Mechanical arm structure for small coal mining machine and coal mining machine

Abstract

The utility model provides a mechanical arm structure for a small coal mining machine and the coal mining machine, and relates to the technical field of coal mining machines, the mechanical arm structure comprises a supporting piece, a crank arm and a telescopic piece, the crank arm comprises a first arm section and a second arm section which are connected, one end, deviating from the second arm section, of the first arm section is rotationally connected with the supporting piece, and a first rotation center is formed. The end, away from the first arm section, of the second arm section is used for being connected with a machine head and forming a mounting center, and the end, close to the mounting center, of the second arm section inclines downwards. One end of the telescopic piece is rotationally connected with the supporting piece to form a second rotating center, and the other end of the telescopic piece is rotationally connected with the first arm section to form a third rotating center so as to drive the machine head to deflect up and down. According to the mechanical arm structure provided by the embodiment of the invention, by optimizing the sizes of all the parts, on the premise that a large excavation range is guaranteed, the structural size of the mechanical arm is greatly shortened, the gravity center is lowered, the weight is reduced, and the strength, stability and the like are improved.

Description

Technical Field

[0001] This application relates to the field of coal mining machine technology, and in particular to a robotic arm structure for a small coal mining machine and the coal mining machine itself. Background Technology

[0002] In recent years, small coal mining machines have been widely used in small and medium-sized coal mines with smaller working faces. Compared with large-scale integrated coal mining machines, they are smaller in size and can operate flexibly in the mine.

[0003] The robotic arm is a crucial moving component of the coal mining machine, primarily used to drive the head of the machine to rotate and adjust its vertical position. Related technologies often employ a relatively long, upright robotic arm between the head and the body of the machine to achieve a larger mining range.

[0004] However, the stability of existing small coal mining machines during mining is not ideal, which affects the normal operation of mining work. Utility Model Content

[0005] Based on this, this application provides a robotic arm structure and a coal mining machine for a small coal mining machine, in order to solve the problem that the existing small coal mining machines have unsatisfactory stability during mining, which affects the normal operation of mining work.

[0006] In a first aspect, embodiments of this application provide a robotic arm structure for a small coal mining machine, including a support member, a crank arm, and a telescopic member. The crank arm includes a first arm segment and a second arm segment connected together. One end of the first arm segment facing away from the second arm segment is rotatably connected to the support member and forms a first rotation center. One end of the second arm segment facing away from the first arm segment is used to connect to the machine head and forms an installation center, and the end of the second arm segment near the installation center is inclined downward.

[0007] One end of the telescopic component is rotatably connected to the support component, forming a second rotation center, and the other end is rotatably connected to the first arm segment, forming a third rotation center, so as to drive the machine head on the crank arm to deflect up and down; wherein, the second rotation center is located below the first rotation center and away from the installation center; the third rotation center is located between the first rotation center and the installation center, and is located below the first arm segment;

[0008] It also satisfies the following relationship:

[0009] 640mm≤L1≤820mm, 160mm≤L2≤190mm, 15°≤θ≤60°, 550mm≤L3≤630mm, 115mm≤L4≤140mm, 65mm≤X1≤125mm, 330mm≤Y1≤390mm, 550mm≤A min ≤700mm, A max =2*A min-(100~200)mm, 500mm≤Y2≤700mm;

[0010] In the formula: L1 is the length from the intersection of the first and second arm segments to the first rotation center; L2 is the length from the intersection of the first and second arm segments to the installation center; θ is the angle between the length directions of the first and second arm segments; L3 is the distance between the first and third rotation centers along the length direction of the first arm segment; L4 is the distance between the first and third rotation centers along the direction perpendicular to the length direction of the first arm segment; X1 is the horizontal distance between the first and second rotation centers; Y1 is the vertical distance between the first and second rotation centers; A min A is the distance between the second and third rotation centers when the telescopic component is retracted to its shortest length. max Y1 is the distance between the second and third rotation centers when the telescopic component is extended to its maximum length, and Y2 is the height of the first rotation center above the ground.

[0011] Preferably, the support includes a body and a first mounting base connected to the body, with one end of the first arm segment facing away from the second arm segment rotatably connected to the first mounting base.

[0012] Preferably, the support further includes a second mounting base connected to the main body. The second mounting base is located diagonally below the first mounting base, and one end of the telescopic member facing away from the first arm segment is rotatably connected to the second mounting base.

[0013] Preferably, a third mounting base is provided on the bottom surface of the first arm segment, and the end of the telescopic member facing away from the support member is rotatably connected to the third mounting base.

[0014] Preferably, the telescopic component is a hydraulic cylinder.

[0015] Secondly, embodiments of this application also provide a coal mining machine, including a body, on which a robotic arm structure for a small coal mining machine as described in the first aspect is provided.

[0016] Preferably, it also includes a machine head, which is installed at the installation center.

[0017] Preferably, the diameter of the rotary drilling head is greater than or equal to 400 mm.

[0018] This application provides a robotic arm structure for a small coal mining machine and the coal mining machine itself. The robotic arm structure includes a support member, a crank arm, and a telescopic member. The crank arm includes a first arm segment and a second arm segment connected together. One end of the first arm segment, facing away from the second arm segment, is rotatably connected to the support member, forming a first rotation center. The other end of the second arm segment, facing away from the first arm segment, is connected to the machine head, forming an installation center. The end of the second arm segment near the installation center is inclined downwards. One end of the telescopic member is rotatably connected to the support member, forming a second rotation center, while the other end is rotatably connected to the first arm segment, forming a third rotation center. The first rotation center drives the head on the crank arm to deflect up and down. The second rotation center is located below the first rotation center and away from the installation center. The third rotation center is located between the first rotation center and the installation center and below the first arm segment. This robotic arm structure for a small coal mining machine also satisfies the following relationships: 640mm≤L1≤820mm, 160mm≤L2≤190mm, 15°≤θ≤60°, 550mm≤L3≤630mm, 115mm≤L4≤140mm, 65mm≤X1≤125mm, 330mm≤Y1≤390mm, 550mm≤A min ≤700mm, A max =2*A min - (100~200) mm, 500 mm ≤ Y2 ≤ 700 mm. By bending the second arm section downwards and reasonably optimizing the size of each component, the structural size of the robotic arm is greatly shortened while ensuring a large mining range. The center of gravity is lowered, the weight is reduced, and the strength and stability are improved. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0020] Figure 1 This is a schematic diagram of the first state of the robotic arm structure provided in the embodiments of this application;

[0021] Figure 2 This is a schematic diagram of the second state of the robotic arm structure provided in the embodiments of this application;

[0022] Figure 3 for Figure 2 A schematic diagram showing the installation relationship between the structure of the robotic arm and the robotic head.

[0023] Figure label:

[0024] 10: Nose section; 20: Foundation;

[0025] 100: Support component; 110: Body; 120: First mounting base; 130: Second mounting base;

[0026] 200: Crank arm; 201: Second rotation center; 202: Mounting center; 203: Third rotation center; 210: First boom segment; 211: Third mounting base; 220: Second boom segment;

[0027] 300: Telescopic component; 301: Second rotation center.

[0028] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0029] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of methods and apparatus consistent with some aspects of this application as detailed in the appended claims.

[0030] The existing small coal mining machines are still relatively large in size and not compact enough. To ensure a large mining range, the robotic arm is usually made too long. As a result, when the machine head is in a high position, the center of gravity of the robotic arm is too high, which affects the stability of the mining operation.

[0031] In view of the above-mentioned problems in the prior art, this application provides a robotic arm structure for a small coal mining machine and a coal mining machine.

[0032] The technical solutions of this application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0033] Based on this, such as Figures 1-3 As shown, in a first aspect, the robotic arm structure for a small coal mining machine provided in this application includes a support member 100, a crank arm 200, and a telescopic member 300. The crank arm 200 includes a first arm segment 210 and a second arm segment 220 connected together. One end of the first arm segment 210 facing away from the second arm segment 220 is rotatably connected to the support member 100 and forms a first rotation center 201. One end of the second arm segment 220 facing away from the first arm segment 210 is used to connect to the machine head 10 and forms a mounting center 202, and the end of the second arm segment 220 near the mounting center 202 is inclined downwards.

[0034] One end of the telescopic member 300 is rotatably connected to the support member 100, forming a second rotation center 301, and the other end is rotatably connected to the first arm segment 210, forming a third rotation center 203, to drive the head on the crank arm 200 to deflect up and down. The second rotation center 301 is located below the first rotation center 201 and away from the mounting center 202. The third rotation center 203 is located between the first rotation center 201 and the mounting center 202, and is located below the first arm segment 210.

[0035] It also satisfies the following relationship:

[0036] 640mm≤L1≤820mm, 160mm≤L2≤190mm, 15°≤θ≤60°, 550mm≤L3≤630mm, 115mm≤L4≤140mm, 65mm≤X1≤125mm, 330mm≤Y1≤390mm, 550mm≤A min ≤700mm, A max =2*A min -(100~200)mm, 500mm≤Y2≤700mm.

[0037] In the formula: L1 is the length from the intersection of the first arm segment 210 and the second arm segment 220 to the first rotation center 201; L2 is the length from the intersection of the first arm segment 210 and the second arm segment 220 to the installation center 202; θ is the angle between the length directions of the first arm segment 210 and the second arm segment 220; L3 is the distance between the first rotation center 201 and the third rotation center 203 along the length direction of the first arm segment 210; L4 is the distance between the first rotation center 201 and the third rotation center 203 along the length direction perpendicular to the first arm segment 210; X1 is the horizontal distance between the first rotation center 201 and the second rotation center 301; Y1 is the vertical distance between the first rotation center 201 and the second rotation center 301; A min A is the distance between the second and third rotation centers when the telescopic component is retracted to its shortest length. max Y1 is the distance between the second and third rotation centers when the telescopic component is extended to its maximum length, and Y2 is the ground clearance of the first rotation center 201.

[0038] In this embodiment, the support member 100 can be part of the frame or body, serving to provide an installation foundation, and can be in the form of a block, frame, or other structures.

[0039] In this embodiment, the crank arm 200 includes a first arm segment 210 and a second arm segment 220. The first arm segment 210 and the second arm segment 220 can be integrally formed or connected by welding, screwing, or other methods. The end of the first arm segment 210 facing away from the second arm segment 220 is connected to the support member 100 via a rotating structure such as a pivot or pin, allowing the end of the first arm segment 210 near the second arm segment 220 to rotate vertically, such as along... Figure 1 As indicated by the hollow arrow, the first rotation center 201 is formed at the rotatable connection between the first arm segment 210 and the support member 100.

[0040] Furthermore, the end of the second boom section 220 that faces away from the first boom section 210 is connected to the head 10. The head 10 and the second boom section 220 can be installed through a hole-shaft fit, and the connection between the two forms the installation center 202. The end of the second boom section 220 that is closer to the installation center 202 is inclined downwards, which can shorten the length of the boom 200 while ensuring a larger mining range.

[0041] In this embodiment, the telescopic member 300 is used to drive the crank arm 200 to deflect; it can be a hydraulic cylinder, pneumatic cylinder, etc. One end of the telescopic member 300 is connected to the support member 100 via a rotating structure such as a pivot or pin, and the other end of the telescopic member 300 is also connected to the first arm segment 210 via a rotating structure such as a pivot or pin. The rotating connection between the telescopic member 300 and the support member 100 forms a second rotation center 301, and the rotating connection between the telescopic member 300 and the first arm segment 210 forms a third rotation center 203.

[0042] The second rotation center 301 is located diagonally below the first rotation center 201 and away from the mounting center 202. The third rotation center 203 is located between the first rotation center 201 and the mounting center 202, and is located below the first arm segment 210.

[0043] Furthermore, the structure of this robotic arm satisfies the following relationships: 640mm≤L1≤820mm, 160mm≤L2≤190mm, 15°≤θ≤60°, 550mm≤L3≤630mm, 115mm≤L4≤140mm, 65mm≤X1≤125mm, 330mm≤Y1≤390mm, 550mm≤A min ≤700mm, A max =2*A min -(100~200)mm, 500mm≤Y2≤700mm.

[0044] This satisfies the requirements of -50mm≤Y3≤50mm and 1350mm≤Y4, resulting in a larger mining range. Here, Y3 represents the height of the third rotation center 203 relative to the foundation 20 when the telescopic component 300 is retracted (it should be noted that a positive number indicates the third rotation center 203 is above the foundation 20, and a negative number indicates the third rotation center 203 is below the foundation 20); Y3 also represents the height of the third rotation center 203 relative to the foundation 20 when the telescopic component 300 is extended.

[0045] It is understandable that, compared to using a longer upright robotic arm, the application of the robotic arm structure for small coal mining machines in this embodiment of the application, by bending the second arm segment 220 downwards and reasonably optimizing the size of each component, significantly shortens the structural size of the robotic arm while ensuring a large mining range, lowers the center of gravity, reduces weight, and improves strength and stability.

[0046] In some embodiments, the support member 100 includes a body 110 and a first mounting base 120 connected to the body 110, and one end of the first arm segment 210 facing away from the second arm segment 220 is rotatably connected to the first mounting base 120.

[0047] Specifically, such as Figure 1 As shown, the main body 110 can be part of a frame or fuselage, serving to provide a mounting base. It can be in the form of a block, frame, or other structures. The first mounting base 120 can be connected to the main body 110 by means of screws, welding, or other methods. It has two opposing lugs with shaft holes on them. The end of the first arm segment 210 opposite to the second arm segment 220 also has a shaft hole. The two shaft holes can be connected by a rotating shaft.

[0048] Of course, the first arm segment 210 and the first mounting base 120 can also be replaced by other types of rotating structures. The specific shapes of the body 110 and the first mounting base 120, as well as the specific rotating structure between the first arm segment 210 and the first mounting base 120, can be determined according to actual needs. No specific limitation is made in this embodiment.

[0049] Furthermore, in this embodiment, the support member 100 also includes a second mounting base 130 connected to the body 110. The second mounting base 130 is located diagonally below the first mounting base 120, and one end of the telescopic member 300 facing away from the first arm segment 210 is rotatably connected to the second mounting base 130.

[0050] Similarly, as Figure 1As shown, the second mounting base 130 can be connected to the body 110 by means of screwing, welding, etc. It is located diagonally below the first mounting base 120 and away from the first arm segment 210. The second mounting base 130 also has two opposing ear plates, and the ear plates are provided with shaft holes. The telescopic member 300 also has a shaft hole at the end away from the first arm segment 210. The two shaft holes can be connected by a rotating shaft.

[0051] Of course, the telescopic member 300 and the second mounting base 130 can also be replaced by other types of rotating structures. The specific shape of the second mounting base 130 and the specific rotating structure between the telescopic member 300 and the second mounting base 130 can be determined according to actual needs. No specific limitation is made in this embodiment.

[0052] In some embodiments, a third mounting base 211 is provided on the bottom surface of the first arm segment 210, and one end of the telescopic member 300 that is away from the support member 100 is rotatably connected to the third mounting base 211.

[0053] Similarly, for example Figure 1 As shown, the third mounting base 211 can be connected to the bottom surface of the first arm segment 210 by means of screwing, welding or integral molding. The third mounting base 211 also has two opposing ear plates, and the ear plates are provided with shaft holes. The telescopic member 300 also has a shaft hole at the end opposite to the support member 100. The two shaft holes can be connected by a rotating shaft.

[0054] Of course, the telescopic member 300 and the third mounting base 211 can also be replaced by other types of rotating structures. The specific shape of the third mounting base 211 and the specific rotating structure between the telescopic member 300 and the third mounting base 211 can be determined according to actual needs. No specific limitation is made in this embodiment.

[0055] In some embodiments, the telescopic component 300 is a hydraulic cylinder. This allows it to withstand heavier loads and provides better stability. The specific type and number of hydraulic cylinders can be determined according to actual needs, and this embodiment does not impose specific limitations.

[0056] Secondly, embodiments of this application also provide a coal mining machine, including a body, on which the aforementioned crank arm structure for a small coal mining machine is provided.

[0057] Understandably, by configuring the crank arm structure used in small coal mining machines, this coal mining machine significantly shortens the structural size of the robotic arm while ensuring a large mining range. This results in a lower center of gravity, reduced weight, improved strength and stability, and better flexibility.

[0058] Furthermore, the coal mining machine in this embodiment also includes a head 10, which is installed at the installation center 202.

[0059] Specifically, such as Figure 3 As shown, the rotation center of the head 10 is coaxial with the installation center 202. The diameter of the rotary drilling head 10 must be larger than the end of the second boom section 220 to ensure normal mining operation.

[0060] Furthermore, in this embodiment, the rotary drilling diameter of the head 10 is greater than or equal to 400mm. This design makes the dimensions of the coal mining machine more reasonable.

[0061] The following is a further comparative analysis of the robotic arm structure for small coal mining machines in this application, using specific data, as shown in Table 1.

[0062] Table 1

[0063] <![CDATA[L1 / mm]]> <![CDATA[L2 / mm]]> θ / ° <![CDATA[L3 / mm]]> <![CDATA[L4 / mm]]> <![CDATA[X1 / mm]]> <![CDATA[Y1 / mm]]> <![CDATA[A min / mm]]> <![CDATA[A max / mm]]> <![CDATA[Y2 / mm]]> <![CDATA[Y3 / mm]]> <![CDATA[Y4 / mm]]> Does it meet the requirements? Example 1 640 160 60 550 115 125 390 700 1250 700 50 1380 satisfy Example 2 820 190 15 630 140 65 330 550 950 500 0 1350 satisfy Example 3 780 175 30 590 130 95 367 585 1020 615 -50 1420 satisfy Example 4 750 170 27 600 120 100 372 602 1054 610 -30 1400 satisfy Comparative Example 1 580 190 15 630 140 50 330 550 950 700 80 1270 Not satisfied Comparative Example 2 780 175 30 590 130 0 290 450 800 650 100 1290 Not satisfied

[0064] From Table 1 and Figures 1 to 3 The following conclusions can be drawn from the analysis:

[0065] Compared to Comparative Examples 1 and 2, when the dimensions of Examples 1 to 4 are all within the limitations of this application, the mining range can meet the requirements. Therefore, while ensuring a large mining range, the structural dimensions of the robotic arm are significantly shortened, the center of gravity is lowered, the weight is reduced, and the strength and stability are improved. If the dimensions are not within the limitations of this application, the mining range cannot meet the requirements, and thus the above-mentioned technical effects cannot be achieved.

[0066] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A robotic arm structure for a small coal mining machine, characterized in that, The device includes a support member (100), a crank arm (200), and a telescopic member (300). The crank arm (200) includes a first arm segment (210) and a second arm segment (220) connected together. One end of the first arm segment (210) away from the second arm segment (220) is rotatably connected to the support member (100) and forms a first rotation center (201). One end of the second arm segment (220) away from the first arm segment (210) is used to connect to the machine head (10) and forms a mounting center (202). The end of the second arm segment (220) near the mounting center (202) is inclined downward. One end of the telescopic member (300) is rotatably connected to the support member (100) and forms a second rotation center (301), and the other end is rotatably connected to the first arm segment (210) and forms a third rotation center (203) to drive the machine head (10) on the crank arm (200) to deflect up and down; wherein, the second rotation center (301) is located below the first rotation center (201) and away from the mounting center (202); the third rotation center (203) is located between the first rotation center (201) and the mounting center (202) and is located below the first arm segment (210); It also satisfies the following relationship: 640mm≤L1≤820mm,160mm≤L2≤190mm,15°≤θ≤60°,550mm≤L3≤630mm,115mm≤L4≤140mm,65mm≤X1≤125mm,330mm≤Y1≤390mm,550mm≤A min ≤700mm,A max =2*A min -(100~200)mm,500mm≤Y2≤700mm; In the formula: L1 is the length from the intersection of the first arm segment (210) and the second arm segment (220) to the first rotation center (201); L2 is the length from the intersection of the first arm segment (210) and the second arm segment (220) to the mounting center (202); θ is the angle between the length direction of the first arm segment (210) and the length direction of the second arm segment (220); L3 is the distance between the first rotation center (201) and the third rotation center (203) along the length direction of the first arm segment (210); L4 is the distance between the first rotation center (201) and the third rotation center (203) along the length direction perpendicular to the first arm segment (210); X1 is the horizontal distance between the first rotation center (201) and the second rotation center (301); Y1 is the vertical distance between the first rotation center (201) and the second rotation center (301); A min A is the distance between the second rotation center (301) and the third rotation center (203) when the telescopic member (300) is retracted to its shortest position. max Y1 is the distance between the second rotation center (301) and the third rotation center (203) when the telescopic member (300) is extended to its maximum length, and Y2 is the height of the first rotation center (201) above the ground.

2. The robotic arm structure for a small coal mining machine according to claim 1, characterized in that, The support member (100) includes a body (110) and a first mounting base (120) connected to the body (110), wherein one end of the first arm segment (210) opposite to the second arm segment (220) is rotatably connected to the first mounting base (120).

3. The robotic arm structure for a small coal mining machine according to claim 2, characterized in that, The support member (100) also includes a second mounting base (130) connected to the body (110). The second mounting base (130) is located diagonally below the first mounting base (120). One end of the telescopic member (300) opposite to the first arm segment (210) is rotatably connected to the second mounting base (130).

4. The robotic arm structure for a small coal mining machine according to claim 1, characterized in that, A third mounting base (211) is provided on the bottom surface of the first arm segment (210), and one end of the telescopic member (300) facing away from the support member (100) is rotatably connected to the third mounting base (211).

5. The robotic arm structure for a small coal mining machine according to any one of claims 1 to 4, characterized in that, The telescopic component (300) is a hydraulic cylinder.

6. A coal mining machine, characterized in that, Includes a machine body, wherein the machine body is provided with a robotic arm structure for a small coal mining machine as described in any one of claims 1 to 5.

7. The coal mining machine according to claim 6, characterized in that, It also includes a head unit (10) which is mounted at the mounting center (202).

8. The coal mining machine according to claim 7, characterized in that, The rotary drilling diameter of the machine head (10) is greater than or equal to 400 mm.

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