Milling, digging and loading robot for lower cleaning of coal mine reversed loader

Abstract

The utility model provides a coal mine reversed loader lower cleaning milling digging loading robot, which relates to the technical field of coal mine equipment and comprises a supporting bottom plate, a digging wheel bottom plate and a conveying bottom plate, the supporting bottom plate is arranged on one side of the conveying bottom plate, the digging wheel bottom plate is rotatably connected to one end of the supporting bottom plate, and the conveying bottom plate is arranged on the other side of the supporting bottom plate. A sliding seat is movably mounted on the supporting bottom plate through a driving part, a rotary supporting seat is arranged above the sliding seat, and a mechanical connecting rod mechanism is connected to a rotating disc above the rotary supporting seat; the milling and digging device is used for cleaning below the reversed loader, the front-back position of the milling and digging head is changed through movement of the sliding seat, the angle of the milling and digging head is changed through rotation of the rotating disc above the rotary supporting seat, and the milling and digging head is operated through the mechanical connecting rod mechanism to clean, mill and dig a floor heave below the reversed loader. The cleaned soil blocks are conveyed to the scraper through the rotary digging wheel, and the scraper conveys the soil blocks away, so that the whole cleaning operation is carried out, the labor is saved, and the device is safer.

Description

Technical Field

[0001] This utility model relates to the field of coal mine equipment technology, and in particular to a cleaning, milling and loading robot for coal mine transfer machines. Background Technology

[0002] In the coal mine production process, transfer machines are needed to transport coal. Loaders are generally installed in the underground transport roadways of coal mines. Due to the ground pressure in coal mines, the roadway floor heave is very serious, causing the loader to be unable to be used normally due to the deformation of the roadway floor plate. Therefore, it is necessary to clean and mill the floor heave under the transfer machine to remove the floor heave and ensure the normal operation of the transfer machine.

[0003] Because the area under the loader is extremely low, with a maximum height of about 0.8 meters, large excavating equipment cannot operate underneath it. Manual cleaning is extremely labor-intensive. To date, there are no suitable machines for cleaning operations, and most work is done manually with pneumatic picks, which is labor-intensive and poses a significant safety hazard. Therefore, this utility model proposes a milling and loading robot for cleaning under coal mine transfer machines to solve the problems existing in the prior art. Utility Model Content

[0004] To address the aforementioned problems, this utility model proposes a coal mine transfer conveyor cleaning and milling loading robot. This robot facilitates the entire cleaning operation, saves manpower, and enhances safety.

[0005] To achieve the purpose of this utility model, the utility model is implemented through the following technical solution: a coal mine transfer machine cleaning and milling loading robot, including a support base plate, a chuck base plate and a conveying base plate. The support base plate is located on one side of the conveying base plate. The chuck base plate is rotatably connected to one end of the support base plate. A sliding seat is movably installed on the support base plate through a driving component. A rotary support seat is provided above the sliding seat. A mechanical linkage mechanism is connected to the rotating disk above the rotary support seat. A milling head is provided at one end of the mechanical linkage mechanism.

[0006] Rotating wheels are rotatably mounted on both sides of the top of the bottom plate of the conveyor. A support shaft is provided at one end of the top of the conveyor bottom plate, and a scraper is rotatably mounted on the support shaft. A first jack is rotatably mounted on the side of the top of the conveyor bottom plate away from the support shaft, and the output end of the first jack is hinged to the scraper.

[0007] A further improvement is that the driving component includes a slide rail and a support plate, the slide rail is located on both sides of the top of the support base plate, and the sliding seat is movably installed with the slide rail.

[0008] A further improvement is that the support plate is located at the middle of one end of the top of the support base plate, and a second jack is provided on both sides of one end of the support plate, with the output end of the second jack connected to the sliding seat.

[0009] A further improvement is that the mechanical linkage mechanism includes a first mechanical arm, a second mechanical arm, and a third mechanical arm. The first mechanical arm is hinged to a rotating disk above the rotary support base. The second mechanical arm is hinged to one end of the inner side of the first mechanical arm. The third mechanical arm is hinged to one end of the second mechanical arm, and one end of the third mechanical arm is connected to the milling head.

[0010] A further improvement is made in that: a third jack is hinged to one side of the upper rotating disk of the rotary support base, and the output end of the third jack is hinged to the first robotic arm; a fourth jack is hinged to one end of the first robotic arm, and the output end of the fourth jack is hinged to the second robotic arm; a fifth jack is hinged to one end below the second robotic arm, and the output end of the fifth jack is hinged to the milling head.

[0011] A further improvement is that a hinge connects the bottom plate of the pulley wheel and the support bottom plate, and at least two sets of hinges are provided.

[0012] A further improvement is made in that: a support plate is provided on the outer side of one end of the bottom plate of the pulley, a lower rotating shaft is provided on the outer side of the top end of the support plate, and a sixth jack is hinged on the lower rotating shaft; an upper rotating shaft is provided at the bottom of the support plate, and the output end of the sixth jack is hinged to the upper rotating shaft.

[0013] A further improvement is that the scraper conveyor includes a support, sprockets and a chain. The sprockets are rotatably located at both ends inside the support, and a set of the sprockets is driven to rotate by a motor. The chain is wrapped around the outside of the sprockets.

[0014] A further improvement is that: a scraper is provided on the outer side of the chain, and multiple sets of scrapers are provided; an unloading inclined funnel is provided at one end of the support.

[0015] The beneficial effects of this utility model are as follows:

[0016] 1. This utility model is used for cleaning under a transfer machine. By moving the sliding seat, the front and rear positions of the milling head are changed. The angle of the milling head is changed by rotating the upper rotating disk of the slewing support. The milling head is operated by a mechanical linkage mechanism to clean and mill the bottom drum under the transfer machine. The cleaned soil is sent to the scraper by rotating the scraper wheel. The scraper conveys the soil away, thus completing the entire cleaning operation, saving labor and making it safer.

[0017] 2. This utility model adapts to the space under the loader by adjusting the operation of the mechanical linkage mechanism. The first jack lifts the scraper conveyor, making it easy to change the angle. The sixth jack lifts the support plate, making it easy to change the angle of the scraper wheel base plate. This adapts to the angle of the scraper conveyor and the space under the loader, making it more convenient to use. Attached Figure Description

[0018] Figure 1 This is a side view of the present invention;

[0019] Figure 2 This is a top view of the present invention;

[0020] Figure 3 This is a top view of the structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the scraper conveyor of this utility model.

[0022] The components are as follows: 1. Support base plate; 2. Drill wheel base plate; 3. Conveying base plate; 4. Rotary support seat; 5. Milling head; 6. Rotary drill wheel; 7. Support shaft; 8. First jack; 9. Slide rail; 10. Support plate; 11. Second jack; 12. First robotic arm; 13. Second robotic arm; 14. Third robotic arm; 15. Third jack; 16. Fourth jack; 17. Fifth jack; 18. Hinge; 19. Support plate; 20. Lower rotating shaft; 21. Sixth jack; 22. Upper rotating shaft; 23. Bracket; 24. Sprocket; 25. Chain; 26. Scraper; 27. Unloading inclined funnel; 28. Scraper conveyor; 29. ​​Sliding seat. Detailed Implementation

[0023] To deepen the understanding of this utility model, the following detailed description will be provided in conjunction with embodiments. These embodiments are only used to explain this utility model and do not constitute a limitation on the scope of protection of this utility model.

[0024] Example 1

[0025] according to Figure 1 , 2 As shown in Figures 3 and 4, this embodiment proposes a coal mine transfer machine cleaning and milling loading robot, including a support base plate 1, a chuck base plate 2, and a conveying base plate 3. The support base plate 1 is located on one side of the conveying base plate 3. The chuck base plate 2 is rotatably connected to one end of the support base plate 1. A sliding seat 29 is movably mounted on the support base plate 1 through a driving component, and a rotary support seat 4 is provided above the sliding seat 29. A mechanical linkage mechanism is connected to the rotating disk above the rotary support seat 4, and a milling head 5 is provided at one end of the mechanical linkage mechanism.

[0026] Rotating wheels 6 are rotatably mounted on both sides of the top of the bottom plate 2. A support shaft 7 is provided at one end of the top of the conveying bottom plate 3, and a scraper conveyor 28 is rotatably mounted on the support shaft 7. A first jack 8 is rotatably mounted on the side of the top of the conveying bottom plate 3 away from the support shaft 7, and the output end of the first jack 8 is hinged to the scraper conveyor 28. In use, this device is placed under the transfer machine for cleaning. The position of the milling head 5 is changed by the movement of the sliding seat 29. The angle of the milling head 5 is changed by the rotation of the rotating disk above the rotary support seat 4. The milling head 5 is operated by the mechanical linkage mechanism to clean and mill the bottom drum under the transfer machine. The soil clods cleaned are sent to the scraper conveyor 28 by the rotating wheels 6, and the scraper conveyor 28 transports the soil clods away. This completes the cleaning operation, saving labor and making it safer. By extending or retracting the first jack 8, the height of the unloading inclined funnel 27 of the scraper conveyor 28 can be raised or lowered, and the horizontal inclination angle of the scraper conveyor 28 can be adjusted to achieve the purpose of adjusting the height of the unloading inclined funnel 27 to meet the needs of actual production.

[0027] The driving component includes a slide rail 9 and a support plate 10. The slide rail 9 is located on both sides of the top of the supporting base plate 1, and the sliding seat 29 is movably installed with the slide rail 9. The support plate 10 is located at the middle position of one end of the top of the supporting base plate 1, and a second jack 11 is provided on both sides of one end of the support plate 10. The output end of the second jack 11 is connected to the sliding seat 29. In use, the sliding seat 29 and the structure above it slide back and forth on the slide rail 9 by being pushed by the second jack 11, which causes the mechanical linkage mechanism to move back and forth, and ultimately causes the milling head 5 to move back and forth, performing milling operations within a certain range.

[0028] The mechanical linkage mechanism includes a first mechanical arm 12, a second mechanical arm 13, and a third mechanical arm 14. The first mechanical arm 12 is hinged to the upper rotating disk of the rotary support 4. The second mechanical arm 13 is hinged to one end of the first mechanical arm 12 on its inner side. The third mechanical arm 14 is hinged to one end of the second mechanical arm 13, and one end of the third mechanical arm 14 is connected to the milling head 5. A third jack 15 is hinged to one side of the upper rotating disk of the rotary support 4, and the output end of the third jack 15 is hinged to the first mechanical arm 12. A fourth jack 16 is hinged to one end of the first mechanical arm 12, and the output end of the fourth jack 16 is hinged to the second mechanical arm 13. A fifth jack 17 is hinged to one end below the second mechanical arm 13, and the output end of the fifth jack 17 is hinged to the milling head 5. In use, the third jack 15 pushes the first robotic arm 12 to change its angle, the fourth jack 16 pushes the second robotic arm 13 to change its angle, and the fifth jack 17 pushes the milling head 5 to change its angle. In summary, the height and angle of the milling head 5 can be adjusted in multiple ways to clean and mill the bottom drum under the transfer machine.

[0029] A hinge 18 connects the loader base plate 2 and the support base plate 1, and there are two sets of hinges 18. A support plate 19 is provided on the outer side of one end of the loader base plate 2, and a lower rotating shaft 20 is provided on the outer side of the top end of the support base plate 1. A sixth jack 21 is hinged to the lower rotating shaft 20. An upper rotating shaft 22 is provided at the bottom of the support plate 19, and the output end of the sixth jack 21 is hinged to the upper rotating shaft 22. In use, the extension or retraction of the sixth jack 21 is adjusted to lift the support plate 19, which facilitates changing the angle of the loader base plate 2, thereby adjusting the tilt angle of the rotating loader head 6 with the horizontal, so that the size of the tilt angle of the rotating loader head 6 with the horizontal is consistent with the size of the tilt angle of the scraper conveyor 28, adapting to the space under the loader.

[0030] Example 2

[0031] according to Figure 1 , 2 As shown in Figures 3 and 4, this embodiment proposes a coal mine transfer machine cleaning and milling loading robot, including a support base plate 1, a chuck base plate 2, and a conveying base plate 3. The support base plate 1 is located on one side of the conveying base plate 3. The chuck base plate 2 is rotatably connected to one end of the support base plate 1. A sliding seat 29 is movably mounted on the support base plate 1 through a driving component, and a rotary support seat 4 is provided above the sliding seat 29. A mechanical linkage mechanism is connected to the rotating disk above the rotary support seat 4, and a milling head 5 is provided at one end of the mechanical linkage mechanism.

[0032] Rotating wheels 6 are rotatably mounted on both sides of the top of the bottom plate 2. A support shaft 7 is provided at one end of the top of the conveying bottom plate 3, and a scraper conveyor 28 is rotatably mounted on the support shaft 7. A first jack 8 is rotatably mounted on the side of the top of the conveying bottom plate 3 away from the support shaft 7, and the output end of the first jack 8 is hinged to the scraper conveyor 28. In use, this device is placed under the transfer machine for cleaning. The position of the milling head 5 is changed by the movement of the sliding seat 29. The angle of the milling head 5 is changed by the rotation of the rotating disk above the rotary support seat 4. The milling head 5 is operated by the mechanical linkage mechanism to clean and mill the bottom drum under the transfer machine. The soil clods cleaned are sent to the scraper conveyor 28 by the rotating wheels 6, and the scraper conveyor 28 transports the soil clods away. This completes the cleaning operation, saving labor and making it safer. By extending or retracting the first jack 8, the height of the unloading inclined funnel 27 of the scraper conveyor 28 can be raised or lowered, and the horizontal inclination angle of the scraper conveyor 28 can be adjusted to achieve the purpose of adjusting the height of the unloading inclined funnel 27 to meet the needs of actual production.

[0033] The driving component includes a slide rail 9 and a support plate 10. The slide rail 9 is located on both sides of the top of the supporting base plate 1, and the sliding seat 29 is movably installed with the slide rail 9. The support plate 10 is located at the middle position of one end of the top of the supporting base plate 1, and a second jack 11 is provided on both sides of one end of the support plate 10. The output end of the second jack 11 is connected to the sliding seat 29. In use, the sliding seat 29 and the structure above it slide back and forth on the slide rail 9 by being pushed by the second jack 11, which causes the mechanical linkage mechanism to move back and forth, and ultimately causes the milling head 5 to move back and forth, performing milling operations within a certain range.

[0034] The scraper conveyor 28 includes a support 23, sprockets 24, and a chain 25. The sprockets 24 are rotatably mounted at both ends inside the support 23, and one set of sprockets 24 is driven to rotate by a motor. The chain 25 is wound around the outside of the sprockets 24. Multiple scraper blades 26 are provided on the outside of the chain 25. An unloading inclined funnel 27 is located at one end below the support 23. In use, the motor drives the sprockets 24 to rotate, causing the scraper blades 26 to move, facilitating the transport of soil clods. By extending or retracting the first jack 8, the height of the unloading inclined funnel 27 of the scraper conveyor 28 can be raised or lowered, adjusting the horizontal inclination angle of the scraper conveyor 28 to adjust the height of the unloading inclined funnel 27 to meet actual production needs.

[0035] The entire milling operation is controlled by intelligent electro-hydraulic system and equipped with a variety of sensor probes. After the power is turned on, the bottom cleaning and milling loading robot of the coal mine transfer machine can automatically carry out milling operations through sensing.

[0036] This coal mine transfer conveyor cleaning and milling loading robot is used for cleaning under the transfer conveyor. The sliding seat 29 moves to change the front-to-back position of the milling head 5, and the rotating disc above the rotary support 4 changes the angle of the milling head 5. A mechanical linkage mechanism operates the milling head 5 to clean and mill the bottom drum under the transfer conveyor. The rotating scraper wheel 6 delivers the cleaned soil to the scraper conveyor 28, which then transports the soil away. This process saves labor and improves safety. Simultaneously, the mechanical linkage mechanism is adjusted to fit the space under the loader. The first jack 8 lifts the scraper conveyor 29 to facilitate angle changes, and the sixth jack 21 lifts the support plate 19 to facilitate angle changes, adapting to the angle of the scraper wheel base plate 2 and the scraper conveyor 29, thus accommodating the space under the loader and making it more convenient to use.

[0037] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A coal mine transfer machine cleaning, milling, and loading robot, comprising a support base plate (1), a pulley base plate (2), and a conveying base plate (3), characterized in that: The supporting base plate (1) is located on one side of the conveying base plate (3). The puller base plate (2) is rotatably connected to one end of the supporting base plate (1). A sliding seat (29) is movably installed on the supporting base plate (1) through a driving component. A rotary support seat (4) is provided above the sliding seat (29). A mechanical linkage mechanism is connected to the rotating disk above the rotary support seat (4). A milling head (5) is provided at one end of the mechanical linkage mechanism. Rotating wheels (6) are rotatably provided on both sides of the top of the bottom plate (2). A support shaft (7) is provided at one end of the top of the conveying bottom plate (3), and a scraper (28) is rotatably provided on the support shaft (7). A first jack (8) is rotatably provided on the side of the top of the conveying bottom plate (3) away from the support shaft (7), and the output end of the first jack (8) is hinged to the scraper (28).

2. The coal mine transfer conveyor cleaning, milling, and loading robot according to claim 1, characterized in that: The driving component includes a slide rail (9) and a support plate (10). The slide rail (9) is located on both sides of the top of the support base plate (1). The sliding seat (29) is movably installed with the slide rail (9).

3. The coal mine transfer conveyor cleaning, milling, and loading robot according to claim 2, characterized in that: The support plate (10) is located at the middle of one end of the top of the support base plate (1), and a second jack (11) is provided on both sides of one end of the support plate (10). The output end of the second jack (11) is connected to the sliding seat (29).

4. The coal mine transfer conveyor cleaning, milling, and loading robot according to claim 1, characterized in that: The mechanical linkage mechanism includes a first mechanical arm (12), a second mechanical arm (13) and a third mechanical arm (14). The first mechanical arm (12) is hinged to the rotating disk above the rotary support (4). The second mechanical arm (13) is hinged to one end inside the first mechanical arm (12). The third mechanical arm (14) is hinged to one end of the second mechanical arm (13), and one end of the third mechanical arm (14) is connected to the milling head (5).

5. A coal mine transfer conveyor cleaning, milling, and loading robot according to claim 4, characterized in that: A third jack (15) is hinged to one side of the upper rotating disk of the rotary support (4), and the output end of the third jack (15) is hinged to the first mechanical arm (12). A fourth jack (16) is hinged to one end of the first mechanical arm (12), and the output end of the fourth jack (16) is hinged to the second mechanical arm (13). A fifth jack (17) is hinged to one end below the second mechanical arm (13), and the output end of the fifth jack (17) is hinged to the milling head (5).

6. The coal mine transfer conveyor cleaning, milling, and loading robot according to claim 1, characterized in that: The bottom plate (2) of the pulley wheel and the support plate (1) are connected by a hinge (18), and the hinge (18) is provided in at least two sets.

7. A coal mine transfer conveyor cleaning, milling, and loading robot according to claim 6, characterized in that: A support plate (19) is provided on the outer side of one end of the bottom plate (2) of the pulley wheel. A lower rotating shaft (20) is provided on the outer side of the top end of the support plate (1), and a sixth jack (21) is hinged on the lower rotating shaft (20). An upper rotating shaft (22) is provided at the bottom of the support plate (19), and the output end of the sixth jack (21) is hinged to the upper rotating shaft (22).

8. The coal mine transfer conveyor cleaning, milling, and loading robot according to claim 1, characterized in that: The scraper conveyor (28) includes a bracket (23), a sprocket (24) and a chain (25). The sprocket (24) is rotatably located at both ends inside the bracket (23), and a set of the sprockets (24) is driven to rotate by a motor. The chain (25) is wrapped around the outside of the sprockets (24).

9. A coal mine transfer conveyor cleaning, milling, and loading robot according to claim 8, characterized in that: The chain (25) is provided with a scraper (26) on the outside, and multiple sets of scrapers (26) are provided. The bracket (23) is provided with an unloading inclined funnel (27) at one end below.

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