Novel mining crawler-type pipeline installation snatching vehicle

Abstract

The utility model relates to a novel mining crawler-type pipeline installation snatching vehicle which comprises a vehicle body, a chassis assembly is arranged at the bottom of the vehicle body, and a mechanical arm assembly, a person standing platform, a walking operation table assembly and a pipeline lifting platform are arranged on the vehicle body. The chassis assembly is formed by installing and welding steel plates and connecting the steel plates through bolts, the crawler belt assembly is arranged at the bottom of the chassis assembly, and due to the design of the crawler belt assembly, the chassis assembly has good cross-country performance and ground adhesive force and can adapt to underground complex terrains. The mechanical arm assembly is composed of a rotation assembly, a grabbing stand column, an oil cylinder and a pipe grabbing assembly, the person standing platform is arranged on one side of the vehicle body and provides standing space for operators, and the pipeline lifting platform is used for lifting and arranging pipelines. The utility model has the beneficial effects that the device can work and run in a narrow underground roadway, the working range is small, the device can be operated, mounted and managed by only two workers, the maximum working height can reach 4 meters, the working medium of the device is compressed gas, and the device can be safely operated in an environment containing gas.

Description

Technical Field

[0001] This utility model relates to a new type of tracked pipeline installation grabber for mining, belonging to the field of coal mine pipeline installation technology. Background Technology

[0002] The existing underground pipeline auxiliary installation vehicle in coal mines only has one pipeline grabbing robotic arm, which requires workers to be equipped with an aerial platform during operation, making the operation cumbersome; the minimum range of motion of the robotic arm is too large, making it unable to operate in narrow underground roadways. Utility Model Content

[0003] In order to overcome the shortcomings of the prior art, this utility model provides a new type of tracked pipeline installation grabber for mining, used for the installation of gas drainage pipelines in coal mine roadways.

[0004] This utility model is achieved through the following technical solution: a new type of mining tracked pipeline installation and lifting vehicle, including a vehicle body, a chassis assembly at the bottom of the vehicle body, and a mechanical arm assembly, a standing platform, a walking operation platform assembly and a pipeline lifting platform on the vehicle body.

[0005] The chassis assembly is constructed from welded and bolted steel plates. A track assembly is located at the bottom of the chassis assembly, its design providing excellent off-road performance and ground traction, enabling it to adapt to complex underground terrain. The robotic arm assembly consists of a slewing assembly, a gripping column, hydraulic cylinders, and a pipe-gripping component. A personnel platform is located on one side of the vehicle body, providing standing space for operators. The pipe-lifting platform is used for lifting and laying pipes.

[0006] The robotic arm assembly is a 6-DOF robotic arm, including a slide assembly, a rotary mechanism I, a primary arm I, a secondary arm I, a main arm cylinder, a rotating support, and a gripper assembly. The slide assembly is mounted on the vehicle body and connected to the rotary mechanism I. The rotary mechanism I is connected to the primary arm I and the main arm cylinder. The main arm cylinder is connected to the rotary mechanism I and the secondary arm I. The secondary arm I is connected to the rotating support. The gripper assembly is mounted on the rotating support.

[0007] The rotary mechanism I is connected and fixed to the slide assembly via hexagonal bolts and spring washers. The rotary mechanism I can rotate on the slide assembly. The boom cylinder provides power for the movement of the secondary boom I, enabling its angle change. The primary boom I is connected to the rotary mechanism I via a boom pivot pin and a positioning sleeve, and can rotate around the connection point.

[0008] The manned platform includes a rotating mechanism II, a base, a balance arm I, a primary arm II, a balance connecting frame, a balance arm II, a secondary arm II, and a manned platform. The rotating mechanism II is fixed to the vehicle body and is connected to the base via hexagonal bolts and spring washers. The balance arm I is connected to the balance connecting frame and the base via locating pins. The balance connecting frame is connected to the primary arm II and the secondary arm II to maintain the balance of the robotic arm during movement. The balance arm II is connected to the balance connecting frame and the manned platform, and the manned platform is connected to the secondary arm II.

[0009] The base and the balance connecting frame are connected to a hydraulic cylinder, and the balance connecting frame and the secondary arm II are connected to a hydraulic cylinder. The hydraulic cylinder extends and retracts to drive the primary arm II and the secondary arm II to rotate around the connection point, thereby realizing the extension, retraction, and angle adjustment of the robotic arm to change the working range and height of the platform.

[0010] The lifting pipeline platform includes a lifting rail base, scissor arms I, II, III, IV, and a frame platform. The lifting rail base is connected to scissor arms II via positioning pins. Scissor arms I are provided with a pulley positioning shaft and pulleys at their bottom. Scissor arms I are connected to the lifting rail base via the pulley positioning shaft and pulleys, allowing scissor arms I to slide on the lifting rail base. Scissor arms II and III are connected to lifting cylinders.

[0011] The scissor arms I, II, III, and IV, driven by the lifting cylinder, extend and retract by rotating the hinge points, thereby changing the height position of the frame platform.

[0012] The vehicle body also houses a powertrain, which uses compressed air for power.

[0013] The beneficial effects of this utility model are: it can work and operate in narrow underground tunnels, its working range is small, and only two workers are needed to operate and install the pipeline. The maximum working height can reach 4 meters. Its power source is compressed gas, which can be safely operated in environments containing gas. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a structural schematic diagram of the robotic arm assembly of this utility model;

[0017] Figure 3 This is a structural schematic diagram of the standing platform of this utility model;

[0018] Figure 4 This is a schematic diagram of the structure of the pipeline support platform of this utility model;

[0019] Figure 5 This is a schematic diagram of the working state of this utility model.

[0020] In the diagram: 1. Vehicle body; 2. Chassis assembly; 3. Robotic arm assembly; 4. Standing platform; 5. Traveling control panel assembly; 6. Lifting pipeline platform; 7. Track assembly; 31. Slide assembly; 32. Rotation mechanism I; 33. Primary arm I; 34. Secondary arm I; 35. Main arm cylinder; 36. Rotating bracket; 37. Grab assembly; 41. Rotation mechanism II; 42. Base; 43. Counterweight arm I; 44. Primary arm II; 45. Counterweight connecting frame; 46. Counterweight arm II; 47. Secondary arm II; 48. Standing platform; 61. Lifting rail base; 62. Scissor arm I; 63. Scissor arm II; 64. Scissor arm III; 65. Scissor arm IV; 66. Frame platform; 67. Positioning pin; 68. Pulley positioning shaft; 69. Pulley; 70. Lifting cylinder. Detailed Implementation

[0021] 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.

[0022] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0023] like Figure 1 and Figure 5The above-described new type of tracked pipeline installation and lifting vehicle for mining includes a vehicle body 1, a chassis assembly 2 at the bottom of the vehicle body 1, and a robotic arm assembly 3, a standing platform 4, a traveling operating platform assembly 5, and a pipeline lifting platform 6 on the vehicle body 1.

[0024] The chassis assembly 2 is made of steel plates welded and bolted together. The bottom of the chassis assembly 2 is equipped with a track assembly 7. The robotic arm assembly 3 consists of a slewing assembly, a gripping column, a hydraulic cylinder and a pipe gripping assembly. The standing platform 4 is set on one side of the vehicle body 1 to provide standing space for operators. The pipeline lifting platform 6 is used to lift and lay pipelines.

[0025] like Figure 2 The robotic arm assembly 3 shown is a 6-DOF robotic arm, including a slide assembly 31, a rotary mechanism I 32, a primary arm I 33, a secondary arm I 34, a boom cylinder 35, a rotating support 36, and a gripper assembly 37. The slide assembly 31 is mounted on the vehicle body 1. The rotary mechanism I 32 is connected to the slide assembly 31. The rotary mechanism I 32 is connected to the primary arm I 33 and the boom cylinder 35. The boom cylinder 35 is connected to the rotary mechanism I 32 and the secondary arm I 34. The secondary arm I 34 is connected to the rotating support 36. The gripper assembly 37 is mounted on the rotating support 36.

[0026] The rotary mechanism I32 is connected and fixed to the slide assembly 31 by hexagonal bolts and spring washers. The rotary mechanism I32 can rotate on the slide assembly 31. The boom cylinder 35 provides power for the movement of the secondary boom I34, realizing its angle change action. The primary boom I33 is connected to the rotary mechanism I32 by the boom pivot pin and positioning sleeve, and can rotate around the connection point.

[0027] like Figure 3 The manned platform 4 shown includes a slewing mechanism II 41, a base 42, a balance arm I 43, a primary arm II 44, a balance connecting frame 45, a balance arm II 46, a secondary arm II 47, and a manned platform 48. The slewing mechanism II 41 is fixed to the vehicle body 1 and is connected to the base 42 via hexagonal bolts and spring washers. The balance arm I 43 is connected to the balance connecting frame 45 and the base 42 via locating pins. The balance connecting frame 45 is connected to the primary arm II 44 and the secondary arm II 47 to maintain the balance of the robotic arm during movement. The balance arm II 46 is connected to the balance connecting frame 45 and the manned platform 48, and the manned platform 48 is connected to the secondary arm II 47.

[0028] The base 42 and the balance connecting frame 45 are connected to a hydraulic cylinder. The balance connecting frame 45 and the secondary arm II 47 are connected to a hydraulic cylinder. The hydraulic cylinder extends and retracts to drive the primary arm II 44 and the secondary arm II 47 to rotate around the connection point, thereby realizing the extension, retraction, and angle adjustment of the robotic arm to change the working range and height of the standing platform 48.

[0029] like Figure 4 The lifting pipeline platform 6 shown includes a lifting rail base 61, scissor arms I 62, II 63, III 64, IV 65 and a frame platform 66. The lifting rail base 61 is connected to the scissor arms II 63 by a positioning pin 67. The bottom of the scissor arms I 62 is provided with a pulley positioning shaft 68 and a pulley 69. The scissor arms I 62 are connected to the lifting rail base 61 by the pulley positioning shaft 68 and the pulley 69, so that the scissor arms I 62 can slide on the lifting rail base 61. The scissor arms II 63 and III 64 are connected to lifting cylinders 70.

[0030] Driven by the lifting cylinder 70, the scissor arms I 62, II 63, III 64 and IV 65 extend and retract through the rotation of the hinge points, thereby changing the height position of the frame platform 66.

[0031] The vehicle body 1 is also equipped with a powertrain, which uses compressed air as its power source.

[0032] The traveling control panel assembly 5 is equipped with operating handles. The first set of six pilot handles on the left is the control valve for the left front lower support cylinder, with the handle facing upwards; the second is the control valve for the left front telescopic cylinder, with the handle facing upwards; the third is the control valve for the left rear telescopic cylinder, with the handle facing upwards; the fourth is the control valve for the right rear telescopic cylinder, with the handle facing upwards; the fifth is the control valve for the right front telescopic cylinder, with the handle facing upwards; and the sixth is the control valve for the right front lower support cylinder, with the handle facing upwards.

[0033] The second set of five pilot handles has the following valves on the left: the first is the left rear lower support control valve (handle facing upwards); the second is the left track travel control valve (handle facing upwards); the third is the high / low speed control valve (handle facing upwards); the fourth is the right track travel control valve (handle facing upwards); and the fifth is the right rear lower support control valve (handle facing upwards).

[0034] The control handles on the motion control panel are as follows: The first six pilot handles on the left are: the first is the gripper forward / backward displacement control valve (handle facing upward); the second is the gripper directional rotation control valve (handle facing upward); the third is the gripper boom lifting control valve (handle facing upward); the fourth is the gripper secondary telescopic control valve (handle facing upward); the fifth is the gripper angle control valve (handle facing upward); and the sixth is the gripper rotation control valve (handle facing upward).

[0035] The second set of five pilot handles has the following valves on the left: the first is the gripper clamping control valve (handle facing upwards); the second is the scissor platform lifting control valve (handle facing upwards); the third is the manned platform slewing control valve (handle facing upwards); the fourth is the manned platform boom lifting control valve (handle facing upwards); and the fifth is the manned platform forearm lifting control valve (handle facing upwards).

[0036] On the side of the equipment, the control panel has a pneumatic pressure display on the left and a hydraulic pressure display on the right, showing the current system pressure.

[0037] Walking: Connect the air supply and open the air inlet valve. Check if the system air pressure and hydraulic pressure are normal. Under no-load conditions, the air pressure should not be lower than 0.3 MPa, and the hydraulic pressure should not be higher than 2 MPa. Check that the lower support cylinder and grab arm are fully retracted; the personnel platform is fully retracted and unobstructed; there are no obstacles around; and confirm that there are no other abnormalities before walking. During walking, a designated person should manage the air inlet pipe; it is strictly forbidden to drag the air inlet pipe by a vehicle.

[0038] During movement, the movement of the tracks on both sides is controlled by two valve stems, and the path and road conditions are constantly checked. The maximum gradient of the equipment is 20°.

[0039] Pipeline Installation: First, check the ground. If the ground is uneven, the lower support should be fully opened and firmly supported before work can begin. The rotating support arm of the pipe gripper is in the middle of the vehicle. The vehicle should be parked in a suitable position for easy pipe gripping. Operate the valve stem to slowly grip the pipeline and lift it evenly and smoothly. When the pipeline is lifted to the working position, slowly raise the lifting scissor lift platform to support the pipeline. During operation, pedestrians and workers are strictly prohibited from standing under the pipeline.

[0040] When operating a manned platform, the movement should be slow and steady. First, raise the boom, then raise the forearm. Always pay attention to whether there are any obstacles around the platform. If any danger is found, stop the operation immediately and wait until the danger is eliminated before resuming operation. The load on the manned platform must not exceed 150 kg.

[0041] The mine pneumatic pipeline auxiliary installation vehicle is powered by compressed air. When in use, the working air pressure shall not exceed 0.63 MPa. When stopping the machine, the air inlet valve shall be reliably closed to prevent the power unit from starting automatically.

[0042] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A novel tracked pipeline installation and lifting vehicle for mining, comprising a vehicle body (1), characterized in that: The vehicle body (1) is provided with a chassis assembly (2) at the bottom, and a robotic arm assembly (3), a standing platform (4), a walking operation platform assembly (5) and a lifting pipeline platform (6) on the vehicle body (1). The chassis assembly (2) is made of steel plates welded together with bolts. The bottom of the chassis assembly (2) is provided with a track assembly (7). The robotic arm assembly (3) consists of a slewing assembly, a gripping column, a hydraulic cylinder and a pipe gripping assembly. The standing platform (4) is set on one side of the vehicle body (1) to provide standing space for the operator. The pipeline lifting platform (6) is used to lift and arrange pipelines.

2. The novel tracked pipeline installation grabber for mining as described in claim 1, characterized in that: The robotic arm assembly (3) is a 6-DOF robotic arm, including a slide assembly (31), a rotary mechanism I (32), a primary arm I (33), a secondary arm I (34), a boom cylinder (35), a rotating bracket (36), and a gripper assembly (37). The slide assembly (31) is mounted on the vehicle body (1). The rotary mechanism I (32) is connected to the slide assembly (31). The rotary mechanism I (32) is connected to the primary arm I (33) and the boom cylinder (35). The boom cylinder (35) is connected to the rotary mechanism I (32) and the secondary arm I (34). The secondary arm I (34) is connected to the rotating bracket (36). The gripper assembly (37) is mounted on the rotating bracket (36).

3. A novel tracked pipeline installation and lifting vehicle for mining as described in claim 2, characterized in that: The rotary mechanism I (32) is connected and fixed to the slide assembly (31) by hexagonal bolts and spring washers. The rotary mechanism I (32) can rotate on the slide assembly (31). The boom cylinder (35) provides power for the movement of the secondary boom I (34) to realize its angle change action. The primary boom I (33) is connected to the rotary mechanism I (32) by the boom pivot pin and positioning sleeve, and can rotate around the connection point.

4. A novel tracked pipeline installation and lifting vehicle for mining as described in claim 1, characterized in that: The standing platform (4) includes a rotary mechanism II (41), a base (42), a balance arm I (43), a first-stage arm II (44), a balance connecting frame (45), a balance arm II (46), a second-stage arm II (47), and a standing platform (48). The rotary mechanism II (41) is fixed on the vehicle body (1). The rotary mechanism II (41) is connected to the base (42) by hexagonal bolts and spring washers. The balance arm I (43) is connected to the balance connecting frame (45) and the base (42) by positioning pins. The balance connecting frame (45) is connected to the first-stage arm II (44) and the second-stage arm II (47) to maintain the balance of the robotic arm during movement. The balance arm II (46) is connected to the balance connecting frame (45) and the standing platform (48). The standing platform (48) is connected to the second-stage arm II (47).

5. A novel tracked pipeline installation and lifting vehicle for mining as described in claim 4, characterized in that: The base (42) and the balance connecting frame (45) are connected to a hydraulic cylinder. The balance connecting frame (45) and the secondary arm II (47) are connected to a hydraulic cylinder. The hydraulic cylinder extends and retracts to drive the primary arm II (44) and the secondary arm II (47) to rotate around the connection point to realize the extension, retraction and angle adjustment of the robotic arm, thereby changing the working range and height of the platform (48).

6. A novel tracked pipeline installation grabber for mining as described in claim 1, characterized in that: The lifting pipeline platform (6) includes a lifting rail base (61), scissor arms I (62), scissor arms II (63), scissor arms III (64), scissor arms IV (65) and a frame platform (66). The lifting rail base (61) is connected to scissor arms II (63) through a positioning pin (67). The bottom of scissor arms I (62) is provided with a pulley positioning shaft (68) and a pulley (69). Scissor arms I (62) are connected to the lifting rail base (61) through the pulley positioning shaft (68) and the pulley (69) so that scissor arms I (62) can slide on the lifting rail base (61). The scissor arms II (63) and scissor arms III (64) are connected to lifting cylinders (70).

7. A novel tracked pipeline installation grabber for mining as described in claim 6, characterized in that: The scissor arms I (62), II (63), III (64) and IV (65) extend and retract by rotating the hinge points under the drive of the lifting cylinder (70), thereby changing the height position of the frame platform (66).

8. A novel tracked pipeline installation grabber for mining as described in claim 1, characterized in that: The vehicle body (1) is also equipped with a powertrain, which uses compressed air as power.

Images