility model;

[0021] In the diagram: 1. Frame; 2. Baffle; 3. Base; 4. Hydraulic cylinder; 5. Crushing and stamping head one; 6. Crushing and stamping head two; 7. Hub frame; 8. Explosion-proof wheel; 9. Explosion-proof camera; 10. Explosion-proof lighting; 11. Mounting plate. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Example 1, as Figures 1 to 4 As shown, a mobile crushing robot for detecting, identifying and crushing large coal blocks based on extremely thin coal seams includes a frame 1 and bases 3 symmetrically installed at the bottom of the frame 1. Mounting plates 11 are installed on the surfaces of both bases 3, and hydraulic cylinders 4 are installed on the opposite sides of the mounting plates 11. One end of one hydraulic cylinder 4 is equipped with a crushing punch head 5, and the other end of the other hydraulic cylinder 4 is equipped with a crushing punch head 6.

[0024] An explosion-proof camera 9 is mounted on the surface of the frame 1. The explosion-proof camera can rotate 360° without blind spots.

[0025] When the target to be crushed is identified, the processor terminal sends a command to control the robot to move towards the large coal block. When the large coal block moves into the mechanism, it causes the large coal block to be between the crushing punch head 5 and the crushing punch head 6. The hydraulic cylinder 4 then performs work, causing the crushing punch head 5 and the crushing punch head 6 to move closer to each other to complete the crushing task of the large coal block.

[0026] A hub bracket 7 is mounted on the surface of the base 3, an explosion-proof wheel 8 is mounted on the surface of the hub bracket 7, and a scraper is mounted on the surface of the base 3 above the explosion-proof wheel 8.

[0027] The explosion-proof wheel 8 is driven by an explosion-proof motor and is responsible for the movement of the entire mechanism, improving the flexibility of the entire mechanism.

[0028] Example 2: In addition to all the technical features in Example 1, this example also includes: baffles 2 are symmetrically installed on the surface of the frame 1, the crushing and punching head 5 is slidably connected between the two baffles 2, and the bottom of the baffles 2 is inclined toward the side away from the frame 1.

[0029] Baffle 2 can effectively prevent crushed coal blocks from falling off the scraper conveyor during the crushing process and prevent ore from splashing during the crushing process.

[0030] The first crushing head 5 and the second crushing head 6 are high-frequency breaker hammers, and their crushing frequency and impact force can be adjusted by controlling the output power of the hydraulic cylinder 4.

[0031] During the crushing process, the processor terminal can adjust the frequency and impact force of crushing punch head 5 and crushing punch head 6 in real time according to the actual crushing situation of large coal blocks, so as to ensure that large coal blocks are effectively crushed.

[0032] In Example 3, in addition to all the technical features in Example 1, this example also includes: explosion-proof lighting lamps 10 are symmetrically installed on the side of the frame 1, and the explosion-proof lighting lamps 10 are symmetrically installed on both sides of the explosion-proof camera 9.

[0033] The explosion-proof lighting 10 provides bright and uniform light, ensuring that workers can clearly see the details of the work area, thereby improving the accuracy and efficiency of work and reducing operational errors caused by insufficient lighting.

[0034] The frame 1 is constructed by welding together several connecting rods, with adjacent connecting rods perpendicular to each other.

[0035] In use, the explosion-proof camera 9 searches for the target in the initial stage and uploads the data to the processor terminal in real time. When the target to be crushed is identified, the processor terminal sends a command to control the robot to move towards the large coal block. When the large coal block moves into the mechanism, it causes the large coal block to be between the crushing punch head 5 and the crushing punch head 6. The hydraulic cylinder 4 does work, causing the crushing punch head 5 and the crushing punch head 6 to move closer to each other to complete the crushing task of the large coal block.

[0036] The explosion-proof camera 9 can rotate freely 360°, enabling it to provide comprehensive coverage monitoring of the entire work area, leaving no corner unchecked and promptly detecting potential large coal chunks.

[0037] Baffle 2 can effectively prevent crushed coal pieces from falling off the scraper conveyor during the crushing process and prevent ore from splashing during the crushing process;

[0038] The explosion-proof wheel 8 is responsible for the robot's movement. The scraper formed on the surface of the base 3 can effectively remove the coal dust adhering to the explosion-proof wheel 8, preventing the overall working surface of the platform from being raised due to long-term crushing and accumulation of coal dust, and ensuring the working efficiency of the crushing robot.

[0039] The explosion-proof wheel 8 is driven by an explosion-proof motor and is responsible for the movement of the entire mechanism, improving the flexibility of the entire mechanism;

[0040] During the crushing process, the processor terminal can adjust the frequency and impact force of crushing punch head 15 and crushing punch head 26 in real time according to the actual crushing situation of large coal blocks, so as to ensure that large coal blocks are effectively crushed.

[0041] The explosion-proof lighting 10, when used in conjunction with the equipment, provides bright and uniform light, ensuring that workers can clearly see the details of the work area, thereby improving the accuracy and efficiency of the work and reducing operational errors caused by insufficient lighting.

[0042] It should be noted that during the movement, the explosion-proof camera 9 in the processor terminal collects real-time image information of the coal in front of the robot. The image acquisition unit in the processor terminal transmits the acquired images to the image processing unit. Subsequently, the image processing unit analyzes and processes the images, uses image recognition algorithms to identify large coal blocks, and determines their position and size information.

[0043] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0044] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider 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 mobile crushing robot based on an extremely thin coal seam, characterized in that: Includes a frame (1) and bases (3) symmetrically installed at the bottom of the frame (1). Mounting plates (11) are installed on the surfaces of both bases (3). Hydraulic cylinders (4) are installed on opposite sides of the mounting plates (11). One end of one of the hydraulic cylinders (4) is equipped with a crushing punch head (5), and the other end of the hydraulic cylinder (4) is equipped with a crushing punch head (6). An explosion-proof camera (9) is rotatably mounted on the side surface of the frame (1), and the explosion-proof camera (9) rotates 360° without blind spots.

2. The mobile crushing robot according to claim 1, characterized in that: A hub frame (7) is mounted on the surface of the base (3), an explosion-proof wheel (8) is mounted on the surface of the hub frame (7), and a scraper is mounted on the surface of the base (3) above the explosion-proof wheel (8).

3. The mobile crushing robot according to claim 1, characterized in that: The frame (1) is symmetrically equipped with baffles (2), and the crushing punch head (5) is slidably connected between the two baffles (2). The bottom of the baffles (2) is inclined toward the side away from the frame (1).

4. The mobile crushing robot according to claim 1, characterized in that: The first crushing head (5) and the second crushing head (6) are high-frequency crushing hammers, and their crushing frequency and impact force can be adjusted by controlling the output power of the hydraulic cylinder (4).

5. The mobile crushing robot according to claim 1, characterized in that: Explosion-proof lighting lamps (10) are symmetrically installed on the side of the frame (1), and the explosion-proof lighting lamps (10) are symmetrically installed on both sides of the explosion-proof camera (9).

6. The mobile crushing robot according to claim 1, characterized in that: The frame (1) is constructed by welding together several connecting rods, and the adjacent connecting rods are perpendicular to each other.

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