Mine platform roadway repairing vehicle

Abstract

The utility model provides a kind of mining platform roadway repair vehicle, including moving mechanism, scissor type lifting platform, rotary turntable, multi-degree-of-freedom mechanical arm and mechanical operation mechanism;The scissor type lifting platform is set in the upper portion of the moving mechanism, for lifting operation;The rotary turntable is rotatably arranged in one end of the moving mechanism, for driving the multi-degree-of-freedom mechanical arm to rotate, to change the position of mechanical operation;The multi-degree-of-freedom mechanical arm is liftable and installed on the rotary turntable, for detachably installing the mechanical operation mechanism;The moving mechanism is used to drive the scissor type lifting platform and the multi-degree-of-freedom mechanical arm to move, and drive the multi-degree-of-freedom mechanical arm and the mechanical operation mechanism to act.The mining platform roadway repair vehicle can simultaneously meet the requirements of manual operation and mechanical operation, and expand the repair range, improve the convenience of roadway repair.

Description

Technical Field

[0001] This utility model relates to the field of coal mining machinery, specifically to a mine platform roadway repair vehicle. Background Technology

[0002] After tunnel construction using the drill-and-blast method, irregular blasting can cause bulges around the tunnel perimeter, a phenomenon known in the industry as "under-excavation." If these bulges are not removed and repaired, they will affect subsequent processes, such as preventing the arch frame from being erected properly, hindering its installation, and making it difficult to ensure that the cross-sectional dimensions meet design requirements. Therefore, timely repair is essential. However, existing coal mine roadway repair machines have relatively limited functionality, a narrow repair range, and cannot simultaneously meet the requirements of both manual and mechanical operation.

[0003] Utility model patent CN223035001U discloses a double-arm tunnel repair machine, including a chassis frame and a tracked walking system installed at the bottom of the chassis frame to complete the vehicle's walking function. Two sets of repair arms are provided, installed at both ends of the chassis frame, with quick-change devices installed at the ends of the two sets of repair arms. A swing cylinder, with one end installed on the chassis frame and the other end connected to the repair arm, is used to adjust the repair arm forward and backward along the walking direction of the tracked walking system. This double-arm tunnel repair machine, by setting up two repair arms and installing different quick-change devices on both sides of the two repair arms, can complete two working modes without replacement. However, the disclosed structure of this double-arm tunnel repair machine cannot simultaneously meet the requirements of manual and mechanical operation when repairing tunnels, and the double repair arms do not have 360° rotation capability, resulting in a small repair range. Utility Model Content

[0004] In order to simultaneously meet the requirements of manual and mechanical operation, expand the repair scope, and improve the convenience of roadway repair, the technical solution adopted by this utility model is: a mining platform roadway repair vehicle, including a moving mechanism, a scissor lift platform, a rotary table, a multi-degree-of-freedom robotic arm, and a mechanical operation mechanism.

[0005] The scissor lift platform is located on the upper part of the moving mechanism and is used for lifting operations;

[0006] The rotary table is rotatably mounted at one end of the moving mechanism to drive the multi-degree-of-freedom robotic arm to rotate, thereby changing the position of the mechanical operation.

[0007] The multi-degree-of-freedom robotic arm can be lifted and lowered on the rotary table for detachable installation of the mechanical working mechanism;

[0008] The moving mechanism is used to move the scissor lift platform and the multi-degree-of-freedom robotic arm, and to drive the multi-degree-of-freedom robotic arm and the mechanical working mechanism to perform actions.

[0009] Based on the above, the end of the moving mechanism is provided with a rotary motor for driving the rotary table to rotate.

[0010] Beneficial effects: The rotary motor can drive the rotary table to rotate, thereby changing the deflection angle and working range of the machine.

[0011] Based on the above, the mobile mechanism is provided with a pair of scissor lift platforms, which are symmetrically distributed on the upper part of the mobile mechanism.

[0012] Beneficial effects: By increasing the number of scissor lift platforms, workers at height can be dispersed, increasing operational stability and safety.

[0013] Based on the above, the outer side of the rotary table is provided with an outer support arm and a lifting cylinder, and the lower end of the multi-degree-of-freedom robotic arm is provided with an inner lifting arm. The inner lifting arm is slidably engaged with the outer support arm, and the lifting cylinder is used to push the inner lifting arm to slide and lift within the outer support arm.

[0014] Beneficial effects: By sliding the internal lifting arm with the outer support arm, the smoothness and stability of the lifting process are improved.

[0015] Based on the above, the mechanical operating mechanism includes a breaker, a bucket, and a mechanical gripper alternately mounted on the multi-degree-of-freedom robotic arm.

[0016] Based on the above, the multi-degree-of-freedom robotic arm includes a large arm, a large arm drive cylinder, a small arm, a small arm drive cylinder, and a swing cylinder;

[0017] The lower end of the upper arm is hinged to the internal lifting arm, the upper end of the upper arm is hinged to the lower end of the lower arm, and the upper end of the lower arm is hinged to the mechanical working mechanism.

[0018] The boom drive cylinder is located between the internal lifting arm and the boom, and is used to drive the boom to move.

[0019] The arm drive cylinder is located between the boom and the arm, and is used to push the arm to move.

[0020] The swing cylinder is positioned between the forearm and the mechanical working mechanism, and is used to drive the mechanical working mechanism to move.

[0021] Based on the above, the moving mechanism is a rubber-wheeled vehicle, and the rubber-wheeled vehicle is provided with support legs around its perimeter.

[0022] Beneficial effects: The support leg can be extended for support during operation, thereby increasing stability and safety during operation.

[0023] Based on the above, a protective fence is installed on the top of the scissor lift platform.

[0024] Beneficial effects: Protective fences can provide safety guarantees for working at heights and improve personal safety.

[0025] This utility model has substantial features and progress compared to the prior art. Specifically, the mine platform roadway repair vehicle provided by this utility model has a multi-degree-of-freedom robotic arm arranged at the front of the moving mechanism, which enables it to rotate 360 ​​degrees and lift up and down, thereby expanding the working range of the mechanical working mechanism installed on the multi-degree-of-freedom robotic arm and improving work efficiency and convenience.

[0026] Furthermore, by detachably connecting the mechanical operating mechanism with the multi-degree-of-freedom robotic arm, the variety of mechanical operating mechanisms is increased. In addition to installing a breaker hammer, it can also replace various working mechanisms such as a digging bucket and a robotic claw to achieve multiple functions, meet the needs of roadway repair and hazard removal under different conditions, expand the practicality of the roadway repair vehicle, and eliminate the need for other vehicles and ladders, so that one vehicle can complete the task.

[0027] Furthermore, by arranging two scissor lift platforms on top of the mobile mechanism and installing protective railings on top, it is possible to meet the needs of operations at different heights.

[0028] Therefore, this mine platform roadway repair vehicle can simultaneously meet the requirements of both manual and mechanical operation, expand the repair range, and improve the convenience of roadway repair. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of the mining platform roadway repair vehicle provided by this utility model.

[0030] Figure 2 This is a schematic diagram of the top structure of the mining platform roadway repair vehicle provided by this utility model.

[0031] In the picture: 1. Rubber-tired vehicle; 2. Scissor lift platform; 3. Protective fence; 4. Lifting cylinder; 5. Outer support arm; 6. Inner lifting arm; 7. Rotary turntable; 8. Boom; 9. Arm drive cylinder; 10. Hydraulic breaker; 11. Swing cylinder; 12. Arm; 13. Boom drive cylinder; 14. Rotary motor. Detailed Implementation

[0032] The technical solution of this utility model will be further described in detail below through specific embodiments.

[0033] Example 1

[0034] This embodiment provides a mine platform roadway repair vehicle, such as... Figure 1 , Figure 2 As shown, the system includes a moving mechanism, a scissor lift platform 2, a rotary table 7, a multi-degree-of-freedom robotic arm, and a mechanical working mechanism. The scissor lift platform 2 is located on top of the moving mechanism and is used for lifting operations.

[0035] The rotary turntable 7 is rotatably mounted at one end of the moving mechanism to drive the multi-degree-of-freedom robotic arm to rotate, thereby changing the position of the mechanical operation. The multi-degree-of-freedom robotic arm is liftably mounted on the rotary turntable 7 for detachable installation of the mechanical operation mechanism.

[0036] The moving mechanism is used to move the scissor lift platform 2 and the multi-degree-of-freedom robotic arm, and to drive the multi-degree-of-freedom robotic arm and the mechanical working mechanism to perform actions.

[0037] Specifically, the end of the moving mechanism is equipped with a rotary motor 14 for driving the rotary table 7 to rotate. An outer support arm 5 and a lifting cylinder 4 are provided on the outer side of the rotary table 7. An inner lifting arm 6 is provided at the lower end of the multi-degree-of-freedom robotic arm, and the inner lifting arm 6 is slidably engaged with the outer support arm 5. The lifting cylinder 4 is used to push the inner lifting arm 6 to slide and rise within the outer support arm 5.

[0038] In this embodiment, the mechanical working mechanism includes a breaker 10, a bucket, and a mechanical claw alternately mounted on the multi-degree-of-freedom robotic arm.

[0039] like Figure 1 As shown, the multi-degree-of-freedom robotic arm includes a large arm 8, a large arm drive cylinder 13, a small arm 12, a small arm drive cylinder 9, and a swing cylinder 11. The lower end of the large arm 8 is hinged to the internal lifting arm 6. The upper end of the large arm 8 is hinged to the lower end of the small arm 12, and the upper end of the small arm 12 is hinged to the mechanical working mechanism. The large arm drive cylinder 13 is disposed between the internal lifting arm 6 and the large arm 8, and is used to drive the large arm 8 to move.

[0040] The forearm drive cylinder 9 is disposed between the boom 8 and the forearm 12, and is used to drive the forearm 12 to move. The swing cylinder 11 is disposed between the forearm 12 and the mechanical working mechanism, and is used to drive the mechanical working mechanism to move.

[0041] Example 2

[0042] This embodiment provides a mine roadway repair vehicle. The main difference from Embodiment 1 is that, in this embodiment, a pair of scissor lift platforms 2 are provided on the moving mechanism, and the pair of scissor lift platforms 2 are symmetrically distributed on the upper part of the moving mechanism.

[0043] Example 3

[0044] This embodiment provides a mine roadway repair vehicle, the main difference from Embodiment 1 being that: in this embodiment, the moving mechanism is a rubber-tired vehicle 1, and the rubber-tired vehicle 1 is equipped with support legs around its perimeter. The scissor lift platform 2 is topped with a protective railing 3. Specifically, the rubber-tired vehicle is internally equipped with an explosion-proof engine, a hydraulic pump, a controller, an electromagnetic multi-way valve, and an electrical control box. The rubber-tired vehicle uses an explosion-proof diesel engine as its power source, driving the hydraulic pump to generate hydraulic power to power the various actuators.

[0045] The rubber-wheeled vehicle 1 is equipped with four hydraulically driven rubber wheels at the bottom, which allows for high travel speed and meets the needs of the vehicle's movement and steering.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it; although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this utility model or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the technical solution claimed by this utility model.

Claims

1. A mine platform roadway repair vehicle, characterized in that: This includes mobile mechanisms, scissor lift platforms, rotary tables, multi-degree-of-freedom robotic arms, and mechanical operating mechanisms. The scissor lift platform is located on the upper part of the moving mechanism and is used for lifting operations; The rotary table is rotatably mounted at one end of the moving mechanism to drive the multi-degree-of-freedom robotic arm to rotate, thereby changing the position of the mechanical operation. The multi-degree-of-freedom robotic arm can be lifted and lowered on the rotary table for detachable installation of the mechanical working mechanism; The moving mechanism is used to move the scissor lift platform and the multi-degree-of-freedom robotic arm, and to drive the multi-degree-of-freedom robotic arm and the mechanical working mechanism to perform actions.

2. The mine platform roadway repair vehicle according to claim 1, characterized in that: The end of the moving mechanism is provided with a rotary motor for driving the rotary table to rotate.

3. The mine platform roadway repair vehicle according to claim 1, characterized in that: The moving mechanism is equipped with a pair of scissor lift platforms, which are symmetrically distributed on the upper part of the moving mechanism.

4. The mine platform roadway repair vehicle according to claim 1, 2, or 3, characterized in that: The rotary table is provided with an outer support arm and a lifting cylinder on its outer side. The lower end of the multi-degree-of-freedom robotic arm is provided with an inner lifting arm. The inner lifting arm is slidably engaged with the outer support arm. The lifting cylinder is used to push the inner lifting arm to slide and lift within the outer support arm.

5. The mine platform roadway repair vehicle according to claim 1, characterized in that: The mechanical operating mechanism includes a breaker, a bucket, and a mechanical gripper that are alternately mounted on the multi-degree-of-freedom robotic arm.

6. The mine platform roadway repair vehicle according to claim 4, characterized in that: The multi-degree-of-freedom robotic arm includes an upper arm, an upper arm drive cylinder, a lower arm, a lower arm drive cylinder, and a swing cylinder. The lower end of the upper arm is hinged to the internal lifting arm, the upper end of the upper arm is hinged to the lower end of the lower arm, and the upper end of the lower arm is hinged to the mechanical working mechanism. The boom drive cylinder is located between the internal lifting arm and the boom, and is used to drive the boom to move. The arm drive cylinder is located between the boom and the arm, and is used to push the arm to move. The swing cylinder is positioned between the forearm and the mechanical working mechanism, and is used to drive the mechanical working mechanism to move.

7. The mine platform roadway repair vehicle according to claim 1, 2, 3, or 5, characterized in that: The moving mechanism is a rubber-wheeled vehicle, and the rubber-wheeled vehicle is equipped with support legs around its perimeter.

8. The mine platform roadway repair vehicle according to claim 7, characterized in that: The top of the scissor lift platform is equipped with a protective fence.

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