Mining multi-joint snatching manipulator

Abstract

The utility model discloses a mining multi-joint snatching manipulator, which relates to the technical field of snatching manipulators and comprises a mining remote control operating vehicle, a swing mechanism component arranged at the carriage position of the mining remote control operating vehicle, a lifting cylinder sleeve component arranged at the top of the swing mechanism component, and a lifting oil cylinder arranged in the swing mechanism component. A support is arranged at the end, away from the swing mechanism assembly, of the lifting cylinder sleeve assembly, the support is connected with a connecting mechanism, and the swing mechanism assembly, the lifting cylinder sleeve assembly, the support, the connecting mechanism and the grabbing and lifting mechanism are arranged, so that the functions of rotation, lifting, lifting, stretching, inclining, swinging, rotating and grabbing and releasing are achieved; compared with manual operation, the single prop or the shed beam is supported and recovered by machinery, so that the working efficiency is higher, the danger is not higher, the labor is saved, and the problems that a large amount of manpower and material resources are wasted and the efficiency is low in the existing support and recovery of the single prop or the shed beam are solved.

Description

Technical Field

[0001] This utility model relates to the field of gripping robot technology, and in particular to a multi-joint gripping robot for mining. Background Technology

[0002] With the continuous improvement of the mechanization of coal mining, most underground operations in coal mines in China have been mechanized. However, for some maintenance and auxiliary work, such as working in unsupported areas underground, installing underground water pipes, maintaining hydraulic single supports, and replacing hydraulic support cylinders, it is necessary to support and recover single pillars or beams in a limited space. This operation is the most labor-intensive and has the highest safety risk in the operation process.

[0003] Currently, these tasks lack better auxiliary equipment and require manual operation, resulting in low efficiency and a waste of a lot of human and material resources. Therefore, there is an urgent need in the market to develop a safe, reliable, adaptable, and highly efficient multi-functional work vehicle. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a multi-joint grasping robot for mining, which solves the problem of the waste of a lot of manpower and material resources and low efficiency in the support and recovery of existing single pillars or beams.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A mining multi-joint gripping robot includes a mining remote-controlled work vehicle. A slewing mechanism assembly is located in the vehicle's cargo compartment. A lifting cylindrical sleeve assembly is located on top of the slewing mechanism assembly. A lifting cylinder is located inside the slewing mechanism assembly. A support is located at the end of the lifting cylindrical sleeve assembly away from the slewing mechanism assembly. The support is connected to a connecting mechanism, which is rotatably connected to a tilting mechanism assembly. A gripping mechanism is located on the side of the tilting mechanism assembly away from the connecting mechanism. The connecting mechanism includes a telescopic boom and a telescopic cylinder. The gripping mechanism includes a swing mechanism assembly, a rotation mechanism assembly, a mechanical gripper assembly, and a gripping and releasing cylinder.

[0007] Preferably, the lifting cylindrical sleeve assembly is connected to the lifting cylinder. When the lifting cylinder is activated, the lifting cylindrical sleeve assembly controls the rear-mounted components to rise and fall together, thereby achieving the lifting function.

[0008] Preferably, the lifting cylinder is rotatably connected to the support, the telescopic boom is hinged to the support, and the support is fixed to the top of the lifting cylindrical sleeve assembly by welding. When the lifting cylinder is activated, the support is used for fixation, and the output end of the lifting cylinder pushes the telescopic boom and the rear mounting assembly to lift upward together, thereby realizing the lifting function.

[0009] Preferably, the telescopic boom is fixedly connected to the telescopic cylinder, and the output end of the telescopic boom is fixedly connected to the output end of the telescopic cylinder. When the telescopic cylinder is activated, its output end pushes the output end of the telescopic boom, causing the telescopic boom to extend and retract along with the rear-mounted components, thereby realizing the telescopic function.

[0010] Preferably, the tilting mechanism assembly is hinged to the end of the telescopic boom away from the support. The tilting mechanism assembly has a built-in rotary motor. When the rotary motor is activated, the tilting mechanism assembly rotates and tilts based on its hinge position with the telescopic boom, and rotates and tilts together with the rear grabbing mechanism to achieve the tilting action.

[0011] Preferably, the swing mechanism assembly and the tilting mechanism assembly are hinged together. The swing mechanism assembly has a built-in swing motor. When the swing motor is activated, its output end controls the rear-mounted assembly to swing together, thereby realizing the swing action.

[0012] Preferably, the rotating mechanism assembly and the swing mechanism assembly are rotatably connected, the output end of the swing motor built into the rotating mechanism assembly and the swing mechanism assembly is fixedly connected, the rotating mechanism assembly has a built-in rotating motor, the rotating mechanism assembly and the mechanical gripper assembly are rotatably connected, and when the rotating motor is activated, its output end controls the rotation of the mechanical gripper assembly.

[0013] Preferably, the mechanical gripper assembly and the gripping and releasing cylinder are rotatably connected by a rotating seat. The output end of the gripping and releasing cylinder is rotatably connected to the gripper of the mechanical gripper assembly. When the gripping and releasing cylinder is working, its output end controls the gripper of the mechanical gripper assembly to move inward or outward, thereby realizing the gripping and releasing function.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] This application, by incorporating a rotary mechanism assembly, a lifting cylindrical sleeve assembly, a lifting cylinder, a support, a connecting mechanism, and a grabbing mechanism, achieves a lifting function by including a rotary mechanism assembly that allows the lifting cylindrical sleeve assembly and its rear-end connected mechanisms to rotate as a whole. The lifting cylindrical sleeve assembly is fixedly connected to the lifting cylinder, enabling it to drive the rear-end mechanisms to rise and fall together. When the lifting cylinder actuates, the support provides fixation, and the telescopic boom controls the rear-mounted components to rise together, achieving the lifting function. When the telescopic cylinder actuates, the telescopic boom controls the rear-mounted components to extend and retract together, achieving the telescopic function. When the rotary motor actuates, the tilting mechanism... The component controls the rear-mounted components to rotate and tilt together, achieving the tilting action. When the swing motor is activated, the swing mechanism component controls the rear-mounted components to swing together, achieving the swinging action. When the rotary motor is activated, the rotary mechanism component controls the mechanical gripper component and the gripping cylinder to rotate together. When the gripping cylinder is activated, it controls the mechanical gripper to perform the gripping action. The machine supports and retrieves the individual support column or canopy beam. Compared with manual operation, it has higher work efficiency and less danger. It saves manpower and solves the problem that the existing support and retrieval of individual support columns or canopy beams wastes a lot of human and material resources and is inefficient. Attached Figure Description

[0016] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0017] Figure 1 This is an overall structural diagram of the present invention;

[0018] Figure 2 This is a diagram of the main structural components of this utility model.

[0019] Legend: 1. Rotary mechanism assembly; 2. Lifting cylindrical sleeve assembly; 3. Lifting cylinder; 4. Support; 5. Lifting cylinder; 6. Telescopic boom; 7. Telescopic cylinder; 8. Tilting mechanism assembly; 9. Swinging mechanism assembly; 10. Rotating mechanism assembly; 11. Mechanical gripper assembly; 12. Grab and release cylinder. Detailed Implementation

[0020] This application provides a mining multi-joint gripping robot, which effectively solves the problem that the support and recovery of existing single pillars or beams wastes a lot of human and material resources and is inefficient. Example

[0021] like Figure 1 and Figure 2As shown, the technical solution in this application embodiment effectively solves the technical problem that the support and recycling of existing single pillars or beams wastes a lot of human and material resources and is inefficient. The overall idea is as follows:

[0022] To address the problems existing in the prior art, this utility model provides a mining multi-joint gripping manipulator, including a mining remote-controlled work vehicle. A slewing mechanism assembly 1 is installed in the carriage of the mining remote-controlled work vehicle. A lifting cylindrical sleeve assembly 2 is installed on the top of the slewing mechanism assembly 1. A lifting cylinder 3 is installed inside the slewing mechanism assembly 1. A support 4 is installed at the end of the lifting cylindrical sleeve assembly 2 away from the slewing mechanism assembly 1. The support 4 is connected to a connecting mechanism. The connecting mechanism is rotatably connected to a tilting mechanism assembly 8. A gripping mechanism is installed on the side of the tilting mechanism assembly 8 away from the connecting mechanism. The connecting mechanism includes a telescopic boom 6 and a telescopic cylinder 7. The gripping mechanism includes a swinging mechanism assembly 9; a rotating mechanism assembly 10; a mechanical gripper assembly 11; and a gripping and releasing cylinder 12.

[0023] The lifting cylindrical sleeve assembly 2 is connected to the lifting cylinder 3. When the lifting cylinder 3 is activated, the lifting cylindrical sleeve assembly 2 controls the rear-mounted components to rise and fall together, thereby realizing the lifting function.

[0024] The lifting cylinder 5 is rotatably connected to the support 4, and the telescopic boom 6 is hinged to the support 4. The support 4 is fixed to the top of the lifting cylinder sleeve assembly 2 by welding. When the lifting cylinder 5 is activated, the support 4 is used for fixation. The output end of the lifting cylinder 5 pushes the telescopic boom 6 and the rear mounting assembly to lift upward together, thereby realizing the lifting function.

[0025] The telescopic boom 6 is fixedly connected to the telescopic cylinder 7. The output end of the telescopic boom 6 is fixedly connected to the output end of the telescopic cylinder 7. When the telescopic cylinder 7 is activated, its output end pushes the output end of the telescopic boom 6, causing the telescopic boom 6 to extend and retract along with the rear mounting components, thus realizing the telescopic function.

[0026] The tilting mechanism assembly 8 is hinged to the end of the telescopic boom 6 away from the support 4. The tilting mechanism assembly 8 has a built-in rotary motor. When the rotary motor is activated, the tilting mechanism assembly 8 rotates and tilts based on its hinge position with the telescopic boom 6, and rotates and tilts together with the rear grabbing mechanism to achieve the tilting action.

[0027] The swing mechanism assembly 9 is hinged to the tilting mechanism assembly 8. The swing mechanism assembly 9 has a built-in swing motor. When the swing motor is activated, its output end controls the rear-mounted assembly to swing together, thereby realizing the swing action.

[0028] The rotating mechanism assembly 10 is rotatably connected to the swing mechanism assembly 9. The output end of the swing motor built into the rotating mechanism assembly 10 and the swing mechanism assembly 9 is fixedly connected. The rotating mechanism assembly 10 has a built-in rotating motor. The rotating mechanism assembly 10 is rotatably connected to the mechanical gripper assembly 11. When the rotating motor is activated, its output end controls the rotation of the mechanical gripper assembly 11.

[0029] The mechanical gripper assembly 11 and the gripping and releasing cylinder 12 are rotatably connected by a rotating seat. The output end of the gripping and releasing cylinder 12 is rotatably connected to the gripper of the mechanical gripper assembly 11. When the gripping and releasing cylinder 12 is working, its output end controls the gripper of the mechanical gripper assembly 11 to move inward or outward, thereby realizing the gripping and releasing function.

[0030] Working principle:

[0031] The lifting cylinder sleeve assembly 2 and its rear-end connected mechanisms can rotate as a whole by the rotary mechanism assembly 1. The lifting cylinder sleeve assembly 2 is fixedly connected to the lifting cylinder 3 so that it can drive the rear-end mechanisms to rise and fall together. When the lifting cylinder 5 is activated, the support 4 is used for fixation, and the telescopic boom 6 controls the rear mounting assembly to rise together to achieve the lifting function. When the telescopic cylinder 7 is activated, the telescopic boom 6 controls the rear mounting assembly to extend and retract together to achieve the telescopic function. When the rotary motor is activated, the tilting mechanism assembly 8 controls the rear mounting assembly to rotate and tilt together to achieve the tilting action. When the swing motor is activated, the swinging mechanism assembly 9 controls the rear mounting assembly to swing together to achieve the swinging action. When the rotary motor is activated, the rotary mechanism assembly 10 controls the mechanical gripper assembly 11 and the gripping and releasing cylinder 12 to rotate together. When the gripping and releasing cylinder 12 is activated, it controls the mechanical gripper to perform the gripping and releasing action.

[0032] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A multi-joint grasping manipulator for mining, comprising a remote-controlled mining vehicle, characterized in that, The mining remote control vehicle is provided with a slewing mechanism assembly (1) at the car body position. A lifting cylinder sleeve assembly (2) is provided on the top of the slewing mechanism assembly (1). The slewing mechanism assembly (1) has an internal lifting cylinder (3). A support (4) is provided at the end of the lifting cylinder sleeve assembly (2) away from the slewing mechanism assembly (1). The support (4) is connected to a connecting mechanism. The connecting mechanism is rotatably connected to an tilting mechanism assembly (8). A grabbing mechanism is provided on the side of the tilting mechanism assembly (8) away from the connecting mechanism. The connecting mechanism includes a telescopic boom (6) and a telescopic cylinder (7). The lifting mechanism includes a swing mechanism assembly (9); a rotation mechanism assembly (10); a mechanical gripper assembly (11); and a gripping and releasing cylinder (12).

2. The mining multi-joint gripping robot as described in claim 1, characterized in that: The lifting cylindrical sleeve assembly (2) is connected to the lifting cylinder (3).

3. The mining multi-joint gripping robot as described in claim 2, characterized in that: The lifting cylinder (5) is rotatably connected to the support (4), the telescopic boom (6) is hinged to the support (4), and the support (4) is fixed to the top of the lifting cylindrical sleeve assembly (2) by welding.

4. The mining multi-joint gripping robot as described in claim 3, characterized in that: The telescopic boom (6) is fixedly connected to the telescopic cylinder (7), and the output end of the telescopic boom (6) is fixedly connected to the output end of the telescopic cylinder (7).

5. A mining multi-joint gripping robot as described in claim 4, characterized in that: The tilting mechanism assembly (8) is hinged to the end of the telescopic boom (6) away from the support (4), and the tilting mechanism assembly (8) has a built-in rotary motor.

6. A mining multi-joint gripping robot as described in claim 5, characterized in that: The swing mechanism assembly (9) is hinged to the tilting mechanism assembly (8), and the swing mechanism assembly (9) has a built-in swing motor.

7. A mining multi-joint gripping robot as described in claim 6, characterized in that: The rotating mechanism assembly (10) is rotatably connected to the swing mechanism assembly (9), the rotating mechanism assembly (10) is fixedly connected to the output end of the swing motor built into the swing mechanism assembly (9), the rotating mechanism assembly (10) has a built-in rotating motor, and the rotating mechanism assembly (10) is rotatably connected to the mechanical gripper assembly (11).

8. A mining multi-joint gripping robot as described in claim 7, characterized in that: The mechanical gripper assembly (11) is rotatably connected to the gripping and releasing cylinder (12), and the output end of the gripping and releasing cylinder (12) is rotatably connected to the gripper of the mechanical gripper assembly (11).

Images