Multifunctional mine roadway repairing machine

Abstract

A multifunctional mining roadway repairing machine comprises a frame, an electrical system is mounted at the top end of the frame, a walking mechanism is mounted at the bottom end of the frame, supporting leg mechanisms are arranged on the two sides of the walking mechanism, a supporting seat is slidably connected to one side of the electrical system, a sliding assembly is arranged between the supporting seat and the frame, and a rotary table is rotatably connected to the top end of the supporting seat through a rotary driving device. A driving arm linkage assembly is hinged to the top end of the rotary table, a manipulator mechanism is hinged to the end, away from the rotary table, of the driving arm linkage assembly and comprises a first mounting base, the top end of the first mounting base is hinged to the driving arm linkage assembly, and a second mounting base is arranged at the bottom end of the first mounting base. A first rotating mechanism is arranged between the second mounting base and the first mounting base, a clamping assembly is arranged at the bottom end of the second mounting base, and a second rotating mechanism is arranged between the clamping assembly and the second mounting base. The working range is expanded, the flexibility of the manipulator is improved, and the working efficiency of roadway repair is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to roadway repair engineering equipment technical field, especially in kind of multi -functional mine roadway repair machine. BACKGROUND

[0002] In the roadway repair work, the roadway repair machine plays a key role. When the current roadway repair machine works, the support legs need to be erected to ensure the stability of the equipment, and then the driving arm group is used to drive the manipulator to carry out work.

[0003] Then, on the one hand, the existing roadway repair machine has some problems, the driving arm linkage assembly has a limited working range, and it often cannot reach some areas, which makes it necessary to retract the support legs and move the equipment before continuing to work, greatly affecting the work efficiency. On the other hand, the existing manipulator also has some problems in roadway repair. Even though some manipulators have complex structures, their flexibility is still limited. When repairing the roadway floor, side slope and roof, the working angle cannot be adjusted accurately, and the task cannot be completed efficiently and accurately. It cannot meet the diversified needs of actual repair work.

[0004] In summary, the roadway repair machine has the problems of limited working range and insufficient flexibility of the manipulator. In view of this, we propose a kind of multi -functional mine roadway repair machine, which aims to solve the above problems. INVENTION CONTENTS

[0005] The utility model aims at providing a kind of multi -functional mine roadway repair machine, and the device is used to work, to solve the problems in the above background technology.

[0006] To achieve the above purpose, the technical scheme provided by the utility model is as follows: a kind of multi -functional mine roadway repair machine, including frame, the frame top is equipped with electrical system, the frame bottom is equipped with traveling mechanism, the traveling mechanism two sides are equipped with support leg mechanism, the electrical system one side is slidably connected with support seat, the support seat and frame are provided with sliding component between, the support seat top is rotatably connected with slewing ring by rotation driving device, the slewing ring top is hinged with driving arm linkage assembly, the driving arm linkage assembly far from slewing ring one end is hinged with manipulator mechanism, the manipulator mechanism includes first mounting seat, the first mounting seat top is hinged with driving arm linkage assembly, the first mounting seat bottom is provided with second mounting seat, the second mounting seat and first mounting seat are provided with first rotating mechanism between, the second mounting seat bottom is provided with clamping assembly, and clamping assembly and second mounting seat are provided with second rotating mechanism between.

[0007] Preferably, the sliding assembly comprises a first oil cylinder fixedly connected to the top end of the frame, sliding rails are arranged on the two sides of the first oil cylinder, sliding blocks are slidably connected to the two sliding rails, the top ends of the two sliding blocks are fixedly connected to the bottom end of a supporting seat, and the bottom end of the supporting seat is fixedly connected to the output end of the first oil cylinder.

[0008] Preferably, the driving arm linkage assembly comprises a main arm, one end of the main arm is hingedly connected to the top end of the rotary table, the other end of the main arm is hingedly connected with a movable arm, one end of the movable arm away from the main arm is hingedly connected with a bucket rod, the other end of the bucket rod away from the movable arm is hingedly connected with the top end of the first mounting seat through a lock pin quick change device, the top end of the rotary table is hingedly connected with a second oil cylinder, the output end of the second oil cylinder is hingedly connected with the top end of the main arm, the bottom end of the main arm is hingedly connected with a third oil cylinder, the output end of the third oil cylinder is hingedly connected with the bottom end of the movable arm, the bottom end of the movable arm is hingedly connected with a fourth oil cylinder, the output end of the fourth oil cylinder is hingedly connected with the bottom end of the bucket rod, the top end of the bucket rod is hingedly connected with a fifth oil cylinder, and the output end of the fifth oil cylinder is hingedly connected with the top end of the first mounting seat through the lock pin quick change device.

[0009] Preferably, the first rotating mechanism is a rotating oil cylinder, the two ends of the second mounting seat are fixedly connected to the rotating ends of the two sides of the rotating oil cylinder, the second rotating mechanism is a motor worm drive worm gear rotating device, and the top end of the clamping assembly is fixedly connected to the rotating end at the bottom of the motor worm drive worm gear rotating device.

[0010] Preferably, the clamping assembly comprises a mounting plate, the top end of the mounting plate is fixedly connected to the rotating end at the bottom of the motor worm drive worm gear rotating device, one side wall of the mounting plate is hingedly connected with a sixth oil cylinder, and the other side wall is hingedly connected with a seventh oil cylinder, two first clamping jaws are hingedly connected to one side of the bottom end of the mounting plate close to the sixth oil cylinder, and one second clamping jaw is hingedly connected to the other side, the movement track of the second clamping jaw and the movement tracks of the two first clamping jaws are staggered with each other on the inner sides, a connecting rod is fixedly connected between the two first clamping jaws, the sixth oil cylinder is hingedly connected to the middle part of the connecting rod, and the output end of the seventh oil cylinder is hingedly connected to the back surface of the second clamping jaw.

[0011] Compared with the prior art, the utility model has the advantages that:

[0012] 1. The driving arm working range is expanded, the first oil cylinder is fixed at the top end of the frame, the sliding rails are arranged on the two sides of the first oil cylinder, the sliding blocks are connected to the supporting seat, the supporting seat can move transversely, the rotary table on the supporting seat can rotate, the main arm, the movable arm and the bucket rod of the driving arm linkage assembly are cooperatively controlled by the second oil cylinder, the third oil cylinder, the fourth oil cylinder and the fifth oil cylinder, the driving arm linkage assembly can not only work within the conventional angle and distance, but also can move horizontally and change the working direction, so that the working range is greatly expanded, the supporting legs of the traditional equipment do not need to be retracted and the equipment does not need to be moved again, time is greatly saved, and the working efficiency is remarkably improved.

[0013] 2. The first mounting seat and the second mounting seat can rotate in the vertical direction, and the second mounting seat and the clamping assembly can rotate in the horizontal direction, and the mounting plate of the clamping assembly controls the first clamping jaw and the second clamping jaw to flexibly grab through the sixth oil cylinder and the seventh oil cylinder, after the driving arm linkage assembly sends the manipulator to the approximate working area, the manipulator structure can accurately adjust the position and the posture by virtue of the multi-dimensional flexible rotation capability, when it is necessary to repair the work in various working environments such as the roadway floor, the side slope and the roof, the angle can be accurately adjusted to meet the working requirements. BRIEF DESCRIPTION OF DRAWINGS

[0014] Fig. 1 It is a structural schematic view of the utility model;

[0015] Fig. 2 It is a schematic view of the position relationship between the support seat and the manipulator structure in the utility model;

[0016] Fig. 3 It is a structural schematic view of the manipulator structure in the utility model.

[0017] In the drawing: 1, vehicle frame; 2, electrical system; 3, travelling mechanism; 4, support leg mechanism; 5, support seat; 6, rotary table; 7, sliding assembly; 71, first oil cylinder; 72, sliding rail; 73, sliding block; 8, driving arm linkage assembly; 81, main arm; 82, movable arm; 83, bucket rod; 84, second oil cylinder; 85, third oil cylinder; 86, fourth oil cylinder; 87, fifth oil cylinder; 9, manipulator structure; 91, first mounting seat; 92, second mounting seat; 93, clamping assembly; 931, mounting plate; 932, sixth oil cylinder; 933, seventh oil cylinder; 934, first clamping jaw; 935, second clamping jaw; 936, connecting rod; 94, first rotating mechanism; 95, second rotating mechanism. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the utility model will be clearly and completely described in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0019] In order to further understand the contents of the utility model, the utility model will be described in detail in combination with the drawings.

[0020] In combination with the drawings Figs. 1-3The utility model provides a kind of multifunctional mine roadway repair machine, including frame 1, frame 1 top end is equipped with electrical system 2, electrical system 2 includes power device, remote control device, short-circuit protection, leakage protection, overload protection, open-phase protection etc., so that equipment supports remote control operation, frame 1 bottom end is equipped with running gear 3, running gear 3 both sides are equipped with support leg mechanism 4, support leg mechanism 4 includes four support legs, electrical system 2 side is slidably connected with support seat 5, support seat 5 top end is rotatably connected with slewing ring 6 by rotation driving device, rotation driving device preferably motor worm drive worm gear rotation device, rotation driving device drives slewing ring 6 to rotate, sliding assembly 7 is arranged between support seat 5 and frame 1, expand work range, slewing ring 6 top end is hinged with drive arm linkage assembly 8, drive arm linkage assembly 8 is hinged with mechanical hand mechanism 9 by lock pin quick-change device away from slewing ring 6 one end, it is convenient for mechanical hand mechanism 9 flexible adjustment posture, also can be according to different repair tasks, dismounts mechanical hand mechanism 9, and replaces shovel, breaking hammer etc.

[0021] Sliding assembly 7 includes first oil cylinder 71 fixedly connected in the top end of frame 1, slide rail 72 is provided on the both sides of first oil cylinder 71, and sliding block 73 is slidably connected in the two slide rails 72, the top end of the two sliding blocks 73 is fixedly connected with the bottom end of support seat 5, the bottom end of support seat 5 is fixedly connected with the output end of first oil cylinder 71, the output end of first oil cylinder 71 generates linear driving force by extension and retraction, slide rail 72 is sliding guide, sliding block 73 slides in slide rail 72, support seat 5 and slewing ring 6, drive arm linkage assembly 8 and mechanical hand mechanism 9 above can move laterally as a whole, solve the problem that the working range of the drive arm of traditional repair machine is limited.

[0022] The driving arm linkage assembly 8 comprises a main arm 81, one end of which is hingedly connected to the top end of the rotating table 6, and a movable arm 82 hingedly connected to the other end of the main arm 81, a bucket rod 83 hingedly connected to the end of the movable arm 82 away from the main arm 81, the end of the bucket rod 83 away from the movable arm 82 being hingedly connected to the top end of the first mounting seat 91 through a lock pin quick change device, a second oil cylinder 84 being hingedly connected to the top end of the rotating table 6, the output end of the second oil cylinder 84 being hingedly connected to the top end of the main arm 81, a third oil cylinder 85 being hingedly connected to the bottom end of the main arm 81, the output end of the third oil cylinder 85 being hingedly connected to the bottom end of the movable arm 82, a fourth oil cylinder 86 being hingedly connected to the bottom end of the movable arm 82, the output end of the fourth oil cylinder 86 being hingedly connected to the bottom end of the bucket rod 83, a fifth oil cylinder 87 being hingedly connected to the top end of the bucket rod 83, the output end of the fifth oil cylinder 87 being hingedly connected to the top end of the first mounting seat 91 through a lock pin quick change device, the second oil cylinder 84 being capable of driving the main arm 81 to swing up and down around the hinge point between the main arm 81 and the rotating table 6, thereby flexibly adjusting the working height, when the third oil cylinder 85 is extended or retracted, the included angle between the movable arm 82 and the main arm 81 can be changed, the movable arm 82 can be moved up and down, and the working position can be further adjusted, when the fourth oil cylinder 86 is extended or retracted, the included angle between the bucket rod 83 and the movable arm 82 can be effectively controlled, the bucket rod 83 can swing up and down, and the working point can be accurately positioned, the fifth oil cylinder 87 can adjust the position and angle of the mechanical arm 9 connected to the end of the bucket rod 83, and ensure that the mechanical arm 9 can accurately reach the position to be repaired in the roadway, and through the coordinated operation of the multiple oil cylinders, the driving arm linkage assembly 8 can be extended and retracted in different directions and at different angles.

[0023] The first rotating mechanism 94 is a rotary oil cylinder, the two ends of the second mounting seat 92 are fixedly connected to the rotary ends of the rotary oil cylinder on both sides, the second rotating mechanism 95 is a motor worm drive worm gear rotating device, the top end of the clamping assembly 93 is fixedly connected to the rotary end at the bottom of the motor worm drive worm gear rotating device, the second mounting seat 92 and the clamping assembly 93 each have two-dimensional flexible rotation capability, when it is necessary to repair the roadway floor, side slope, roof and other working environments, the angle can be accurately adjusted to meet the working requirements.

[0024] The clamping assembly 93 comprises a mounting plate 931, the top end of the mounting plate 931 is fixedly connected with the rotating end of the bottom of the motor worm drive worm gear rotating device, a sixth oil cylinder 932 is hinged to one side wall of the mounting plate 931, and a seventh oil cylinder 933 is hinged to the other side wall, two first clamping jaws 934 are hinged to one side of the bottom end of the mounting plate 931 close to the sixth oil cylinder 932, and a second clamping jaw 935 is hinged to the other side, the movement track of the second clamping jaw 935 and the movement track of the two first clamping jaws 934 are staggered with each other, a connecting rod 936 is fixedly connected between the two first clamping jaws 934, the sixth oil cylinder 932 is hinged to the middle part of the connecting rod 936, and the output end of the seventh oil cylinder 933 is hinged to the back surface of the second clamping jaw 935; the sixth oil cylinder 932 pushes the connecting rod 936, so that the two first clamping jaws 934 move synchronously due to the fixed connection between the connecting rod 936 and the two first clamping jaws 934, and simultaneously, the seventh oil cylinder 933 pushes the second clamping jaw 935; the three clamping jaws cooperate with each other, and can be flexibly clamped and operated according to the shape, size and actual operation demand of the material.

[0025] Working principle:

[0026] The multifunctional mine roadway repair machine carries out operation, first, the walking mechanism 3 at the bottom end of the vehicle frame 1 is relied on to stably transport the whole machine to a designated repair position in the roadway, after reaching the predetermined position, the leg mechanism 4 on both sides of the walking mechanism 3 is operated, and four legs are synchronously stretched downward to support up the vehicle frame 1.

[0027] The rotating table 6 serves as the basis support of the driving arm linkage assembly 8, can realize 360° free rotation through the rotating drive device, provides all-around angle adjustment possibility for subsequent operation, the main arm 81 can be pushed up and down to swing around the hinge point between the main arm 81 and the rotating table 6 through the extension and retraction of the second oil cylinder 84, so as to flexibly adjust the operation height, the included angle between the movable arm 82 and the main arm 81 can be changed through the extension and retraction of the third oil cylinder 85, the movable arm 82 is realized up and down movement, the operation position is further adjusted, the included angle between the bucket rod 83 and the movable arm 82 can be effectively controlled through the extension and retraction of the fourth oil cylinder 86, the bucket rod 83 is realized up and down swing, so as to accurately position the operation point, the position and angle of the mechanical hand mechanism 9 connected to the end of the bucket rod 83 can be adjusted through the extension and retraction of the fifth oil cylinder 87, so as to ensure that the position needing to be repaired in the roadway can be accurately reached, the multiple oil cylinders are cooperated to work, so that the driving arm linkage assembly 8 can be stretched and retracted in different directions and at different angles, and provides basic motion support for the repair operation.

[0028] The first rotating mechanism 94 in the mechanical hand mechanism 9 can rotate the second mounting base 92 in the vertical direction, and the second rotating mechanism 95 can rotate the clamping assembly 93 in the horizontal direction. When it is necessary to repair various working environments such as a roadway floor, a side slope and a roof, the angle can be accurately adjusted to meet the working requirements. When it is necessary to grab or operate repair materials, the sixth oil cylinder 932 pushes the connecting rod 936, and since the connecting rod 936 is fixedly connected with the two first clamping jaws 934, the two first clamping jaws 934 move synchronously. At the same time, the seventh oil cylinder 933 pushes the second clamping jaw 935. The three clamping jaws cooperate with each other, can be flexibly clamped and operated according to the shape, size and actual working requirements of the materials, and the flexibility and accuracy of the mechanical hand in actual repair work are improved.

[0029] In the working process, the driving arm linkage assembly 8 cooperates with the mechanical hand mechanism 9. After the driving arm linkage assembly 8 sends the mechanical hand mechanism 9 at the end of the arm to a general working area, the mechanical hand mechanism 9 starts to play the functions of flexible rotation and clamping, and the driving arm linkage assembly 8 and the mechanical hand mechanism 9 cooperatively complete a complex repair task. When the driving arm linkage assembly 8 and the mechanical hand mechanism 9 work together, if the problem that some areas cannot be reached often occurs in traditional repair machines, the first oil cylinder 71 is started to push the support base 5 to move laterally along the slide rail 72. Since the support base 5 bears the rotating table 6, the driving arm linkage assembly 8 and the mechanical hand mechanism 9, the driving arm linkage assembly 8 and the mechanical hand mechanism 9 are displaced in the horizontal direction, thereby expanding the working range of the driving arm linkage assembly 8 and the mechanical hand mechanism 9 as a whole. It is not necessary to fold up the support legs, move the equipment and then set up the support legs again as in the traditional equipment, time is greatly saved, and the working efficiency is significantly improved.

[0030] The mechanical hand mechanism 9 is hinged to the arm linkage assembly 8 through a lock pin quick-change device. According to different repair tasks, the mechanical hand mechanism 9 can be disassembled, and working devices such as a bucket and a breaking hammer can be replaced to realize multiple functions such as digging, breaking, leveling and hoisting, and can adapt to various working environments such as a roadway floor, a side slope and a roof.

[0031] It should be noted that, in the present document, the terms such as first and second are used merely to differentiate one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Also, the terms “comprises”, “comprising”, or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or equipment that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or inherent to such a process, method, article or equipment.

[0032] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multifunctional mine roadway repair machine, comprising a frame (1), an electrical system (2) is installed at the top end of the frame (1), a walking mechanism (3) is installed at the bottom end of the frame (1), a supporting leg mechanism (4) is arranged on both sides of the walking mechanism (3), characterized in that: The electrical system (2) is slidably connected with a support seat (5), a sliding assembly (7) is arranged between the support seat (5) and the vehicle frame (1), the support seat (5) is rotatably connected with a rotary table (6) through a rotating driving device at the top end, the rotary table (6) is hingedly connected with a driving arm linkage assembly (8) at the top end, the driving arm linkage assembly (8) is hingedly connected with a mechanical hand mechanism (9) away from the rotary table (6) at one end, the mechanical hand mechanism (9) comprises a first mounting seat (91), the first mounting seat (91) is hingedly connected with the driving arm linkage assembly (8) at the top end, a second mounting seat (92) is arranged at the bottom end of the first mounting seat (91), a first rotating mechanism (94) is arranged between the second mounting seat (92) and the first mounting seat (91), a clamping assembly (93) is arranged at the bottom end of the second mounting seat (92), and a second rotating mechanism (95) is arranged between the clamping assembly (93) and the second mounting seat (92).

2. The multi-functional mine roadway repairing machine according to claim 1, characterized in that: The sliding assembly (7) comprises a first oil cylinder (71) fixedly connected to the top end of the vehicle frame (1), slide rails (72) are arranged on both sides of the first oil cylinder (71), slide blocks (73) are slidably connected in the two slide rails (72), the top ends of the two slide blocks (73) are fixedly connected with the bottom end of the support seat (5), and the bottom end of the support seat (5) is fixedly connected with the output end of the first oil cylinder (71).

3. The multi-functional mine roadway repairing machine according to claim 1, characterized in that: The driving arm linkage assembly (8) comprises a main arm (81), one end of the main arm (81) is hingedly connected with the top end of the rotary table (6), the other end of the main arm (81) is hingedly connected with a movable arm (82), the movable arm (82) is hingedly connected with a bucket rod (83) away from the main arm (81) at one end, the bucket rod (83) is hingedly connected with the top end of the first mounting seat (91) through a lock pin quick change device away from the movable arm (82) at one end, the rotary table (6) is hingedly connected with a second oil cylinder (84) at the top end, the output end of the second oil cylinder (84) is hingedly connected with the top end of the main arm (81), the bottom end of the main arm (81) is hingedly connected with a third oil cylinder (85), the output end of the third oil cylinder (85) is hingedly connected with the bottom end of the movable arm (82), the bottom end of the movable arm (82) is hingedly connected with a fourth oil cylinder (86), the output end of the fourth oil cylinder (86) is hingedly connected with the bottom end of the bucket rod (83), the top end of the bucket rod (83) is hingedly connected with a fifth oil cylinder (87), and the output end of the fifth oil cylinder (87) is hingedly connected with the top end of the first mounting seat (91) through a lock pin quick change device.

4. The multi-functional mine roadway repairing machine according to claim 1, characterized in that: The first rotating mechanism (94) is a rotating oil cylinder, the two ends of the second mounting seat (92) are fixedly connected with the rotating ends on both sides of the rotating oil cylinder, and the second rotating mechanism (95) is a motor worm drive worm gear rotating device, the top end of the clamping assembly (93) is fixedly connected with the rotating end at the bottom of the motor worm drive worm gear rotating device.

5. A multi-functional mine roadway repairing machine according to claim 4, characterized in that: The clamping assembly (93) comprises a mounting plate (931), the top end of the mounting plate (931) is fixedly connected with the rotating end of the bottom of the motor worm drive worm gear rotating device, one side wall of the mounting plate (931) is hingedly connected with a sixth oil cylinder (932), the other side wall is hingedly connected with a seventh oil cylinder (933), the bottom end of the mounting plate (931) is hingedly connected with two first clamping jaws (934) on one side close to the sixth oil cylinder (932), and is hingedly connected with a second clamping jaw (935) on the other side, the movement track of the second clamping jaw (935) and the movement track of the two first clamping jaws (934) are staggered with each other, a connecting rod (936) is fixedly connected between the two first clamping jaws (934), the sixth oil cylinder (932) is hingedly connected with the middle part of the connecting rod (936), and the output end of the seventh oil cylinder (933) is hingedly connected with the back surface of the second clamping jaw (935).

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