阅读说明：本技术 一种三自由度卸料装置 (A kind of Three Degree Of Freedom device for discharging ) 是由 杨松科 樊碧波 韩董董 于 2019-09-05 设计创作，主要内容包括：本发明提供一种三自由度卸料装置,包括驱动机构,所述驱动机构与所述第一传送带的连接,以用于驱动所述第一传送带沿预定路径前后移动；升降机构,所述升降机构与所述第二传送带连接,以用于驱动所述第二传送带绕所述第一万向节在竖直方向上上下移动；旋转机构,所述旋转机构与所述第二传送带连接,以用于驱动所述第二传送带绕所述第一万向节左右旋转摆动。本发明能够根据运料车所在位置对卸料皮带机卸料点进行水平、上下、左右三个方向的调节,能够实现全自动、精准卸料,避免了货车对准皮带下料端而造成的时间的浪费,对装卸效率有了明显提升。且便于加工、成本低,有利于实现批量化生产。(The present invention provides a kind of Three Degree Of Freedom device for discharging, including driving mechanism, the connection of the driving mechanism and first conveyer belt, for driving first conveyer belt to be moved forward and backward along predefined paths；Elevating mechanism, the elevating mechanism and the second transmission band connection, for driving second conveyer belt to move up and down in the vertical direction around first universal joint；Rotating mechanism, the rotating mechanism and the second transmission band connection, to be swung for driving second conveyer belt to rotate left and right around first universal joint.The present invention can carry out the adjusting in horizontal, upper and lower three directions in left and right according to dumper position to discharging belt feeder emptying point, it can be realized full-automatic, accurate discharging, avoid lorry alignment belt discharging end and caused by waste of time, have to the efficiency of loading and unloading and be obviously improved.And it is easy to process, at low cost, it is advantageously implemented mass production.)

1. a kind of Three Degree Of Freedom device for discharging characterized by comprising

First conveyer belt, the second conveyer belt, first conveyer belt include first end and the second end opposite with the first end, Second conveyer belt includes first end and the second end opposite with the first end, the second end of first conveyer belt and institute The first end of the second conveyer belt is stated to connect by the first universal joint, first conveyer belt and the second conveyer belt be used for by material from The first end of first conveyer belt is sent to the second end of the second conveyer belt；

Driving mechanism, the connection of the driving mechanism and first conveyer belt, for driving first conveyer belt along pre- Determine path back-and-forth motion；

Elevating mechanism, the elevating mechanism and the second transmission band connection, for driving second conveyer belt around described First universal joint moves up and down in the vertical direction；

Rotating mechanism, the rotating mechanism and the second transmission band connection, for driving second conveyer belt around described First universal joint, which rotates left and right, to be swung.

2. Three Degree Of Freedom device for discharging as described in claim 1, which is characterized in that the driving mechanism further comprises:

Decelerating motor, the decelerating motor are fixed on first conveyer belt；

The center of driving wheel, the driving wheel rotation is fixedly installed on the output shaft of the decelerating motor；

Driven wheel, the driven wheel is rotatably installed in first conveyer belt, and is sequentially connected with the driving wheel, is used for Receive the rotary force from the driving wheel；

At least one set of first walking mechanism, the first walking mechanism are fixedly connected with the driven wheel, with for it is described from First conveyer belt is driven to be moved forward and backward under the driving of driving wheel along predefined paths.

3. Three Degree Of Freedom device for discharging as claimed in claim 2, which is characterized in that the first walking mechanism is further wrapped It includes:

First traveling wheel, the second traveling wheel and transmission shaft, the transmission shaft pass through the driven wheel rotation center, and with it is described Driven wheel is fixedly connected；

The transmission shaft includes first end and the second end opposite with the first end, and first traveling wheel is fixedly connected on institute The first end of transmission shaft is stated, second traveling wheel is fixedly connected on the second end of the transmission shaft.

4. Three Degree Of Freedom device for discharging as described in claim 1, which is characterized in that the elevating mechanism further comprises: mentioning Frame, lifting equipment, lifting equipment connector, the second conveyer belt connection frame are risen, the hoisting frame is fixedly connected on described first and passes It send on the frame of band, the lifting equipment is connected on the crossbeam of hoisting frame by the connector, and can be along the crossbeam It is mobile；The connection frame first end of second conveyer belt is fixedly connected on the lifting equipment, the company of second conveyer belt The other end opposite with the first end and described second for connecing frame transmit band connection.

5. Three Degree Of Freedom device for discharging as claimed in claim 4, which is characterized in that the connector includes top and bottom； The connector upper end is provided with idler wheel, and the idler wheel is connect by bearing with the lifting equipment, and the connector passes through institute It states idler wheel rolling to be connected on the crossbeam, so that the connector can be along the cross beam movement；

The connector lower end is connect by pin shaft with the lifting equipment.

6. Three Degree Of Freedom device for discharging as claimed in claim 5, which is characterized in that the connection frame of second conveyer belt it is upper End is fixedly connected by wirerope with the lifting equipment, the lower end of the connection frame of second conveyer belt pass through hinge with it is described Second transmission belt is hinged.

7. Three Degree Of Freedom device for discharging as claimed in claim 6, which is characterized in that the lifting equipment includes electric block.

8. Three Degree Of Freedom device for discharging as claimed in claim 4, which is characterized in that the hoisting frame includes at least one set second Walking mechanism, at least one set of second walking mechanism are connected to the lower end of the hoisting frame.

9. Three Degree Of Freedom device for discharging as described in claim 1, which is characterized in that the rotating mechanism further comprises stretching Push-pull device at fixed, the flexible push-pull device at fixed includes first end, and the second end opposite with the first end, the flexible push-and-pull The first end of device is connect with first conveyer belt by the second universal joint, the second end of the flexible push-pull device at fixed with it is described Second conveyer belt is hinged by hinge.

10. Three Degree Of Freedom device for discharging as claimed in claim 9, which is characterized in that first universal joint and the 20000th It is installed in the horizontal direction to the axial direction of section, and the axis collinear of first universal joint and second universal joint.

Technical field

The invention belongs to stock ground discharging fields, and in particular to a kind of Three Degree Of Freedom device for discharging.

Background technique

Crushed product is widely used in metallurgy, building, coal, builds the road, the industries such as chemical industry, plays in industrial processes Important role can be divided into variable grain size according to product purpose, generally require repeatedly to carry out entrucking transhipment.

The operating of mining site ore relatively mostly uses belt feeder to transport at present, by belt feeder by Ore Transportation to transport vehicle, And current belt feeder is mostly fixed structure, lorry entrucking needs repeatedly adjustment entrucking position that lorry could be aligned under belt Expect end, because lorry length is generally longer, adjust back and forth it is very time-consuming, on entrucking efficiency influence it is very big.

Summary of the invention

Therefore, in order to overcome the disadvantages of the above prior art, the present invention provides a kind of Three Degree Of Freedom device for discharging, to improve The flexibility of discharging operations and convenience.

To achieve the goals above, a kind of Three Degree Of Freedom device for discharging is provided, comprising:

First conveyer belt, the second conveyer belt, first conveyer belt include first end and opposite with the first end Two ends, second conveyer belt include first end and the second end opposite with the first end, and the second of first conveyer belt End is connect with the first end of second conveyer belt by the first universal joint, and first conveyer belt and the second conveyer belt are used to incite somebody to action Material is sent to the second end of the second conveyer belt from the first end of first conveyer belt；

Driving mechanism, the connection of the driving mechanism and first conveyer belt, for driving first conveyer belt It is moved forward and backward along predefined paths；

Elevating mechanism, the elevating mechanism and it is described second transmission band connection, with for drive second conveyer belt around First universal joint moves up and down in the vertical direction；

Rotating mechanism, the rotating mechanism and it is described second transmission band connection, with for drive second conveyer belt around First universal joint, which rotates left and right, to be swung.

Further, the driving mechanism further comprises:

Decelerating motor, the decelerating motor are fixed on first conveyer belt；

The center of driving wheel, the driving wheel rotation is fixedly installed on the output shaft of the decelerating motor；

Driven wheel, the driven wheel is rotatably installed in first conveyer belt, and is sequentially connected with the driving wheel, For receiving the rotary force from the driving wheel；

At least one set of first walking mechanism, the first walking mechanism are fixedly connected with the driven wheel, in institute It states and first conveyer belt is driven to be moved forward and backward under the driving of driven wheel along predefined paths.

Further, the first walking mechanism further comprises:

First traveling wheel, the second traveling wheel and transmission shaft, the transmission shaft pass through the driven wheel rotation center, and with The driven wheel is fixedly connected；

The transmission shaft includes first end and the second end opposite with the first end, and first traveling wheel is fixedly connected In the first end of the transmission shaft, second traveling wheel is fixedly connected on the second end of the transmission shaft.

Further, the elevating mechanism further comprises: hoisting frame, lifting equipment, lifting equipment connector, second pass Band connection frame is sent, the hoisting frame is fixedly connected on the frame of first conveyer belt, and the lifting equipment passes through the company It connects device to be connected on the crossbeam of hoisting frame, and can be along the cross beam movement；The connection frame first end of second conveyer belt is solid Surely be connected on the lifting equipment, the other end opposite with the first end of the connection frame of second conveyer belt with it is described Second transmission band connection.

Further, the connector includes top and bottom；The connector upper end is provided with idler wheel, and the idler wheel is logical It crosses bearing to connect with the lifting equipment, the connector is connected on the crossbeam by idler wheel rolling, so that institute Stating connector can be along the cross beam movement；

The connector lower end is connect by pin shaft with the lifting equipment.

Further, the upper end of the connection frame of second conveyer belt connects by the way that wirerope and the lifting equipment are fixed It connects, the lower end of the connection frame of second conveyer belt is hinged by hinge and second transmission belt.

Further, the lifting equipment includes electric block.

Further, the hoisting frame includes at least one set of second walking mechanism, at least one set of second walking mechanism It is connected to the lower end of the hoisting frame.

Further, the rotating mechanism further comprises flexible push-pull device at fixed, and the flexible push-pull device at fixed includes first End, and the second end opposite with the first end, the first end of the flexible push-pull device at fixed pass through with first conveyer belt The connection of second universal joint, the second end of the flexible push-pull device at fixed are hinged by hinge with second conveyer belt.

Further, the axial direction of first universal joint and the second universal joint is installed in the horizontal direction, and described The axis collinear of one universal joint and second universal joint.

Compared with prior art, a kind of Three Degree Of Freedom device for discharging of the invention, can be according to dumper position pair Discharging belt feeder emptying point carries out the adjusting in horizontal, upper and lower three directions in left and right, can be realized full-automatic, accurate discharging, avoids Lorry alignment belt discharging end and caused by waste of time, have to the efficiency of loading and unloading and be obviously improved.And easy to process, cost It is low, it is advantageously implemented mass production.

Detailed description of the invention

Fig. 1 is Three Degree Of Freedom device for discharging one embodiment side view of the invention；

Fig. 2 is Three Degree Of Freedom device for discharging one embodiment top view of the invention；

Fig. 3 is the enlarged diagram of driving mechanism in Three Degree Of Freedom device for discharging one embodiment of the invention；

Fig. 4 is the schematic diagram of elevating mechanism in Three Degree Of Freedom device for discharging one embodiment of the invention；

Fig. 5 is the enlarged diagram of elevating mechanism in Three Degree Of Freedom device for discharging one embodiment of the invention；

Fig. 6 is the enlarged diagram of rotating mechanism in Three Degree Of Freedom device for discharging one embodiment of the invention.

Specific embodiment

To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference Attached drawing, the present invention is described in more detail.

In one embodiment of the invention, as shown in figures 1 to 6, a kind of Three Degree Of Freedom device for discharging is provided, comprising:

First conveyer belt 1, the second conveyer belt 2, first conveyer belt 1 include first end and opposite with the first end Second end, second conveyer belt 2 include first end and the second end opposite with the first end, first conveyer belt 1 Second end is connect with the first end of second conveyer belt 2 by the first universal joint 3, first conveyer belt 1 and the second transmission With 2 for material to be sent to the second end of the second conveyer belt 2 from the first end of first conveyer belt 1；

Feed inlet 4, the feed inlet 4 are connect with the first end of first conveyer belt 1, for accepting object to be transmitted Material；

Discharge port 5, the discharge port 5 are connect with the second end of second conveyer belt 2, for that will pass from described second The material for sending band 2 to send is unloaded；

Driving mechanism 6, the connection of the driving mechanism 6 and first conveyer belt 1, for driving first transmission Band 1 is moved forward and backward along predefined paths；

Elevating mechanism 7, the elevating mechanism 7 are connect with second conveyer belt 2, for driving second conveyer belt 2 move up and down in the vertical direction around first universal joint 3；

Rotating mechanism 8, the rotating mechanism 8 are connect with second conveyer belt 2, for driving second conveyer belt 2 rotate left and right swing around first universal joint 3.

When determining material target discharge position, material from the feed inlet 4 of the first end of the first conveyer belt 1 enter this three from By on the first conveyer belt 1 of degree device for discharging, control system controls above-mentioned driving mechanism 6, elevating mechanism 7 and rotating mechanism 8 and assists With movement, by carrying out horizontal, upper and lower, left and right three to discharging belt feeder emptying point according to lorry or emptying point position The adjusting in direction controls the walking of the first conveyer belt 1 by driving mechanism 6, controls the second about 2 conveyer belt by elevating mechanism 7 It swings, the second conveyer belt 2 is controlled by rotating mechanism 8 and is swung, three processes can carry out simultaneously, can be realized not Tongfang To continuous discharge.

Above-mentioned driving mechanism 6, elevating mechanism 7 and rotating mechanism 8 are described in detail respectively below.

The driving mechanism 6 further comprises:

Decelerating motor 61, the decelerating motor 61 are fixed on first conveyer belt 1；

Driving wheel 62, the center that the driving wheel 62 rotates are fixedly installed on the output shaft of the decelerating motor 61；

Driven wheel 63, the driven wheel 63 is rotatably installed in first conveyer belt 1, and passes with the driving wheel 62 Dynamic connection, for receiving the rotary force from the driving wheel 62；

At least one set of first walking mechanism 64, the first walking mechanism 64 are fixedly connected with the driven wheel 63, with First conveyer belt 1 is driven to be moved forward and backward under the driving in the driven wheel 63 along predefined paths.

Power is transmitted to driving wheel 62 and by the transmission such as belt or driving chain by 61 outputting rotary power of decelerating motor Mechanism is exported to driven wheel 63, and the driven wheel 63 is rotatably fixed to the first conveyer belt 1, will be received the rotary power come and is passed The first conveyer belt 1 is given, to send the output power of decelerating motor 61 to first conveyer belt 1, promotes the first conveyer belt 1 The amplitude of back-and-forth motion is adjusted according to target discharge position.

In one embodiment, the first walking mechanism 64 further comprises:

First traveling wheel 641, the second traveling wheel 642 and transmission shaft 643, the transmission shaft 643 pass through the driven wheel 63 Rotation center, and be fixedly connected with the driven wheel 63；

The transmission shaft 643 includes first end and the second end opposite with the first end, and first traveling wheel 641 is solid Surely it is connected to the first end of the transmission shaft 643, second traveling wheel 642 is fixedly connected on the second of the transmission shaft 643 End.

For the ease of control, in one embodiment, first traveling wheel 641 and the second traveling wheel 642 are arranged at In trapped orbit, it is moved forward and backward so as to constrain first conveyer belt 1 along trapped orbit, it is ensured that control is accurate Property.

In one embodiment, the elevating mechanism 7 further comprises: hoisting frame 71, lifting equipment 72, lifting equipment connect Device 73, the second conveyer belt connection frame 74 are connect, the hoisting frame 71 is fixedly connected on the frame of first conveyer belt 1, described Lifting equipment 72 is connected on the crossbeam 75 of hoisting frame 71 by lifting equipment connector 73, and can be moved along the crossbeam 75 It is dynamic；Second conveyer belt connection frame, 74 first end is fixedly connected on the lifting equipment 72, the second transmission band connection The other end opposite with the first end of frame 74 and the second transmission band connection.

In one embodiment, lifting equipment connector 73 includes top and bottom；73 upper end of lifting equipment connector is set It is equipped with idler wheel 731, the idler wheel 731 is connect by bearing with the lifting equipment 72, and lifting equipment connector 73 passes through described The rolling of idler wheel 731 is connected on the crossbeam 75, so that lifting equipment connector 73 can be moved left and right along the crossbeam 75； 73 lower end of lifting equipment connector is connect by pin shaft with the lifting equipment 72.

In one embodiment, the upper end of the second conveyer belt connection frame 74 passes through wirerope and the lifting equipment 72 It is fixedly connected, the lower end of the second conveyer belt connection frame 74 is hinged by hinge and second conveyer belt 2.

To improve operational efficiency, in one embodiment, the lifting equipment 72 includes electric block.

Further, including the hoisting frame 71 includes at least one set of second walking mechanism 721, and described at least one set of second Walking mechanism 721 is connected to the lower end of the hoisting frame 71, so that it is guaranteed that elevating mechanism 7 can be with 2 synchronizing moving of horizontal belt.

In one embodiment, the rotating mechanism 8 further comprises flexible push-pull device at fixed 81, the flexible push-pull device at fixed 81 include first end, and the second end opposite with the first end, the first end of the flexible push-pull device at fixed 81 and described the One conveyer belt 1 is connected by the second universal joint 9, and second end and second conveyer belt 2 of the flexible push-pull device at fixed 81 pass through Hinge and second conveyer belt 2 are hinged, so that it is guaranteed that in the flexible push-and-pull between the first conveyer belt 1 and the second conveyer belt 2 Under the action of device 81, opposite swing can occur.

In one embodiment, the axial direction of first universal joint 3 and the second universal joint 9 is installed in the horizontal direction, And the axis collinear of first universal joint 3 and second universal joint 9.

In one embodiment, the flexible push-pull device at fixed 81 includes but is not limited to electric pushrod or hydraulic jack.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.With It is only the preferred embodiment of the present invention described in upper, it is noted that for those skilled in the art, not Under the premise of being detached from the technology of the present invention principle, several improvements and modifications can also be made, these improvements and modifications also should be regarded as this The protection scope of invention.