A pipe-grabbing device for coal mines

Abstract

This utility model relates to the field of underground coal mine equipment technology, specifically to a pipe-gripping device for coal mines. The chassis frame has walking mechanisms evenly distributed on both sides. Each walking mechanism includes a connecting frame, a steering shaft, a steering assembly, a track support, and a track assembly. The upper end of the steering shaft is rotatably connected to the connecting frame, and the lower end is connected to the track support. The steering assembly is connected to the connecting frame and the steering shaft. A rotating robotic arm mechanism is rotatably mounted on the base. The rotating robotic arm mechanism includes a turntable, a robotic arm, and a hydraulic assembly for driving the robotic arm. The lower end of the robotic arm is hinged to the turntable, and the upper end is connected to a gripping mechanism. The gripping mechanism includes a housing, a gripping base, and pipe-gripping assemblies movably disposed on both sides of the gripping base. The gripping base is rotatably connected to the housing. This utility model can adapt to uneven road surfaces, ensuring stable movement in coal mine tunnels; it also allows for flexible adjustment of the gripping force on pipes, enabling it to grip pipes of different materials and diameters.

Description

Technical Field

[0001] This utility model relates to the field of underground equipment technology in coal mines, specifically to a pipe-grabbing device for coal mines. Background Technology

[0002] Pipe-grabbing machines for coal mines are specialized equipment used for the installation, dismantling, and transportation of pipelines (such as gas drainage pipes, ventilation pipes, and drainage pipes) in underground coal mines. Due to the complex environment in underground coal mines, such as confined spaces, high dust levels, high humidity, and the risk of gas explosions, traditional manual pipeline handling is inefficient and poses significant safety hazards. Therefore, pipe-grabbing machines are now widely used to complete pipeline laying operations in underground coal mines.

[0003] Existing pipe-grabbing machines are suitable for laying pipelines in open-air environments with smooth roads. The machine's stable chassis allows for smooth movement, ensuring the pipeline connection remains secure. However, in underground coal mines, the tunnel excavation and laying processes are significantly different from those in open-air environments. Coal mine tunnels are narrow and have uneven surfaces, making it difficult for the pipe-grabbing machine to move smoothly. This can easily lead to issues such as misalignment or disconnection of the laid pipelines. Furthermore, the machine struggles to flexibly adjust the clamping force. Since it needs to grip pipes of different materials and diameters, it requires the ability to adjust the clamping force to ensure that the pipe doesn't slip due to insufficient clamping force or damage due to excessive clamping force. Summary of the Invention

[0004] This invention addresses the problems of existing pipe gripping machines being unable to move stably in coal mine tunnels and being unable to flexibly adjust the clamping force on pipes. It provides a pipe gripping device for coal mines that can adapt to uneven road surfaces, ensuring stable movement in coal mine tunnels and preventing pipes from failing to connect or from shifting during connection. At the same time, it can flexibly adjust the clamping force on pipes, enabling it to grip pipes of different materials and diameters, thereby preventing pipes from slipping or being damaged.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows: a pipe-grabbing device for coal mines, comprising a chassis frame and a base and control console mounted on the chassis frame. Traveling mechanisms are evenly distributed on both sides of the chassis frame. Each traveling mechanism includes a connecting frame, a steering shaft, a steering assembly, a track support, and a track assembly. The upper end of the steering shaft is rotatably connected to the connecting frame, and the lower end is connected to the track support. The steering assembly is connected to the connecting frame and the steering shaft. A drive mechanism is provided at the top of the track support. The track assembly is mounted inside the track support and connected to the drive mechanism. The drive mechanism drives the track assembly to move, and the track assembly drives the chassis frame to move, adapting to uneven road surfaces and achieving stable movement in coal mine tunnels. The steering assembly can adjust the direction of movement of the track assembly, achieving a steering effect.

[0006] A rotating robotic arm mechanism is rotatably mounted on the base. The rotating robotic arm mechanism includes a rotary table, a robotic arm, and a hydraulic assembly for driving the robotic arm. The rotary table is rotatably connected to the base. The lower end of the robotic arm is hinged to the rotary table, and the upper end is connected to a gripper mechanism. The rotary table and the base rotate in coordination, and the robotic arm drives the gripper mechanism to move, so that the gripper mechanism can adapt to different working heights and directions for gripping pipes, improving the flexibility of the gripper mechanism in gripping pipes and thus improving the efficiency of gripping pipes.

[0007] The gripping mechanism includes an outer shell, a gripping base, and gripping pipe assemblies movably disposed on both sides of the gripping base. The gripping base is rotatably connected to the outer shell. By using two gripping pipe assemblies to grip the pipe, the clamping force can be flexibly adjusted to adapt to gripping pipes of different materials and diameters. The gripping base drives the gripping pipe assemblies to rotate, improving the flexibility of the gripping pipe assemblies in gripping the pipe.

[0008] Furthermore, the connecting frame includes a horizontal shaft and a fixed cylinder. The two ends of the horizontal shaft are fixedly connected to the chassis frame and the fixed cylinder, respectively. The upper end of the steering shaft is rotatably connected to the fixed cylinder through a bearing. The connecting frame serves to connect the chassis frame and the traveling mechanism. The bearing facilitates the steering assembly to drive the steering shaft to rotate, thereby achieving the effect of the steering shaft driving the track assembly to rotate and adjust the direction of travel.

[0009] Furthermore, the steering assembly includes a vertical rod, a steering cylinder, and a collar. The vertical rod is vertically disposed at the bottom of the transverse shaft, and the collar is fixedly sleeved on the steering shaft. The tail end of the steering cylinder and the piston rod are respectively hinged to the vertical rod and the collar. The steering cylinder can drive the steering shaft to rotate through the collar, thereby achieving the effect of adjusting the travel direction of the track assembly.

[0010] Furthermore, the track assembly includes two track pulleys and a track sleeved on the two track pulleys. Both ends of the track pulleys are rotatably connected to the track support. Multiple stabilizing wheels, rotatably connected to the track support, are also spaced apart between the two track pulleys. The cooperation between the track and the track pulleys enables the device to move stably in coal mine tunnels and adapt to uneven road surfaces, thereby avoiding the inability of laid pipelines to connect and the misalignment of pipeline connections.

[0011] Furthermore, the drive mechanism is connected to a drive pulley, and a driven pulley is provided at the end of one of the track pulleys. The drive pulley is connected to the driven pulley via a transmission belt. The transmission belt cooperates with the drive pulley and the driven pulley. The drive mechanism can drive one of the track pulleys to rotate, and the track pulley drives the track to move, thereby achieving the effect of the track assembly driving the chassis frame to move.

[0012] Furthermore, a slewing bearing is provided on the base, and the inner and outer rings of the slewing bearing are connected to the base and the rotary table, respectively. A motor is provided on the rotary table, and a gear is provided at the output end of the motor. The gear meshes with the inner gear ring of the slewing bearing. Through the action of the slewing bearing, the rotary table can drive the robotic arm to rotate, so that the gripper mechanism can perform pipe gripping operations in different directions.

[0013] Furthermore, the robotic arm includes a large arm, a small arm, and a telescopic arm. The upper and lower ends of the large arm are hinged to the rotary table and the small arm, respectively. One end of the telescopic arm is slidably sleeved inside the small arm, and the other end is fixedly connected to a mounting plate. Through the cooperation of the large arm and the small arm, the gripper mechanism can perform pipe gripping operations at different heights. The telescopic arm extends and retracts inside the small arm, providing the gripper mechanism with more freedom and flexibility for pipe gripping operations.

[0014] Furthermore, the hydraulic assembly includes three hydraulic cylinders for the robotic arm: a first hydraulic cylinder, a second hydraulic cylinder, and a third hydraulic cylinder. The tail end and piston rod of the first hydraulic cylinder are hinged to the turntable and the main arm, respectively. The tail end and piston rod of the second hydraulic cylinder are hinged to the main arm and the forearm, respectively. The third hydraulic cylinder is located inside the forearm, and its piston rod is connected to the telescopic arm. The first hydraulic cylinder can adjust the lifting angle of the main arm, the second hydraulic cylinder can control the angle and opening / closing between the main arm and the forearm, and the third hydraulic cylinder can control the extension and retraction of the telescopic arm.

[0015] Furthermore, the outer shell is fixed to the mounting plate, and a second slewing bearing is provided inside the outer shell. The inner and outer rings of the second slewing bearing are connected to the outer shell and the gripper base, respectively. A second motor is provided on the outer shell, and a second gear is provided at the output end of the second motor. The second gear meshes with the outer gear ring of the second slewing bearing. Through the action of the second slewing bearing, the second motor can drive the gripper base to rotate, so that the gripper chassis can drive the pipe gripping assembly to rotate, realizing that the gripper mechanism drives the pipe to rotate to complete the pipe docking operation under different conditions.

[0016] Furthermore, the pipe-grabbing assembly includes a gripping hydraulic cylinder, a connecting shaft, and gripping hooks. The tail end and piston rod of the gripping hydraulic cylinder are hinged to the gripping base and the connecting shaft, respectively. Multiple gripping hooks are evenly spaced on the inner side of the connecting shaft, and the lower ends of the gripping hooks are hinged to the gripping base. The gripping hooks of the two pipe-grabbing assemblies are staggered. Each gripping hook includes two hook plates, and a limiting baffle is provided on the inner side of the lower end of the hook plate. The gripping hydraulic cylinder drives the gripping hook to move through the connecting shaft, realizing the opening and closing of the hooks of the two pipe-grabbing assemblies to grab the pipe to be installed. The limiting baffle is used to prevent the pipe from falling off due to being too small.

[0017] The beneficial effects of this utility model through the above technical solution are as follows:

[0018] The track assembly of this utility model's walking mechanism has strong terrain adaptability. Through the distributed design of the track assembly, it can adapt to uneven road surfaces, ensuring stable movement in coal mine tunnels and preventing pipeline misalignment or disconnection. The steering assembly can drive the steering shaft to rotate, which in turn drives the track support and track assembly to rotate, thereby adjusting the direction of travel of the track assembly and achieving the steering effect of the device.

[0019] The rotary robotic arm mechanism of this invention features a rotating platform that rotates with the base, and a gripper base that rotates with the outer shell. This provides high flexibility, enabling the gripper mechanism to perform pipe gripping operations and pipe docking operations in different directions and angles, thus improving the flexibility of the gripper mechanism in pipe gripping operations. Furthermore, the robotic arm allows the gripper mechanism to adapt to pipe gripping operations at different working heights, giving the device multiple degrees of freedom and further enhancing the flexibility and efficiency of pipe gripping operations.

[0020] This invention achieves the purpose of gripping pipes by installing pipe-gripping assemblies on both sides of the gripper base. Two gripping assemblies can grip pipes of different diameters. In a specific implementation, the gripper's hydraulic cylinder drives the gripping hooks via a connecting shaft, causing the hooks of the two gripping assemblies to either merge inwards or open outwards, thereby gripping or releasing the pipe. The hydraulic cylinder allows for adjustment of the gripping force to accommodate pipes of different materials and diameters, preventing pipe slippage or damage. Furthermore, the gripping assemblies maintain a stable gripping effect even during long-term, high-intensity operation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a pipe-grabbing device for coal mines according to this utility model;

[0022] Figure 2 This is a schematic diagram of the walking mechanism of this utility model;

[0023] Figure 3 This is a schematic diagram of the structure of the rotary robotic arm mechanism of this utility model;

[0024] Figure 4 This is a schematic diagram of the gripper mechanism of this utility model. Figure 1 ;

[0025] Figure 5 This is a schematic diagram of the gripper mechanism of this utility model. Figure 2 .

[0026] In the attached diagram, the labels are as follows: 1 is the chassis frame, 2 is the base, 3 is the control console, 4 is the traveling mechanism, 401 is the transverse shaft, 402 is the fixed cylinder, 403 is the steering assembly, 4031 is the vertical rod, 4032 is the steering cylinder, 4033 is the collar, 404 is the track support, 405 is the track pulley, 406 is the stabilizer wheel, 407 is the drive mechanism, 408 is the drive pulley, 409 is the transmission belt, 410 is the driven pulley, 411 is the track, and 412 is the steering shaft. 5 is the rotary robotic arm mechanism, 501 is the first slewing bearing, 502 is the rotary table, 503 is the first motor, 504 is the upper arm, 505 is the lower arm, 506 is the first robotic arm hydraulic cylinder, 507 is the second robotic arm hydraulic cylinder, 508 is the telescopic arm, 509 is the mounting plate, 6 is the gripper mechanism, 601 is the outer shell, 602 is the gripper base, 603 is the gripper hydraulic cylinder, 604 is the connecting shaft, 605 is the gripping hook, 6051 is the gripping hook plate, and 6052 is the limit baffle. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0028] like Figures 1-5 As shown, a pipe-grabbing device for coal mines includes a chassis frame 1, a base 2 and a control console 3 mounted on the chassis frame 1. Two traveling mechanisms 4 are evenly distributed on each side of the chassis frame 1. Each traveling mechanism 4 includes a connecting frame, a steering shaft 412, a steering assembly 403, a track support 404, and a track assembly. The upper end of the steering shaft 412 is rotatably connected to the connecting frame, and the lower end is connected to the track support 404. The steering assembly 403 is connected to the connecting frame and the steering shaft 412. A drive mechanism 407 is mounted on the top of the track support 404, and the track assembly is located within the track support 404 and connected to the drive mechanism 407. The connecting frame is used to connect the chassis frame 1 and the track assembly, so that the pipe-grabbing device can be moved by the action of the track assembly. The track bracket 404 serves to install the track assembly. The track assembly has strong terrain adaptability, and the pipe-grabbing device can move stably on the uneven road surface in the coal mine tunnel through the action of the track assembly. The drive mechanism 407 is used to drive the track assembly to move, and the steering assembly 403 is used to drive the steering shaft 412 to rotate. The steering shaft 412 drives the track bracket 404 and the track assembly to rotate, so as to adjust the travel direction of the track assembly, thereby adjusting the travel direction of the pipe-grabbing device and achieving the steering effect.

[0029] A rotary robotic arm mechanism 5 is rotatably mounted on the base 2. The rotary robotic arm mechanism 5 includes a rotary table 502, a robotic arm, and a hydraulic assembly for driving the robotic arm. The rotary table 502 is rotatably connected to the base 2. The lower end of the robotic arm is hinged to the rotary table 502, and the upper end is connected to a gripper mechanism 6. The hydraulic assembly drives the robotic arm to move, and the robotic arm drives the gripper mechanism 6 to move. The rotary table 502 and the base 2 rotate in coordination, enabling the gripper mechanism 6 to perform pipe gripping operations and pipe docking operations in different directions and heights.

[0030] The gripping mechanism 6 includes an outer shell 601, a gripping base 602, and gripping pipe assemblies movably disposed on both sides of the gripping base 602. The gripping base 602 is rotatably connected to the outer shell 601. The two gripping pipe assemblies can complete the pipe gripping and docking operation at different angles. The purpose of gripping pipe is achieved through the opening and closing movement of the two gripping pipe assemblies.

[0031] The connecting frame includes a horizontal shaft 401 and a fixed cylinder 402. The two ends of the horizontal shaft 401 are fixedly connected to the chassis frame 1 and the fixed cylinder 402, respectively. The upper end of the steering shaft 412 is rotatably connected to the fixed cylinder 402 through a bearing. One end of the horizontal shaft 401 is bolted to the chassis frame 1 through a flange. The fixed cylinder 402 is vertically fixed to the other end of the horizontal shaft 401. Through the action of the horizontal shaft 401 and the fixed cylinder 402, the traveling mechanism 4 can be easily assembled onto the chassis frame 1. The steering shaft 412 is rotatably engaged with the fixed cylinder 402 through a bearing, so that the steering assembly 403 can drive the steering shaft 412 to rotate and adjust the travel direction of the track assembly.

[0032] The steering assembly 403 includes a vertical rod 4031, a steering cylinder 4032, and a collar 4033. The vertical rod 4031 is vertically mounted at the bottom of the horizontal shaft 401, and the collar 4033 is fixedly sleeved on the steering shaft 412. The tail end and piston rod of the steering cylinder 4032 are hinged to the vertical rod 4031 and the collar 4033, respectively. The piston rod of the steering cylinder 4032 performs a telescopic movement, which drives the steering shaft 412 to rotate through the collar 4033. The steering shaft 412 drives the track assembly to rotate through the track bracket 404, thereby adjusting the travel direction of the track assembly. Hinge seats are installed at the lower end of the vertical rod 4031 and on the outer side of the collar 4033. Ear plates are connected to the tail end and piston rod of the steering cylinder 4033, and the ear plates are hinged to the hinge seats through pins.

[0033] The track assembly includes two track pulleys 405 and a track 411 fitted onto the two track pulleys 405. Both ends of the track pulleys 405 are rotatably connected to a track support 404. Multiple stabilizing wheels 406, rotatably connected to the track support 404, are spaced apart between the two track pulleys 405. The track support 404 includes a U-shaped base, a protective cover, and pulley plates. The lower end of a steering shaft 412 is fixed to the U-shaped base. The protective cover is fixed inside the U-shaped base and located above the track 411. Pulley plates are installed on the two inner sidewalls of the lower part of the U-shaped base. The axles of the track pulleys 405 and the stabilizing wheels 405 are rotatably connected to the two pulley plates via bearings. Three stabilizing wheels 405 are located between the two track pulleys 405, and these stabilizing wheels 405 are used to improve the stability of the track assembly during movement.

[0034] The drive mechanism 407 is connected to a drive pulley 408, and a driven pulley 410 is provided at the end of one of the track pulleys 405. The drive pulley 408 is connected to the driven pulley 410 via a transmission belt 409. The drive mechanism 407 is mounted on the top of the protective cover of the track support 404. The drive mechanism 407 includes a drive motor and a reducer. The drive pulley 408 is mounted at the output end of the reducer. The drive motor drives the drive pulley 408 to rotate through the reducer. The drive pulley 408 drives the driven pulley 410 to rotate through the transmission belt 409. The driven pulley 410 drives one of the track pulleys 405 to rotate. Under the action of the track 411, the other track pulley 405 and the three stabilizing wheels 406 rotate, realizing the movement of the track assembly driving the chassis frame 1.

[0035] A slewing bearing 501 (not shown in the figure) is installed on the base 2. The inner and outer rings of the slewing bearing 501 are connected to the base 2 and the rotary table 502, respectively. A motor 503 is installed on the rotary table 502. A gear (not shown in the figure) is installed at the output end of the motor 503. The gear meshes with the inner gear ring of the slewing bearing 501. The inner ring of the slewing bearing 501 is fixed downward to the base 2, and the outer ring of the slewing bearing 501 is fixed upward to the rotary table 502. The output end of the motor 503 drives the gear to rotate. Through the meshing of the gear and the inner gear ring of the slewing bearing 501, the rotary table 502 drives the robotic arm to rotate, realizing the gripper mechanism 6 to complete the pipe gripping and docking operation in different directions.

[0036] The robotic arm includes a large arm 504, a small arm 505, and a telescopic arm 508. The upper and lower ends of the large arm 504 are hinged to the rotary table 502 and the small arm 505, respectively. One end of the telescopic arm 508 is slidably fitted inside the small arm 505, and the other end is fixedly connected to a mounting plate 509. Hinges are also fixed to the top of the rotary table 502 and the bottom of the small arm 505. Both ends of the large arm 504 are hinged to the rotary table 502 and the small arm 505, respectively, through the hinges. The telescopic arm 508 can extend and retract within the small arm 505. The extension and retraction of the telescopic arm 508 provides more freedom and flexibility to the gripper mechanism 6. In addition, the large arm 504 includes two arm plates, and a connecting plate and a connecting rod are fixedly installed between the two arm plates.

[0037] The hydraulic assembly includes a first hydraulic cylinder 506, a second hydraulic cylinder 507, and a third hydraulic cylinder. The tail end and piston rod of the first hydraulic cylinder 506 are hinged to the rotary table 502 and the upper arm 504, respectively. The tail end and piston rod of the second hydraulic cylinder 507 are hinged to the upper arm 504 and the lower arm 505, respectively. The third hydraulic cylinder is located inside the lower arm 505, and its piston rod is connected to the telescopic arm 508. The second hydraulic cylinder 507 of the robotic arm is located between the two arm plates of the upper arm 504. Ear plates are installed at its tail end and the piston rod end. The ear plate at its tail end is rotatably mounted on the connecting rod of the upper arm 504. The ear plate at the piston rod end is hinged to the hinge seat at the bottom of the lower arm 505 via a pin. Additionally, a hinge seat is installed at the bottom of the upper arm 504. Ear plates are also installed at the tail end and piston rod end of the first hydraulic cylinder 506 of the robotic arm. The two ear plates are respectively hinged to the hinge seats at the bottom of the upper arm 504 and the top of the rotary table 502 via pins. Furthermore, the third hydraulic cylinder of the robotic arm is located inside the lower arm 505 and can drive the telescopic arm 508 to perform telescopic movements.

[0038] The outer casing 601 is fixed to the mounting plate 509. A second slewing bearing is installed inside the outer casing 601. The inner and outer rings of the second slewing bearing are connected to the outer casing 601 and the gripper base 602, respectively. A second motor is mounted on the outer casing 601, and a second gear is mounted at the output end of the second motor. The second gear meshes with the outer gear ring of the second slewing bearing (the second slewing bearing, the second motor, and the second gear are not shown in the figure). Specifically, the inner ring of the second slewing bearing is fixed downwards to the outer casing 601, and the outer ring of the second slewing bearing is fixed upwards to the gripper base 602. The output end of the second motor drives the second gear to rotate. Through the meshing of the second gear with the outer gear ring of the second slewing bearing, the outer ring of the second slewing bearing drives the gripper base 602 to rotate. The gripper base 602 drives the pipe-gripping assembly to rotate, enabling the gripper mechanism 6 to complete pipe-gripping and docking operations at different angles.

[0039] The pipe-gripping assembly includes a gripping hydraulic cylinder 603, a connecting shaft 604, and gripping hooks 605. The tail end and piston rod of the gripping hydraulic cylinder 603 are hinged to the gripping base 602 and the connecting shaft 604, respectively. Multiple gripping hooks 605 are evenly spaced along the inner side of the connecting shaft 604. The lower ends of the gripping hooks 605 are hinged to the gripping base 602. The gripping hooks 605 of two pipe-gripping assemblies are staggered. Each gripping hook 605 includes two hook plates 6051, and a limiting baffle 6052 is provided on the inner side of the lower end of each hook plate 6051. In this embodiment, hinge seats are installed on both the gripping base 602 and the connecting shaft 604. The lower ends of the gripping hooks 605 are hinged to the gripping base 602 via pins. Ear plates are also connected to both ends of the gripping hydraulic cylinder 603. The two ear plates are hinged to the hinge seats on the gripping base 602 and the connecting shaft 604 via pins, respectively.

[0040] One of the pipe-gripping components has two gripping hooks 605, and the other has three gripping hooks 605. The gripping hook plate 6051 includes a vertical part and an arc-shaped part. A fixed shaft is fixed between the two gripping hook plates 6051. A limiting baffle 6052 is fixed to the vertical part of the gripping hook plate 6051 to prevent the pipe from falling off due to being too small. In addition, the extension and retraction of the piston rod of the gripping hydraulic cylinder 603 can drive the connecting shaft 604 to close inward or open outward, thereby adjusting the opening and closing of the gripping hooks 605 to grip the pipe to be installed. The hydraulic cylinder 603 can control the clamping force of the pipe to achieve the effect of gripping pipes of different materials and diameters, avoiding the phenomenon of pipe slippage or damage.

[0041] In addition, a hydraulic station and an oil tank are installed on the base frame 1. The hydraulic components, gripper hydraulic cylinder 603, steering cylinder 4032 and motor can be controlled through the control console 3 to achieve the effect of controlling the movement of the walking mechanism 5, the rotating robotic arm mechanism 5 and the gripper mechanism 6, so as to accurately grip the pipe. The structure and working principle of the control console 3 and the hydraulic station are existing technologies and will not be described in detail here.

[0042] The working principle of this utility model is as follows: When laying pipelines in a coal mine tunnel and needing to perform pipe grabbing and pipeline docking operations, the device is first moved to the pipeline placement position, and the drive motor of the drive mechanism 407 is turned on. The drive motor drives the active pulley 408 to rotate through the reducer. The active pulley 408 drives the driven pulley 410 to rotate through the transmission belt 409. The driven pulley 410 drives one of the track pulleys 405 to rotate. Under the action of the track 411, the stabilizing wheel 406, and the other track pulley 405, the four walking mechanisms drive the base frame 1 to move forward, realizing the effect of the pipe grabbing device moving forward. The track 411 of the track assembly enables the device to move stably on the uneven road surface in the coal mine tunnel.

[0043] When the pipe-grabbing device moves to the pipe placement location, adjust the orientation of the gripping mechanism 6 according to the pipe's position. Turn on motor 503; its output drives gear 1 to rotate. Through the meshing of gear 1 with the internal gear ring of the slewing bearing 501, the rotary table 502 rotates the robotic arm, which in turn rotates the gripping mechanism 6. Once the gripping mechanism 6 has rotated to the same position as the pipe placement location, turn off motor 503. Then, activate the hydraulic cylinders 603 of the two pipe-grabbing components. The piston rods of these cylinders retract, and the connecting shafts 604 of the two hook assemblies open outwards, causing the hooks 605 to open. Finally, adjust the height of the gripping mechanism 6. Specifically, the piston rod of hydraulic cylinder 506 of the robotic arm extends and retracts, causing the upper arm 504 to move up or down. The upper arm 504 then causes the lower arm 505 to move up or down. The piston rod of hydraulic cylinder 507 of the robotic arm extends and retracts, causing the lower arm 505 to move up or down. Hydraulic cylinder 3 of the robotic arm causes the telescopic arm 508 to extend and retract. After the gripper mechanism 6 reaches the desired pipe location, the gripper hydraulic cylinders 603 of the two pipe gripping assemblies extend, and the connecting shafts 604 of the two hook assemblies merge inward. The two connecting shafts 604 cause the hooks 605 to close inward and clamp the pipe. The extension length of the piston rod of the gripper hydraulic cylinder 603 is controlled, as is the clamping force of the hooks 605 on the pipe, to prevent the pipe from slipping or being damaged.

[0044] Then the pipe-grabbing device can move to the location of the pipe to be laid. When it reaches the designated position, the rotating robotic arm mechanism 5 rotates again, and the robotic arm moves again. In addition, motor 2 can be turned on. The output end of motor 2 drives gear 2 to rotate. Through the meshing of gear 2 and the outer gear ring of slewing bearing 2, the outer ring of slewing bearing 2 drives the gripper base 602 to rotate. The gripper base 602 drives the pipe-grabbing assembly to rotate, so that the two pipe-grabbing assemblies drive the pipe to rotate, so as to ensure that the pipe gripped by the hook 605 is aligned with the previous pipe and avoid pipe misalignment.

[0045] The embodiments described above are merely preferred embodiments of the utility model and are not intended to limit the scope of the utility model. Therefore, all equivalent changes or modifications made to the technical solutions described in the scope of the utility model patent application should be included within the scope of the utility model patent application.

Claims

1. A pipe-grabbing device for coal mines, comprising a chassis frame (1) and a base (2) and a control console (3) mounted on the chassis frame (1), characterized in that, The chassis frame (1) is provided with walking mechanisms (4) on both sides. The walking mechanism (4) includes a connecting frame, a steering shaft (412), a steering assembly (403), a track support (404), and a track assembly. The upper end of the steering shaft (412) is rotatably connected to the connecting frame, and the lower end is connected to the track support (404). The steering assembly (403) is connected to the connecting frame and the steering shaft (412). The track support (404) is provided with a drive mechanism (407) on the top. The track assembly is located inside the track support (404) and is connected to the drive mechanism (407). A rotating mechanical arm mechanism (5) is rotatably provided on the base (2). The rotating mechanical arm mechanism (5) includes a rotary table (502), a mechanical arm and a hydraulic component for driving the mechanical arm to move. The rotary table (502) is rotatably connected to the base (2). The lower end of the mechanical arm is hinged to the rotary table (502) and the upper end is connected to a gripper mechanism (6). The gripper mechanism (6) includes an outer shell (601), a gripper base (602), and gripping tube assemblies movably disposed on both sides of the gripper base (602). The gripper base (602) is rotatably connected to the outer shell (601).

2. The pipe-grabbing device for coal mines according to claim 1, characterized in that, The connecting frame includes a horizontal shaft (401) and a fixed cylinder (402). The two ends of the horizontal shaft (401) are fixedly connected to the chassis frame (1) and the fixed cylinder (402) respectively. The upper end of the steering shaft (412) is rotatably connected to the fixed cylinder (402) through a bearing.

3. A pipe-grabbing device for coal mines according to claim 2, characterized in that, The steering assembly (403) includes a vertical rod (4031), a steering cylinder (4032), and a collar (4033). The vertical rod (4031) is vertically disposed at the bottom of the horizontal shaft (401), and the collar (4033) is fixedly sleeved on the steering shaft (412). The tail end of the steering cylinder (4032) and the piston rod are respectively hinged to the vertical rod (4031) and the collar (4033).

4. A pipe-grabbing device for coal mines according to claim 1, characterized in that, The track assembly includes two track pulleys (405) and a track (411) sleeved on the two track pulleys (405). Both ends of the track pulleys (405) are rotatably connected to the track support (404). A plurality of stabilizing wheels (406) rotatably connected to the track support (404) are also spaced apart between the two track pulleys (405).

5. A pipe-grabbing device for coal mines according to claim 4, characterized in that, The drive mechanism (407) is connected to a drive pulley (408), and a driven pulley (410) is provided at the end of one of the track pulleys (405). The drive pulley (408) is connected to the driven pulley (410) via a drive belt (409).

6. A pipe-grabbing device for coal mines according to claim 1, characterized in that, The base (2) is provided with a slewing bearing (501), the inner ring and outer ring of the slewing bearing (501) are connected to the base (2) and the rotary table (502) respectively; the rotary table (502) is provided with a motor (503), the output end of the motor (503) is provided with a gear, and the gear meshes with the inner gear ring of the slewing bearing (501).

7. A pipe-grabbing device for coal mines according to claim 1, characterized in that, The robotic arm includes a large arm (504), a small arm (505) and a telescopic arm (508). The upper and lower ends of the large arm (504) are hinged to the rotary table (502) and the small arm (505) respectively. One end of the telescopic arm (508) is slidably sleeved inside the small arm (505), and the other end is fixedly connected to a mounting plate (509).

8. A pipe-grabbing device for coal mines according to claim 7, characterized in that, The hydraulic components include a first hydraulic cylinder (506), a second hydraulic cylinder (507), and a third hydraulic cylinder. The tail end and piston rod of the first hydraulic cylinder (506) are hinged to the rotary table (502) and the upper arm (504), respectively. The tail end and piston rod of the second hydraulic cylinder (507) are hinged to the upper arm (504) and the lower arm (505), respectively. The third hydraulic cylinder is located inside the lower arm (505) and its piston rod is connected to the telescopic arm (508).

9. A pipe-grabbing device for coal mines according to claim 8, characterized in that, The outer shell (601) is fixed on the mounting plate (509). A second slewing bearing is provided inside the outer shell (601). The inner ring and outer ring of the second slewing bearing are connected to the outer shell (601) and the gripper base (602) respectively. A second motor is provided on the outer shell (601). A second gear is provided at the output end of the second motor. The second gear meshes with the outer gear ring of the second slewing bearing.

10. A pipe-grabbing device for coal mines according to claim 8, characterized in that, The pipe gripping assembly includes a gripping hydraulic cylinder (603), a connecting shaft (604), and gripping hooks (605). The tail end of the gripping hydraulic cylinder (603) and the piston rod are respectively hinged to the gripping base (602) and the connecting shaft (604). Multiple gripping hooks (605) are evenly spaced on the inner side of the connecting shaft (604). The lower end of the gripping hook (605) is hinged to the gripping base (602). The gripping hooks (605) of the two pipe gripping assemblies are staggered. The gripping hook (605) includes two gripping hook plates (6051). A limiting baffle (6052) is provided on the inner side of the lower end of the gripping hook plate (6051).

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