A swing-preventing hoisting mechanism for unmanned grab crane

Abstract

The utility model relates to the coal field discloses an unmanned crane coal grabbing anti-swing hoisting mechanism, mechanism includes support, hoist and coal grabbing bucket, and the coal grabbing bucket is installed on the support through hoist, and the mechanism further includes two sliding racks that are slidably arranged on the support, and the two sliding racks are located on both sides of the hoist respectively, and each sliding rack is hinged with telescopic anti-swing rod, and the lower end of the anti-swing rod is hinged with the coal grabbing bucket, and the first locking structure is arranged between the sliding rack and the support, and the mechanism provided in the application can form triangular structure between the two anti-swing rods and the top of the support during the lifting of the coal grabbing bucket, can significantly improve the stability of the coal grabbing bucket operation, and reduce the swing amplitude of the coal grabbing bucket.

Description

Technical Field

[0001] This utility model relates to the coal industry, specifically to an unmanned crane coal grabbing and anti-swaying lifting mechanism. Background Technology

[0002] In existing equipment, the coal grabbing bucket is prone to swaying and shaking during coal grabbing and hoisting. It is not easy to limit the movement of the grabbing bucket, which can easily cause excessive swing amplitude, affecting the safety of the equipment, or causing material to fall off or spill, affecting the stability and practicality of coal grabbing operations. Therefore, it is necessary to design an unmanned crane coal grabbing anti-swaying hoisting mechanism to solve the above problems. Utility Model Content

[0003] The purpose of this invention is to overcome the instability problem of existing coal grabbing and hoisting mechanisms during the coal grabbing process, and to provide an unmanned crane coal grabbing anti-sway hoisting mechanism that can maintain good stability during the coal grabbing process.

[0004] To achieve the above objectives, this utility model provides an unmanned crane coal grabbing anti-sway lifting mechanism. The mechanism includes a support, a winch device, and a coal grabbing bucket. The coal grabbing bucket is lifted onto the support by the winch device. The mechanism also includes two sliding frames slidably mounted on the support, located on both sides of the winch device. Each sliding frame is hinged with a retractable anti-sway rod, the lower end of which is hinged to the coal grabbing bucket. A first locking structure is provided between the sliding frames and the support.

[0005] By employing the above technical solution, the lifting and lowering of the coal grab bucket can be achieved through the winding and releasing of the winch device. During the lifting and lowering process, the retractable anti-sway bar extends, retracts, and rotates accordingly to adapt to changes in the position of the coal grab bucket, while also guiding the bucket to effectively prevent it from swaying. When the coal grab bucket descends to a certain position, the sliding frame also slides adaptively on the support as the position of the coal grab bucket changes, thereby expanding the adaptability of the anti-sway bar to changes in the position of the coal grab bucket. When the coal grab bucket reaches the preset position, the sliding frame can be locked onto the support by the first locking structure to prevent unnecessary slippage that may occur during the operation of the coal grabber. The above structure effectively improves the stability of the coal grab bucket.

[0006] Preferably, the first locking structure includes a locking frame fixedly mounted on the sliding frame, a cylinder mounted on the locking frame, a movable frame mounted on the piston rod of the cylinder, and at least one locking pin mounted on the movable frame. A row of locking grooves is formed on the bracket corresponding to the locking pin along the sliding direction of the sliding frame. When the coal grab bucket reaches a preset position, the locking pin is inserted into one of the corresponding locking grooves. With this structure, the position of the sliding frame can be locked by the cooperation of the locking pin and the locking grooves, preventing unnecessary sliding and further improving the stability of the coal grab bucket.

[0007] Preferably, the bracket has a sliding groove corresponding to the sliding frame, and the bottom of the sliding frame is provided with two guide parts, which are slidably mounted on the bracket on both sides of the corresponding sliding groove; The movable frame spans above the sliding groove, and two locking posts are installed on the movable frame. The two locking posts are located on both sides of the sliding groove. A row of locking grooves is opened on both sides of the sliding groove. When the coal grabbing hopper reaches the preset position, each locking post is inserted into one of the corresponding locking grooves.

[0008] With this structure, when the sliding bracket needs to be locked, the two locking pins corresponding to the sliding bracket are inserted into the corresponding locking grooves, providing double locking to improve the reliability of the locking.

[0009] Preferably, the anti-sway bar includes a connecting rod, a hollow fixing rod, and a hollow extension rod; A rotating wheel is rotatably mounted on the sliding frame. The fixed rod is fixedly mounted on the rotating wheel. The extension rod is slidably mounted inside the fixed rod. The connecting rod is slidably mounted inside the extension rod. The connecting rod is hinged to the coal grabbing hopper. A second locking structure is provided between the extension rod and the fixed rod. A third locking structure is provided between the connecting rod and the extension rod. The second locking structure and the third locking structure have the same structure.

[0010] With this structure, when the hoisting device drives the coal grabbing bucket to rise and fall, the extension rod and connecting rod slide accordingly to adapt to the change in the position of the coal grabbing bucket. When the coal grabbing bucket reaches the required position, the second locking structure and the third locking structure can lock the extension rod and the fixed rod, as well as the connecting rod and the extension rod, to avoid unnecessary sliding between them and further improve the stability of the coal grabbing bucket.

[0011] Preferably, the second locking structure includes an electric push rod, a push block, a locking rod, a follower block, and a spring; The extension rod has a movable cavity, in which a locking rod is movably installed. One end of the locking rod extends out of the movable cavity to form a locking end. A spring is wound around the locking rod, and a follower block is installed at the other end of the locking rod. One end of the spring is fixedly connected to the movable cavity, and the other end is fixedly connected to the follower block. The follower block can freely enter and exit the movable cavity. A row of locking slots is formed on the inner wall of the fixed rod corresponding to the locking end along the sliding direction of the extension rod. The electric push rod is installed inside the extension rod. The push block is installed on the telescopic rod of the electric push rod. The push block is used to push the follower block to move towards the movable cavity, thereby pushing the locking end to insert into one of the locking slots.

[0012] With this structure, when locking is required, the electric push rod is activated, causing the push block to press against the follower block. This moves the locking rod towards the locking slot, ultimately inserting the locking end into the slot to achieve locking. When unlocking, the telescopic rod of the electric push rod retracts, the compressed spring causes the follower block to reset, and the locking end disengages from the locking slot, completing the unlocking action. There are no special requirements for the number of locking slots. Generally, to ensure that there is a suitable locking slot for locking regardless of the position of the extension rod or connecting rod, a row of locking slots can be provided along the sliding direction on the inner wall of the extension rod and the inner wall of the connecting rod. This ensures that there is a corresponding locking slot even at the extreme positions of the extension rod and connecting rod at the top or bottom.

[0013] Preferably, the surface of the follower block facing the pusher block is arc-shaped, and the top surface of the pusher block is inclined toward the follower block. With this structure, the top surface of the pusher block is inclined, and the surface where the follower block and the pusher block mate is arc-shaped, which helps to increase the contact area between them, allowing the pusher block to push the follower block more easily.

[0014] Preferably, the top of the extension rod and the top of the connecting rod are respectively provided with anti-detachment parts, and the bottom end of the cavity of the fixing rod and the bottom end of the cavity of the extension rod are respectively provided with anti-detachment plates. When the extension rod or the connecting rod slides to its limit position, the anti-detachment parts abut against the corresponding anti-detachment plates. With this structure, the cooperation of the anti-detachment parts and the anti-detachment plates can limit the sliding position of the extension rod and the connecting rod.

[0015] Preferably, the fixing rod has a protruding mounting portion, through which it is fitted into the rotating wheel. This structure ensures a secure and reliable connection between the fixing rod and the rotating wheel, while also effectively reducing their space requirements, resulting in a more compact overall structure.

[0016] Preferably, the coal grabbing hopper is hinged to a mounting frame, the connecting rod is hinged to the mounting frame, and the hoisting device is connected to the mounting frame.

[0017] Preferably, the winch includes a rotating roller rotatably mounted on the bracket, the rotating roller being connected to a motor, and a traction rope wound around the rotating roller, the lower end of which is hinged to the mounting frame.

[0018] The above technical solution utilizes a winch device for winding and releasing to achieve the lifting and lowering of the coal grabbing bucket. When the coal grabbing bucket moves up and down, it drives the anti-sway bars to extend and retract. The two anti-sway bars form a triangle with the top of the support, thereby limiting and guiding the coal grabbing bucket to prevent it from swaying or shaking, improving the stability of the coal grabbing bucket's lifting and lowering motion, and reducing the swing amplitude of the coal grabbing bucket. Attached Figure Description

[0019] Figure 1 This is a first-view perspective three-dimensional structural diagram of the mechanism provided by this utility model; Figure 2 yes Figure 1 Enlarged view of section A in the middle; Figure 3 This is a first-view perspective three-dimensional structural diagram of the mechanism provided by this utility model, in which a partial cross-section is shown; Figure 4 yes Figure 3 Enlarged view of section B; Figure 5 yes Figure 3 Enlarged view of section C; Figure 6 yes Figure 3 Enlarged view of section D in the middle; Figure 7 This is a schematic diagram showing the cooperation relationship between the sliding frame and the first locking structure; Figure 8 This is a schematic diagram showing the triangular shape change formed by the two anti-rocker bars and the top support of the bracket during the lifting and lowering of the coal grabbing bucket; Figure 9 This is a comparison diagram of the extreme positions of the coal grabber as it descends.

[0020] Explanation of reference numerals in the attached figures 1-Support; 2-Coal grabber; 3-Traction rope; 4-Roller; 5-Motor; 6-Mounting frame; 7-Sliding frame; 8-Roller; 9-Fixing rod; 10-Extension rod; 11-Connecting rod; 12-Moving cavity; 13-Lock rod; 14-Follower block; 15-Push block; 16-Electric push rod; 17-Lock groove; 18-Spring; 19-Locking frame; 20-Cylinder; 21-Moving frame; 22-Piston rod of cylinder; 23-Locking column; 24-Locking groove; 25-Anti-detachment part; 26-Mounting part; 27-Guide part; 28-Anti-detachment plate; 29-Sliding groove. Detailed Implementation

[0021] In the description of this application, it should be understood that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application 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. Therefore, they should not be construed as limitations on this application.

[0022] The terms “first”, “second”, etc. are used to distinguish similar objects, not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. The objects distinguished by “first”, “second”, etc. are usually of the same class and the number of objects is not limited. For example, the first object can be one or more.

[0023] Furthermore, the term "and / or" in the specification and claims is used to describe the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0024] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0027] like Figure 1 , 3 As shown, in some embodiments, an unmanned crane coal grabbing anti-sway lifting mechanism is provided. The mechanism includes a support 1 of the unmanned crane, a winch device, and a coal grabbing bucket 2. The coal grabbing bucket 2 is lifted onto the support 1 by the winch device. The mechanism also includes two sliding frames 7 slidably disposed on the support 1. The two sliding frames 7 are respectively located on both sides of the winch device. Each sliding frame 7 is hinged with a retractable anti-sway bar. The lower end of the anti-sway bar is hinged to the coal grabbing bucket 2. A first locking structure is provided between the sliding frame 7 and the support 1.

[0028] like Figure 2 , 6 As shown in Figure 7, in some embodiments, the bracket 1 has a sliding groove 29 corresponding to the sliding frame 7, and the bottom of the sliding frame 7 is provided with two guide parts 27. The two guide parts 27 of the same sliding frame 7 are respectively slidably installed on the bracket 1 on both sides of the corresponding sliding groove 29.

[0029] In some embodiments, the first locking structure includes a locking frame 19 fixedly mounted on the sliding frame 7. A cylinder 20 is mounted on the locking frame 19. A movable frame 21 is mounted on the piston rod 22 of the cylinder 20. At least one locking pin 23 is mounted on the movable frame 21. A row of locking grooves 24 is opened on the bracket 1 corresponding to the locking pin 23 along the sliding direction of the sliding frame 7. When the coal grabbing hopper 2 reaches the preset position, the locking pin 23 is inserted into one of the corresponding locking grooves 24.

[0030] In some embodiments, the movable frame 21 spans above the sliding groove 29, and two locking posts 23 are installed on the movable frame 21. The two locking posts 23 are located on both sides of the sliding groove 29, and a row of locking grooves 24 are opened on both sides of the sliding groove 29. When the coal grabbing hopper 2 reaches the preset position, each locking post 23 is inserted into one of the corresponding locking grooves 24.

[0031] like Figure 1 , 3 As shown in Figure 5, in some embodiments, a mounting frame 6 is hinged to the coal grabbing hopper 2, the winch device is connected to the mounting frame 6, and the anti-sway bar is hinged to the mounting frame 6.

[0032] In some embodiments, the winch includes a roller 4 rotatably mounted on the bracket 1, the roller 4 being connected to a motor 5, and a traction rope 3 wound around the roller 4, the lower end of which is hinged to the mounting frame 6.

[0033] In some implementations, such as Figure 1 , 3 As shown in Figure 4, the anti-sway rod includes a connecting rod 11, a hollow fixing rod 9, and a hollow extension rod 10. A rotating wheel 8 is rotatably mounted on the sliding frame 7. A fixed rod 9 is fixedly mounted on the rotating wheel 8. An extension rod 10 is slidably mounted inside the fixed rod 9. A connecting rod 11 is slidably mounted inside the extension rod 10. The connecting rod 11 is hinged to the coal grabbing hopper 2. Specifically, the lower end of the connecting rod 11 is hinged to the mounting frame 6. A second locking structure is provided between the extension rod 10 and the fixed rod 9. A third locking structure is provided between the connecting rod 11 and the extension rod 10.

[0034] In some embodiments, the second locking structure includes an electric push rod 16, a push block 15, a locking rod 13, a follower block 14, and a spring 18; The extension rod 10 has a movable cavity 12, in which a locking rod 13 is movably installed. One end of the locking rod 13 extends out of the movable cavity 12 to form a locking end. A spring 18 is wound around the locking rod 13, and a follower block 14 is installed at the other end of the locking rod 13. One end of the spring 18 is fixedly connected to the cavity wall of the movable cavity 12, and the other end is fixedly connected to the follower block 14. The follower block 14 can freely enter and exit the movable cavity 12. A row of locking grooves 17 is formed on the inner wall of the fixing rod 9 along the sliding direction of the extension rod 10 corresponding to the locking end. Figure 4 (Only one is shown as an example) The electric push rod 16 is installed inside the extension rod 10. The push block 15 is installed on the telescopic rod of the electric push rod 16. The push block 15 is used to push the follower block 14 to move toward the movable cavity 12, thereby pushing the locking end to insert into one of the locking slots 17.

[0035] The surface of the follower block 14 facing the pusher block 15 is arc-shaped, and the top surface of the pusher block 15 is inclined toward the follower block 14.

[0036] In some embodiments, the second locking structure and the third locking structure have the same structure. The difference is that the structure located on the extension rod 10 is located on the connecting rod 11 in the third locking structure, and the structure located on the fixed rod 9 is located on the extension rod 10 in the third locking structure. Specifically, the third locking structure also includes an electric push rod, a push block, a locking rod, a follower block, a spring, and a movable cavity. A row of locking slots in the third locking structure is formed on the inner wall of the extension rod 10 and arranged along the sliding direction of the connecting rod 11. The movable cavity of the third locking structure is located on the connecting rod, and correspondingly, a locking rod, a follower block, and a spring are provided within the movable cavity. The cooperation relationship between the various structures is similar to that of the second locking structure and will not be repeated here.

[0037] In some implementations, such as Figure 4 and 5 As shown, the top of the extension rod 10 and the top of the connecting rod 11 are respectively provided with anti-detachment parts 25, and the bottom of the cavity of the fixing rod 9 and the bottom of the cavity of the extension rod 10 are respectively provided with anti-detachment plates 28. When the extension rod 10 or the connecting rod 11 slides to the limit position, the anti-detachment part 25 abuts against the corresponding anti-detachment plate 28.

[0038] like Figure 4 As shown, in order to avoid interference between the anti-detachment part 25 and the locking rod 13, the anti-detachment part can be provided on one side of the extension rod 10, while the locking end of the locking rod 13 extends and retracts toward the other side of the extension rod 10.

[0039] In some implementations, such as Figure 6 As shown, the fixing rod 9 has a protruding mounting portion 26, and the fixing rod 9 is fitted into the rotating wheel 8 through the mounting portion 26. To facilitate the rotation of the rotating wheel 8, the locking brackets 19 on the two sliding frames 7 are respectively close to the rotating roller 4, thereby making the rotating wheel 8 on the side of the corresponding locking bracket 19 away from the rotating roller 4, so as to facilitate its rotation.

[0040] To facilitate control of the locking of the first, second, and third locking structures, attention must be paid to the positions of the locking groove 24 and the latching groove 17. For example, when the coal grabbing hopper 2 is stopped at a certain position and the locking pin 23 is inserted into the corresponding locking groove 24, the locking end of the latching rod 13 of the second and / or third locking structures must be inserted into one of the latching grooves 17. The above requirements can be achieved by setting appropriate opening positions for the locking groove 24 and the latching groove 17. This is easy to achieve in the field and will not be elaborated here.

[0041] The working principle of the organization provided in this application is as follows: When coal needs to be grabbed, the motor 5 is started to drive the roller 4 to rotate, thereby releasing the traction rope 3 and lowering the coal grabbing bucket 2. When the coal grabbing bucket 2 lowers, the fixed rod 9 drives the rotating wheel 8 to rotate, and at the same time unlocks the third locking structure, allowing the connecting rod 11 to slide to adapt to the change in the height of the coal grabbing bucket 2. When the connecting rod 11 slides to the limit position, the third locking structure locks the connecting rod 11 and the extension rod 10, and unlocks the second locking structure, allowing the extension rod 10 to slide to adapt to the change in the height of the coal grabbing bucket 2. The anti-swaying rod composed of the fixed rod 9, the extension rod 10 and the connecting rod 11 can provide good guidance during the movement of the coal grabbing bucket 2 and prevent it from swaying. When the extension rod 10 and the connecting rod 11 slide to the limit position, if the coal grabbing bucket 2 continues to descend, the first locking structure is unlocked, driving the sliding frame 7 to slide to adapt to the change in the position of the coal grabbing bucket 2. The sliding of the sliding frame 7 increases the adaptability of the entire anti-swaying rod to the change in the height of the coal grabbing bucket 2.

[0042] During the lifting and lowering of the coal grabbing bucket 2, once it reaches the preset height, the starting cylinder 20 drives the locking pin 23 to insert into the corresponding locking groove 24. If only the connecting rod 11 slides at this time, the electric push rod 16 of the third locking structure is activated to drive the pushing block 15 to squeeze the follower block 14, thereby causing the locking rod 13 to move toward the locking groove 17. Finally, the locking end is inserted into the corresponding locking groove 17, realizing the locking between the connecting rod 11 and the extension rod 10. If the height of the coal grabbing bucket 2 causes the extension rod 10 to slide out a certain distance, the electric push rod 16 of the second locking structure is activated to drive the pushing block 15 to squeeze the follower block 14, thereby causing the locking rod 13 to move toward the locking groove 17. Finally, the locking end is inserted into the corresponding locking groove 17, realizing the locking between the extension rod 10 and the fixed rod 9. The two anti-sway rods and the top of the bracket 1 always maintain a triangular shape throughout the process, which greatly improves the stability of the lifting and lowering of the coal grabbing bucket 2.

[0043] When it is necessary to raise the position of the coal grabbing bucket 2, the movement process is reversed. The connecting rod 11 and the extension rod 10 retract in sequence. After they have both retracted to their limit positions, the connecting rod 11 and the extension rod 10, as well as the extension rod 10 and the fixed rod 9, are locked by the second locking structure and the third locking structure. The first locking structure is then unlocked, and the two sliding frames 7 move away from each other, thereby expanding the adaptability to changes in the position of the coal grabbing bucket 2.

[0044] like Figure 8 As shown, the triangle formed by the two anti-sway bars and the support in the initial position is the black triangle in the figure. When the coal grabbing bucket 2 descends to the extreme position, the triangle formed by the two anti-sway bars and the support is the green triangle in the figure. When the coal grabbing bucket 2 rises to the extreme position, the triangle formed by the two anti-sway bars and the support is the purple triangle in the figure.

[0045] like Figure 9As shown, the initial position of the coal grabbing bucket 2 is at the vertex of the black triangle in the figure. When the sliding frame 7 does not slide, the lower limit position of the coal grabbing bucket 2 is at the vertex of the blue triangle in the figure. When the sliding frame 7 can slide, the lower limit position of the coal grabbing bucket 2 is at the vertex of the green triangle in the figure. It can be seen that the sliding of the sliding frame 7 significantly increases the lower limit position of the coal grabbing bucket 2.

[0046] To ensure that the locking pin 23 is always aligned with one of the locking slots 24 when the coal grab 2 is in a preset position, this can be achieved by controlling the height of the coal grab 2 or by fine-tuning its position. This is readily achievable prior art and will not be elaborated upon here. This application also provides another control method to ensure that the locking pin 23 is always aligned with one of the locking slots 24, as follows: A distance sensor can be installed at the bottom of the locking pin 23. When the coal grabbing bucket 2 reaches the preset position, the distance sensor detects the distance between the bottom of the locking pin 23 and the support 1. If it is less than the preset value, it means that the locking pin 23 is not aligned with one of the locking slots 24. At this time, the control center controls the motor 5 to fine-tune the height of the coal grabbing bucket 2, so that the sliding frame 7 slides, driving the locking pin 23 to align with the nearest locking slot 24. When the distance sensor detects that the distance between the bottom of the locking pin 23 and the support 1 meets the preset value, the motor 5 stops rotating, and the cylinder 20 is activated to insert the locking pin 23 into the corresponding locking slot 24. The specific model of the distance sensor is not particularly limited in this application; any commonly used one in the art is acceptable.

[0047] The contents not described in detail in this specification are existing technologies known to those skilled in the art, and will not be elaborated upon here.

[0048] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings; however, the present invention is not limited thereto. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, including the combination of various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be considered as the content disclosed in the present invention and are all within the protection scope of the present invention.

Claims

1. An unmanned crane coal-grabbing anti-sway lifting mechanism, the mechanism comprising a support frame, a winch device, and a coal grabbing bucket, wherein the coal grabbing bucket is hoisted onto the support frame by the winch device, characterized in that, The mechanism also includes two sliding frames slidably mounted on the support, with the two sliding frames located on both sides of the hoisting device. Each sliding frame is hinged with a retractable anti-sway bar, the lower end of which is hinged to the coal grabbing hopper. A first locking structure is provided between the sliding frame and the support.

2. The mechanism according to claim 1, characterized in that, The first locking structure includes a locking frame fixedly installed on the sliding frame, a cylinder is installed on the locking frame, a movable frame is installed on the piston rod of the cylinder, at least one locking pin is installed on the movable frame, and a row of locking grooves is opened on the bracket corresponding to the locking pin along the sliding direction of the sliding frame. When the coal grabbing bucket reaches the preset position, the locking pin is inserted into one of the corresponding locking grooves.

3. The mechanism according to claim 2, characterized in that, The bracket has a sliding groove corresponding to the sliding frame, and the bottom of the sliding frame has two guide parts, which are slidably mounted on the bracket on both sides of the corresponding sliding groove. The movable frame spans above the sliding groove, and two locking posts are installed on the movable frame. The two locking posts are located on both sides of the sliding groove. A row of locking grooves is opened on both sides of the sliding groove. When the coal grabbing hopper reaches the preset position, each locking post is inserted into one of the corresponding locking grooves.

4. The mechanism according to any one of claims 1-3, characterized in that, The anti-sway bar includes a connecting rod, a hollow fixing rod, and a hollow extension rod. A rotating wheel is rotatably mounted on the sliding frame. The fixed rod is fixedly mounted on the rotating wheel. The extension rod is slidably mounted inside the fixed rod. The connecting rod is slidably mounted inside the extension rod. The connecting rod is hinged to the coal grabbing hopper. A second locking structure is provided between the extension rod and the fixed rod. A third locking structure is provided between the connecting rod and the extension rod. The second locking structure and the third locking structure have the same structure.

5. The mechanism according to claim 4, characterized in that, The second locking structure includes an electric push rod, a push block, a locking rod, a follower block, and a spring; The extension rod has a movable cavity, in which a locking rod is movably installed. One end of the locking rod extends out of the movable cavity to form a locking end. A spring is wound around the locking rod, and a follower block is installed at the other end of the locking rod. One end of the spring is fixedly connected to the movable cavity, and the other end is fixedly connected to the follower block. The follower block can freely enter and exit the movable cavity. A row of locking slots is formed on the inner wall of the fixed rod corresponding to the locking end along the sliding direction of the extension rod. The electric push rod is installed inside the extension rod. The push block is installed on the telescopic rod of the electric push rod. The push block is used to push the follower block to move towards the movable cavity, thereby pushing the locking end to insert into one of the locking slots.

6. The mechanism according to claim 5, characterized in that, The surface of the follower block facing the pusher block is arc-shaped, and the top surface of the pusher block is inclined toward the follower block.

7. The mechanism according to claim 4, characterized in that, The top of the extension rod and the top of the connecting rod are respectively provided with anti-detachment parts, and the bottom of the cavity of the fixing rod and the bottom of the cavity of the extension rod are respectively provided with anti-detachment plates. When the extension rod or the connecting rod slides to the limit position, the anti-detachment part abuts against the corresponding anti-detachment plate.

8. The mechanism according to claim 4, characterized in that, The fixing rod has a protruding mounting portion, and the fixing rod is fitted into the rotating wheel through the mounting portion.

9. The mechanism according to any one of claims 6-8, characterized in that, The coal grabbing hopper is hinged to a mounting frame, the connecting rod is hinged to the mounting frame, and the hoisting device is connected to the mounting frame.

10. The mechanism according to claim 9, characterized in that, The winch device includes a rotating roller rotatably mounted on the bracket, the rotating roller being connected to a motor, and a traction rope wound around the rotating roller, the lower end of which is hinged to the mounting frame.

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