Scattered material cleaning robot for coal mine underground digging and transporting rotary belt conveyor

Abstract

The utility model discloses a scattered material cleaning robot for an underground coal mine digging and transporting rotary belt conveyor, which comprises a vehicle body, four groups of triangular crawler belt chassis, a lateral ore scraping mechanism, a cable storage mechanism, a digging and transporting mechanism and a hydraulic pump station, and the four groups of triangular crawler belt chassis are respectively arranged at the front part and the rear part of the left side and the right side of the vehicle body; the digging and transporting mechanism is arranged on the top face of the front portion of the vehicle body, the hydraulic pump station and the cable storage mechanism are sequentially arranged on the vehicle body behind the digging and transporting mechanism, the lateral ore scraping mechanism is connected with an output shaft of an ore scraping mechanism rotary motor, the ore scraping mechanism rotary motor is arranged on a rotary motor support, and the bottom face of the rotary motor support is connected with one end of a lifting hydraulic cylinder. The other end of the lifting hydraulic cylinder is connected with one side face of the vehicle body, and the lifting hydraulic cylinder is connected with the hydraulic pump station. According to the device, scattered materials below and around the underground coal mine belt conveyor can be mechanically cleaned, so that safe operation of equipment is ensured, the labor intensity of workers is reduced, and potential safety hazards are reduced.

Description

Technical Field

[0001] This utility model relates to a robot, specifically a coal mine underground excavation and transportation rotary belt conveyor material spreading and cleaning robot. Background Technology

[0002] Belt conveyors, as a type of mining transportation equipment that uses the frictional traction force generated between the belt and the roller to transport bulk materials, have advantages such as high transportation efficiency and strong process adaptability. They undertake a variety of transportation tasks underground depending on different transportation conditions, and their length varies from hundreds of meters to several kilometers depending on transportation needs. They occupy an important position in the entire mining transportation system.

[0003] However, in actual operation, coal conveyors in underground mines often experience material spillage due to various reasons such as belt misalignment, suspended sections of the belt, and material adhesion at transfer points. If spilled material is not cleaned up promptly, it can accumulate, polluting the environment, affecting equipment operation, and even posing safety hazards. Currently, coal mines primarily rely on manual cleaning to remove spilled and accumulated coal along the conveyor belt and in the tunnels. This method is time-consuming, labor-intensive, inefficient, and increases labor costs for the mine. Furthermore, the cleaning process is inherently dangerous, contradicting the requirements of "intelligent automation and reduced manpower" and safe production in coal mines, and urgently needs improvement.

[0004] Although various parties are researching ways to improve the structure of belt conveyors to minimize material spillage and accumulation during transport, spillage inevitably occurs with increasing service life, and there is currently no perfect solution. Therefore, new technologies are urgently needed to address the problem of material spillage from belt conveyors and prevent material accumulation from impacting the production efficiency of coal mining enterprises. Summary of the Invention

[0005] To address the problems existing in the prior art, this utility model provides a material cleaning robot for underground rotary belt conveyors in coal mines. It can mechanize the cleaning of materials spilled under and around underground belt conveyors in coal mines, thereby ensuring safe operation of the equipment, reducing the labor intensity of workers, and minimizing safety hazards.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a rotary belt conveyor material spreading and cleaning robot for underground coal mine excavation and transportation, comprising a vehicle body, four sets of triangular tracked chassis, a lateral ore-moving mechanism, a cable storage mechanism, an excavation and transportation mechanism, and a hydraulic pump station; the vehicle body is equipped with an electric motor and a hydraulic motor for the tracked chassis; the four sets of triangular tracked chassis are respectively located at the front and rear of the left and right sides of the vehicle body; the bottom of the excavation and transportation mechanism is located on the top surface of the front of the vehicle body through a central rotary mechanism; the hydraulic pump station and the cable storage mechanism are sequentially located on the vehicle body behind the excavation and transportation mechanism; the electric motor is connected to the hydraulic pump station, and the hydraulic pump station is connected to the hydraulic motor for the tracked chassis; the central rotary mechanism is equipped with a rotary mechanism rotary motor, and the rotary mechanism rotary motor is connected to the hydraulic pump station; the lateral ore-moving mechanism is located on one side of the vehicle body, and the lateral ore-moving mechanism is connected to the output shaft of the ore-moving mechanism rotary motor; the ore-moving mechanism rotary motor is mounted on a rotary motor bracket; the bottom surface of the rotary motor bracket is connected to one end of a lifting hydraulic cylinder; the other end of the lifting hydraulic cylinder is connected to one side of the vehicle body; and the lifting hydraulic cylinder is connected to the hydraulic pump station.

[0007] Furthermore, the triangular tracked chassis includes a frame, a drive wheel, a tension wheel, a guide wheel, a support wheel, and a track. The frame is connected to the vehicle body. The drive wheel is located on the upper part of the frame. Tension wheels and guide wheels are respectively located at the front and rear ends of the lower part of the frame. Multiple support wheels are located in the middle of the lower part of the frame. The drive wheel, tension wheel, guide wheel, and support wheel are surrounded by a track. The drive wheel is connected to the tracked chassis hydraulic motor. Preferably, there are two tracked chassis hydraulic motors, and the two tracked chassis hydraulic motors are respectively connected to the two drive wheels at the front of the vehicle body.

[0008] Furthermore, the excavation and transportation mechanism includes a boom, a forearm, a boom hydraulic cylinder, a forearm hydraulic cylinder, a tilting hydraulic cylinder, and a toothed bucket; the lower end of the boom is hinged to the central slewing mechanism, the upper end of the boom is hinged to the lower end of the forearm, the upper end of the forearm is hinged to the toothed bucket, the upper end of the boom hydraulic cylinder is hinged to the upper part of the boom, the lower end of the boom hydraulic cylinder is hinged to the central slewing mechanism, the lower end of the forearm hydraulic cylinder is hinged to the upper part of the boom, the upper end of the forearm hydraulic cylinder is hinged to the lower part of the forearm, the lower end of the tilting hydraulic cylinder is hinged to the lower part of the forearm, and the upper end of the tilting hydraulic cylinder is hinged to the back of the toothed bucket; the boom hydraulic cylinder, the forearm hydraulic cylinder, and the tilting hydraulic cylinder are connected to a hydraulic pump station.

[0009] Furthermore, the lateral ore-moving mechanism includes two shovels and a telescopic hydraulic cylinder. The bottom edge of the shovels has a toothed structure, and the ends of the two shovels are hinged together. The two ends of the telescopic hydraulic cylinder are respectively hinged to the middle of one of the shovels. The other end of one of the shovels is connected to the output shaft of the ore-moving mechanism's rotary motor. The telescopic hydraulic cylinder and the ore-moving mechanism's rotary motor are both connected to a hydraulic pump station.

[0010] Furthermore, parking mechanisms are provided on the front and rear ends of the vehicle body, and the parking mechanisms include parking brackets, parking hydraulic cylinders and parking support plates. The two ends of the parking brackets and parking hydraulic cylinders are respectively hinged to the vehicle body and the parking support plate, and the parking hydraulic cylinders are connected to the hydraulic pump station.

[0011] Furthermore, the outer side of the triangular track chassis is provided with track wheel baffles.

[0012] Compared with existing technologies, this utility model uses a hydraulically driven tracked chassis as its walking device, which can meet the requirements of complex and varied underground road conditions. Differential control via a hydraulic motor enables on-the-spot turning, satisfying the robot's turning and cleaning needs in the confined space of the coal spillage cleaning area. A lateral ore-removing mechanism removes and gathers the spilled material from under the belt conveyor, and a digging and transporting mechanism then excavates the gathered material. This mechanism, in conjunction with a central slewing mechanism, returns the excavated material to the appropriate position on the belt conveyor, replacing manual cleaning to complete the belt spillage cleaning operation. This reduces the labor intensity of workers, improves the cleaning efficiency of belt conveyor spillage in underground coal mines, and ensures a clean working environment for a longer period, reducing belt conveyor downtime and guaranteeing safe production and transportation efficiency for coal mining enterprises. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model;

[0014] Figure 2 This is a schematic diagram of the side-mounted ore-tapping mechanism of this utility model;

[0015] Figure 3 This is a schematic diagram of the internal structure of the triangular track chassis of this utility model;

[0016] Figure 4 This is a schematic diagram of the hydraulic pipeline connection inside the vehicle body of this utility model;

[0017] In the diagram: 1. Parking mechanism; 2. Vehicle body; 201. Electric motor; 202. Tracked chassis hydraulic motor; 3. Cable retraction mechanism; 4. Dumper plate; 5. Hydraulic pump station; 6. Boom hydraulic cylinder; 7. Arm hydraulic cylinder; 8. Telescopic hydraulic cylinder; 9. Side-mounted ore-moving mechanism; 10. Ore-moving mechanism rotary motor; 11. Rotary motor bracket; 12. Lifting hydraulic cylinder; 13. Track wheel baffle; 14. Center rotary mechanism; 141. Rotary mechanism rotary motor; 15. Triangular tracked chassis; 151. Drive wheel; 152. Tensioner wheel; 153. Guide wheel; 154. Track roller; 155. Track; 16. Parking bracket; 17. Parking mechanism hydraulic cylinder; 18. Parking support plate; 19. Excavation and transportation mechanism; 20. Bucket tipping hydraulic cylinder; 21. Toothed bucket. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings.

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. 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.

[0020] like Figures 1 to 4 As shown, this utility model includes a vehicle body 2, four sets of triangular tracked chassis 15, a lateral ore-moving mechanism 9, a cable storage mechanism 3, an excavation and transportation mechanism 19, and a hydraulic pump station 5. The vehicle body 2 houses an electric motor 201 and a hydraulic motor 202 for the tracked chassis. The electric motor 201 supplies power to the equipment via a cable, which is stored in the cable storage mechanism 3. The four sets of triangular tracked chassis 15 are respectively located on the front and rear sides of the left and right sides of the vehicle body 2. The bottom of the excavation and transportation mechanism 19 is mounted on the top front surface of the vehicle body 2 via a central rotating mechanism 14. The hydraulic pump station 5 and the cable storage mechanism 3 are sequentially located on the vehicle body 2 behind the excavation and transportation mechanism 19. The electric motor 201 is connected to the hydraulic pump station 5. The hydraulic pump station 5 is connected to the tracked chassis hydraulic motor 202. The hydraulic pump station 5 provides hydraulic power to the connected components and controls the movement of the connected components by controlling the pressure and flow of the hydraulic oil. The central slewing mechanism 14 is equipped with a slewing mechanism slewing motor 141, which is connected to the hydraulic pump station 5. The lateral ore-moving mechanism 9 is connected to the output shaft of the ore-moving mechanism slewing motor 10. The ore-moving mechanism slewing motor 10 is mounted on the slewing motor bracket 11. The bottom surface of the slewing motor bracket 11 is connected to one end of the lifting hydraulic cylinder 12, and the other end of the lifting hydraulic cylinder 12 is connected to one side of the vehicle body 2. The lifting hydraulic cylinder 12 is connected to the hydraulic pump station 5.

[0021] like Figure 3As shown, the triangular tracked chassis 15 includes a frame 156, a drive wheel 151, a tension wheel 152, a guide wheel 153, a track roller 154, and a track 155. The frame 156 is connected to the vehicle body 2. The drive wheel 151 is located on the upper part of the frame 156. The tension wheel 152 and guide wheel 153 are respectively located at the front and rear ends of the lower part of the frame 156. Multiple track rollers 154 are located in the middle of the lower part of the frame 156. The track 155 is located outside the drive wheel 151, tension wheel 152, guide wheel 153, and track roller 154. The drive wheel 151 is connected to the hydraulic motor 202 of the tracked chassis. The guide wheel 153 is used to adjust the direction of travel, and the tension wheel 152 is used to tension the track 155. The track roller 154 is used for load bearing; preferably, there are two track chassis hydraulic motors 202, each controlled by a dual pump. The two track chassis hydraulic motors 202 are respectively connected to the two drive wheels 151 at the front of the vehicle body 2. The speed and forward / reverse rotation of the track chassis hydraulic motors 202 are controlled by controlling the input oil volume and direction of the hydraulic pump station 5, so as to realize the forward, backward and turning of the triangular track chassis 15. By controlling the two front triangular track chassis 15s to move forward and backward respectively, turning on the spot can be achieved; the outer side of the triangular track chassis 15 is provided with track wheel baffles 13 to prevent coal fragments from entering the interior of the triangular track chassis 15 during mining operations and causing the tracks 155 to jam.

[0022] like Figure 2 As shown, the lateral coal-moving mechanism 9 includes two shovels 4 and a telescopic hydraulic cylinder 8. The bottom edge of the shovels 4 has a toothed structure for cleaning up spilled coal. The ends of the two shovels 4 are hinged. The two ends of the telescopic hydraulic cylinder 8 are respectively hinged to the middle of one of the shovels 4. The other end of one of the shovels 4 is connected to the output shaft of the rotary motor 10 of the coal-moving mechanism. The telescopic hydraulic cylinder 8 and the rotary motor 10 of the coal-moving mechanism are both connected to the hydraulic pump station 5. When the rotary motor 10 of the coal-moving mechanism is working, it drives the coal-moving mechanism 9 to rotate horizontally. When the telescopic hydraulic cylinder 8 is working, it drives the two shovels 4 to open and close to increase the coal-moving range. The maximum working distance can reach two meters. The lifting hydraulic cylinder 12 is working to adjust the height of the coal-moving mechanism 9 to clean up coal blocks of different heights. The coordinated operation of the rotary motor 10, the telescopic hydraulic cylinder 8, and the lifting hydraulic cylinder 12 can control the coal-moving mechanism 9 to pull out the spilled coal under and around the belt conveyor from under the belt conveyor and gather it to a suitable position.

[0023] The excavation and transportation mechanism 19 includes a boom, a forearm, a boom hydraulic cylinder 6, a forearm hydraulic cylinder 7, a tilting hydraulic cylinder 20, and a toothed bucket 21. The lower end of the boom is hinged to the central slewing mechanism 14, the upper end of the boom is hinged to the lower end of the forearm, the upper end of the forearm is hinged to the toothed bucket 21, the upper end of the boom hydraulic cylinder 6 is hinged to the upper part of the boom, the lower end of the boom hydraulic cylinder 6 is hinged to the central slewing mechanism 14, the lower end of the forearm hydraulic cylinder 7 is hinged to the upper part of the boom, the upper end of the forearm hydraulic cylinder 7 is hinged to the lower part of the forearm, the lower end of the tilting hydraulic cylinder 20 is hinged to the lower part of the forearm, and the upper end of the tilting hydraulic cylinder 20 is hinged to the back of the toothed bucket 21. The boom hydraulic cylinder 6, the forearm hydraulic cylinder 7, and the tilting hydraulic cylinder 20 are connected to the hydraulic pump station 5. The central slewing mechanism 14 drives the boom to rotate horizontally, the boom hydraulic cylinder 6 drives the boom to rotate vertically, the forearm hydraulic cylinder 7 drives the forearm to rotate vertically, and the tilting hydraulic cylinder 20 drives the toothed bucket 21 to rotate vertically. The coordinated operation of the boom hydraulic cylinder 6, forearm hydraulic cylinder 7, and tilting hydraulic cylinder 20 can control the toothed bucket 21 to dig up the material gathered by the lateral ore-digging mechanism 9 and put it back to the appropriate position on the belt conveyor.

[0024] To ensure the stability of the robot when it is parked and working, parking mechanisms 1 are provided on the front and rear ends of the vehicle body 2. The parking mechanism 1 includes a parking bracket 16, a parking hydraulic cylinder 17, and a parking support plate 18. The two ends of the parking bracket 16 and the parking hydraulic cylinder 17 are hinged to the vehicle body 2 and the parking support plate 18, respectively. The parking hydraulic cylinder 17 is connected to the hydraulic pump station 5. Through the cooperation of the parking hydraulic cylinder 17 and the parking bracket 16, the height and tilt angle of the parking support plate 18 can be adjusted so that the parking support plate 18 is pressed against the ground when the robot is parked and working, which enhances stability. The parking support plate 18 also helps to prevent the excavation and transportation mechanism 19 from pushing the ore under the vehicle body 2 and affecting the robot's movement.

[0025] To improve the automation level of this utility model, a PLC electro-hydraulic control system can be installed in the vehicle body 2. The boom hydraulic cylinder 6, the arm hydraulic cylinder 7, the slewing mechanism slewing motor 141, the tilting hydraulic cylinder 20, the parking hydraulic cylinder 17, the track chassis hydraulic motor 202, the telescopic hydraulic cylinder 8, the lifting hydraulic cylinder 12, and the ore-loading mechanism slewing motor 10 are all connected to the PLC electro-hydraulic control system, and the PLC electro-hydraulic control system controls the actions of each actuator.

[0026] 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.

[0027] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any minor modifications, equivalent substitutions and improvements made to the above embodiments based on the technical essence of the present utility model should be included within the protection scope of the technical solution of the present utility model.

Claims

1. A rotary belt conveyor material spreading and cleaning robot for underground coal mine excavation and transportation, comprising a vehicle body (2), four sets of triangular track chassis (15), a lateral ore-moving mechanism (9), a cable storage mechanism (3), an excavation and transportation mechanism (19), and a hydraulic pump station (5), characterized in that... ； The vehicle body (2) is equipped with an electric motor (201) and a tracked chassis hydraulic motor (202). Four sets of triangular tracked chassis (15) are respectively set at the front and rear of the left and right sides of the vehicle body (2). The bottom of the excavation and transportation mechanism (19) is set on the top surface of the front of the vehicle body (2) through the slewing mechanism (14). The vehicle body (2) located behind the excavation and transportation mechanism (19) is equipped with a hydraulic pump station (5) and a cable storage mechanism (3) in sequence. The electric motor (201) is connected to the hydraulic pump station (5), and the hydraulic pump station (5) is connected to the tracked chassis hydraulic motor (202). The slewing mechanism (14) is equipped with a slewing mechanism slewing motor (141), and the slewing mechanism slewing motor (141) is connected to the hydraulic pump station (5). The lateral ore-grabbing mechanism (9) is connected to the output shaft of the ore-grabbing mechanism rotary motor (10). The ore-grabbing mechanism rotary motor (10) is mounted on the rotary motor bracket (11). The bottom surface of the rotary motor bracket (11) is connected to one end of the lifting hydraulic cylinder (12). The other end of the lifting hydraulic cylinder (12) is connected to one side of the vehicle body (2). The lifting hydraulic cylinder (12) is connected to the hydraulic pump station (5).

2. The coal mine underground excavation and transportation rotary belt conveyor material spreading and cleaning robot according to claim 1, characterized in that, The triangular tracked chassis (15) includes a frame (156), a drive wheel (151), a tension wheel (152), a guide wheel (153), a support wheel (154), and a track (155). The frame (156) is connected to the vehicle body (2). The upper part of the frame (156) is provided with a drive wheel (151). The front and rear ends of the lower part of the frame (156) are respectively provided with a tension wheel (152) and a guide wheel (153). Multiple support wheels (154) are provided in the middle of the lower part of the frame (156). The drive wheel (151), tension wheel (152), guide wheel (153), and support wheel (154) are provided with a track (155). The drive wheel (151) is connected to the hydraulic motor (202) of the tracked chassis.

3. The coal mine underground excavation and transportation rotary belt conveyor material spreading and cleaning robot according to claim 1, characterized in that, The excavation and transportation mechanism (19) includes a boom, a forearm, a boom hydraulic cylinder (6), a forearm hydraulic cylinder (7), a tilting hydraulic cylinder (20), and a toothed bucket (21). The lower end of the boom is hinged to the central slewing mechanism (14), the upper end of the boom is hinged to the lower end of the forearm, the upper end of the forearm is hinged to the toothed bucket (21), the upper end of the boom hydraulic cylinder (6) is hinged to the upper part of the boom, the lower end of the boom hydraulic cylinder (6) is hinged to the central slewing mechanism (14), the lower end of the forearm hydraulic cylinder (7) is hinged to the upper part of the boom, the upper end of the forearm hydraulic cylinder (7) is hinged to the lower part of the forearm, the lower end of the tilting hydraulic cylinder (20) is hinged to the lower part of the forearm, and the upper end of the tilting hydraulic cylinder (20) is hinged to the back of the toothed bucket (21). The boom hydraulic cylinder (6), the forearm hydraulic cylinder (7), and the tilting hydraulic cylinder (20) are connected to the hydraulic pump station (5).

4. The coal mine underground excavation and transportation rotary belt conveyor material spreading and cleaning robot according to claim 2, characterized in that, The lateral ore-moving mechanism (9) includes two shovels (4) and a telescopic hydraulic cylinder (8). The bottom edge of the shovels (4) has a toothed structure. The ends of the two shovels (4) are hinged together. The two ends of the telescopic hydraulic cylinder (8) are respectively hinged to the middle of one of the shovels (4). The other end of one of the shovels (4) is connected to the output shaft of the ore-moving mechanism rotary motor (10). The telescopic hydraulic cylinder (8) and the ore-moving mechanism rotary motor (10) are both connected to the hydraulic pump station (5).

5. A coal mine underground excavation and transportation rotary belt conveyor material spreading and cleaning robot according to claim 1, characterized in that, The front and rear ends of the vehicle body (2) are respectively provided with parking mechanisms (1). The parking mechanism (1) includes a parking bracket (16), a parking hydraulic cylinder (17) and a parking support plate (18). The two ends of the parking bracket (16) and the parking hydraulic cylinder (17) are respectively hinged to the vehicle body (2) and the parking support plate (18). The parking hydraulic cylinder (17) is connected to the hydraulic pump station (5).

6. The coal mine underground excavation and transportation rotary belt conveyor material spreading and cleaning robot according to claim 2, characterized in that, The outer side of the triangular track chassis (15) is provided with track wheel baffles (13).

Images