CN111119960B - Anchor robot suitable for combine to dig complicated operating mode of working face - Google Patents
Anchor robot suitable for combine to dig complicated operating mode of working face Download PDFInfo
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- CN111119960B CN111119960B CN202010040881.5A CN202010040881A CN111119960B CN 111119960 B CN111119960 B CN 111119960B CN 202010040881 A CN202010040881 A CN 202010040881A CN 111119960 B CN111119960 B CN 111119960B
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- hydraulic cylinder
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- anchoring
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- 238000004873 anchoring Methods 0.000 claims abstract description 120
- 239000000725 suspension Substances 0.000 claims abstract description 37
- 239000003245 coal Substances 0.000 claims abstract description 26
- 238000005065 mining Methods 0.000 claims abstract description 23
- 238000009434 installation Methods 0.000 claims abstract description 10
- 230000008093 supporting effect Effects 0.000 claims description 194
- 230000007246 mechanism Effects 0.000 claims description 68
- 230000009471 action Effects 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 23
- 230000008569 process Effects 0.000 claims description 20
- 238000005553 drilling Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 239000011435 rock Substances 0.000 description 6
- 239000000243 solution Substances 0.000 description 4
- 230000005641 tunneling Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 239000007853 buffer solution Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
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Abstract
The invention discloses anchoring intelligent equipment, which belongs to the field of electromechanical equipment of fully-mechanized coal mining working faces and comprises a suspension support system, a power system, an anchoring robot system, a ground support system and a wall support system. The suspension support system is fixed at the top end of the coal mining roadway through an anchor rod and provides support for the whole set of equipment; the power system is arranged at the tail end of a main beam of the system in the suspension support system; the anchoring robot system is arranged at the lower end of a main beam of the system in the suspension support system; the ground support system is fixed on a system main beam in the suspension support system above the installation position of the anchoring robot system; the wall surface support system is fixed on a system main beam in the suspension support system above the ground support system installation position. Furthermore, the invention has compact integral structure and high anchoring efficiency, and the ground support system and the wall support system are adopted to ensure that the equipment runs stably and has good turning performance.
Description
Technical Field
The invention relates to the field of electromechanical equipment of fully-mechanized coal mining working faces, in particular to an anchoring robot suitable for complex working conditions of fully-mechanized coal mining working faces, and belongs to the field of anchoring intelligent equipment.
Background
The anchoring technology is one of the common supporting methods of the coal mine tunnel, and anchors the supporting body and the surrounding rock into the surrounding rock of the tunnel through the anchor rod to jointly form a space structure body capable of bearing pressure and heavy load, so that the roof is prevented from falling off, the effective use space of the coal mining working face is maintained, and the safe operation of equipment is ensured. However, the roof supporting procedure of the tunnel is complex, the degree of mechanization is not high, the operation consumes more man-hours, the starting rate of the heading machine is affected, and the roof supporting procedure becomes a great obstacle for the rapid tunneling of the tunnel.
In recent years, more common excavating and anchoring integrated machines mainly install anchor supporting equipment on the excavating and anchoring machine through two sides, a gantry type and folding type. The tunneling device, the supporting device and the anchoring device are designed and installed in a modularized manner, so that the equipment can adapt to turning and up-and-down fluctuation in the advancing process; however, the equipment has certain requirements on turning radius and the unevenness of a roadway bottom plate, and in a narrow roadway with a severe environment, the working efficiency of the large equipment is low and even the large equipment cannot be used because the anchoring operation space is limited.
The patent application of the monorail type anchor supporting collaborative machine for the fully-mechanized excavation face is provided by the subject group, in order to facilitate the running of equipment, the anchoring equipment, the supporting equipment and the heading machine are separated, and the running mode of a monorail crane is adopted, so that the equipment has good maneuvering performance and is suitable for a common narrow roadway. However, the equipment has higher requirements on the roadway supporting environment and low anchoring efficiency, and has certain defects, and the concrete steps are as follows:
1) The equipment travels in a monorail crane mode and is not suitable for a soft rock coal mine roadway.
All mechanical equipment in this patent all installs on the monorail crane, and the weight of whole equipment is great, and is higher to the roadway rock layer hardness requirement of the monorail crane that is supported by the stock, and partial colliery roadway rock layer is comparatively soft, therefore, this equipment is only applicable to the better occasion of roadway condition.
2) The linkage of the anchor robot work platform of the equipment is poor.
The anchoring operation platform proposed in the patent adopts three-section hydraulic drive folding structure, but because folding process can receive the restriction of pneumatic cylinder mounted position and stroke, the folding position precision of platform is not high, and stock robot is slow and unstable at its surface travel speed, influences the operating efficiency of anchoring process. Meanwhile, the ground supporting hydraulic system cannot realize accurate shrinkage, and interference can be generated to other equipment in the transportation process.
3) The equipment anchoring operation platform has poor buffering capacity, and is unfavorable for anchoring operation.
The anchoring operation platform disclosed by the patent uses two sets of ground supporting hydraulic cylinder groups as a buffer system for anchoring operation, and can absorb and transmit drilling impact force to the ground in the drilling process, but under the soft working condition of a roadway bottom plate, the bottom ends of the ground supporting hydraulic cylinder groups sink, so that the anchoring operation platform is unstable and is unfavorable for the anchoring operation.
Disclosure of Invention
The invention aims to solve the problem of low tunneling and anchoring efficiency, and provides an anchoring robot suitable for complex working conditions of a fully-mechanized tunneling working face, which has the advantages of higher automation degree, convenient operation, strong adaptability and high safety, and provides a solution for the background technology.
The technical problems to be solved by the invention are realized by adopting the following technical scheme:
An anchoring robot suitable for complex working conditions of a fully-mechanized coal mining face comprises a suspension support system, a power system, an anchoring robot system, a ground support system and a wall support system; the suspension support system is fixed at the top end of the coal mining roadway through an anchor rod and provides support for the anchor support robot; the power system is arranged at the tail end of a main beam of the system in the suspension support system; the anchoring robot system is arranged at the lower end of the main beam of the system in the suspension support system; the ground support system and the wall support system are both fixed on a system main beam in the suspension support system above the installation position of the anchoring robot system.
The suspension support system comprises a system main beam, a top beam, a support piece, a track and a rectangular pin; the system main beam is arranged on the track through a bearing trolley; the top beam is provided with four holes for fixing the anchor rod at the top end of the coal mining roadway; the upper end of the supporting piece is connected with the top beam through a rectangular pin, and the lower end of the supporting piece is connected with the track through a rectangular pin.
The power system comprises a bearing trolley, a motor base, a gear transmission system and a power connecting device; the motor is mounted on the motor base through bolts; the motor base is mounted on the lower bottom surface of the bearing trolley through bolts; the bearing trolley is arranged on the track surface and is characterized by being capable of sliding on the track surface; an input shaft in the gear transmission system is connected with the motor through a coupler, and an output gear is mounted in a matched mode with a rack in the track; one end of the power connecting device is welded to the gear transmission system, and the other end of the power connecting device is connected with the main beam of the system through a pin.
The anchoring robot system comprises a beam arm hydraulic cylinder group, an anchoring robot connecting assembly, an anchor rod storage device, an anchoring robot working platform and an anchoring robot; the anchoring robot connecting assembly comprises an upper connecting arm, a lower connecting arm and a connecting hydraulic cylinder group; the upper end of the anchoring robot connecting assembly is connected with the system main beam through a pin; the tail end of the anchoring robot connecting assembly is connected with the anchoring robot working platform through a pin; the anchoring robot working platform comprises an intermediate working platform, an arm platform connecting hydraulic cylinder, a folding hydraulic cylinder, a connecting rod A, a ground supporting hydraulic cylinder, a connecting rod B, a sliding block, a connecting rod C and a boundary working platform; the anchoring robot work platform is composed of three sections, and can realize a folding function; the mechanism at the bottom end of the anchoring robot and the working platform of the anchoring robot form a linear motor; the anchor rod storage device comprises a support rotating motor and an anchor rod storage support; the anchoring robot comprises a driving mechanism, a turntable base, a large arm and an actuator; the driving mechanism can drive the turntable base to rotate so as to meet the requirements of different stations of the actuator; the large arm is connected with the turntable base and can swing relatively; the large arm and the actuator form a four-bar mechanism, so that the rotation angle of the actuator can be controlled; the actuator comprises an anchor rod drilling machine guide rail, a propulsion motor, an anchor rod drilling machine and a chain; the propulsion motor is arranged at the front end of the anchor rod drilling machine guide rail; the jumbolter is arranged on a sliding rod of the guide rail of the jumbolter through holes on two sides; the propulsion motor drives the jumbolter to move in the guide rail of the jumbolter through driving the chain.
The ground support system comprises a support girder, a support platform, a rear steering rail, a steering mechanism, a support device and a front steering rail; the ground support system is symmetrically arranged about a system main beam in the suspension support system; the rear steering track comprises a small roller A, a large roller A and a chute mechanism A; the small roller A is arranged at the upper end of a groove opening of the sliding groove mechanism A; the steering mechanism comprises a small roller C, a large roller C, a fixed groove, a steering hydraulic cylinder A, a fixed part A, a pushing hydraulic cylinder A, a supporting sleeve, a fixed part B, a steering hydraulic cylinder B, a pushing hydraulic cylinder B, a connecting block A and a connecting block B; three groups of identical supporting devices are arranged on one side of the ground supporting system; the supporting device comprises a front-end ground supporting hydraulic cylinder, a middle ground supporting hydraulic cylinder, a rear-end ground supporting hydraulic cylinder and a supporting seat; the front steering track is similar to the rear steering track and comprises a small roller B, a large roller B and a chute mechanism B; the small roller B is arranged at the upper end of a groove opening of the sliding groove mechanism B; the support platform is matched with the small roller A and the large roller A on the rear steering track, the small roller C and the large roller C on the steering mechanism and the small roller B and the large roller B on the front steering track in a rolling way, so that the rear steering track, the steering mechanism and the front steering track can roll on the support platform.
The wall surface supporting system comprises a side surface supporting main beam, a side surface supporting platform, a pushing hydraulic cylinder and a side surface supporting mechanism; the wall surface supporting systems are symmetrically arranged about main beams of the system in the suspension supporting system; the side supporting mechanism comprises an upper roller, a lower roller, a fixed table, a front-end wall supporting hydraulic cylinder, a rear-end wall supporting hydraulic cylinder and a wall supporting seat; the upper roller is arranged at the upper end of the groove-shaped opening of the fixed table; the lower roller is arranged in a groove of the groove-shaped opening of the fixed table; the upper roller and the lower roller can be buckled with the upper surface and the lower surface of the side support platform to realize rolling fit; the upper ends of the front-end wall supporting hydraulic cylinder and the rear-end wall supporting hydraulic cylinder are fixedly provided with the fixed table, and the lower ends of the front-end wall supporting hydraulic cylinder and the rear-end wall supporting hydraulic cylinder are connected with the wall supporting seat through pins; the two groups of side supporting mechanisms are connected through the pushing hydraulic cylinder; the two ends of the pushing hydraulic cylinder are respectively fixed on the fixed tables of the two groups of side supporting mechanisms.
The anchoring robot suitable for complex working conditions of the fully-mechanized coal mining face has the following advancing process characteristics:
s1: the whole set of equipment is arranged on a track laid on a roadway roof in advance;
s2: when the motor works, the power system moves on the track through the gear transmission system to push the system main beam connected with the power system to move, so that the support platform and the side support platform are driven to move together;
s3: the ground support systems and the wall support systems are arranged on two sides of the main beam of the system, and the working processes of the systems on two sides are completely synchronous, and one side working process is taken as an example for description. At the beginning of the operation of the whole set of equipment, a front ground supporting hydraulic cylinder, a middle ground supporting hydraulic cylinder and a rear ground supporting hydraulic cylinder in the supporting device are simultaneously supported on a roadway bottom plate; the front end wall supporting hydraulic cylinder and the rear end wall supporting hydraulic cylinder are simultaneously supported on the wall surface of the roadway, and the pushing hydraulic cylinder B and the pushing hydraulic cylinder are in a contracted state. During operation, the front ground support hydraulic cylinder and the front wall support hydraulic cylinder shrink, the front steering rail connected with the front ground support hydraulic cylinder is pushed to move forwards to a designated position along the support platform under the action of the pushing hydraulic cylinder B, and meanwhile, the side support mechanism connected with the front wall support hydraulic cylinder is pushed to move forwards to the designated position along the side support platform under the action of the pushing hydraulic cylinder. Then, the front ground supporting hydraulic cylinder stretches to be supported on the roadway bottom plate, and meanwhile, the front wall supporting hydraulic cylinder stretches to be supported on the roadway wall surface;
S4: the middle ground supporting hydraulic cylinder is contracted, then the hydraulic cylinder B is pushed to be contracted, meanwhile, the hydraulic cylinder A is pushed to extend, the two hydraulic cylinders act together to enable the chute mechanism A connected with the middle ground supporting hydraulic cylinder to move forwards to a designated position along the side supporting platform, and then the middle ground supporting hydraulic cylinder extends and is supported on the roadway bottom plate;
S5: the rear end ground support hydraulic cylinder and the rear end wall support hydraulic cylinder are contracted, the rear steering rail connected with the rear end ground support hydraulic cylinder is pulled to move forwards to a designated position along the support platform under the action of the pushing hydraulic cylinder A, and meanwhile, the rear end wall support hydraulic cylinder is pulled to move forwards to the designated position along the side support mechanism under the action of the pushing hydraulic cylinder. Then, the rear ground supporting hydraulic cylinder extends and is supported on the roadway bottom plate, and meanwhile, the rear wall supporting hydraulic cylinder is supported on the roadway wall surface, so that the whole equipment can travel for a certain distance; the continuous progress of the whole equipment can be realized by repeating the steps.
The anchoring robot suitable for complex working conditions of the fully-mechanized coal mining face has the turning process characteristics that the anchoring robot comprises the following steps:
S1: when the turning function of the whole equipment is realized, the front-end ground support hydraulic cylinder is contracted, and the front-end ground support hydraulic cylinder can be driven to swing in the front steering track under the telescopic action of the steering hydraulic cylinder B, so that the front-end ground support hydraulic cylinder is not positioned on a connecting line of the middle ground support hydraulic cylinder and the rear-end ground support hydraulic cylinder, and then the front-end ground support hydraulic cylinder extends and is supported on a roadway bottom plate;
S2: the rear end ground support hydraulic cylinder contracts, and the rear end ground support hydraulic cylinder can be driven to swing in the rear steering track under the telescopic action of the steering hydraulic cylinder A, so that the rear end ground support hydraulic cylinder, the middle ground support hydraulic cylinder and the front end ground support hydraulic cylinder are on the same straight line, and then the front end ground support hydraulic cylinder extends and is supported on a roadway bottom plate, and turning action is realized.
The anchoring robot suitable for complex working conditions of the fully-mechanized coal mining face is characterized by comprising the following steps:
s1: an anchoring robot working platform in the anchoring robot system descends by a certain height and keeps parallel with the ground under the combined action of an anchoring robot connecting assembly, a folding hydraulic cylinder and a ground supporting hydraulic cylinder, so that the supporting action is completed;
S2: the position and the posture of the anchoring robot and the anchor rod storage bracket are adjusted simultaneously, so that one anchor rod in the anchor rod storage bracket is installed into the anchor rod drilling machine, and the anchor rod installation action is completed;
S3: the two groups of anchoring robots adjust different poses, so that anchoring operation of the jumbolter at different positions of the side surface and the top plate of the roadway can be realized, and supporting operation of the roadway can be completed.
The invention comprises the existing digging and anchoring integrated machine and the patent mentioned herein (a fully-mechanized working face single-rail anchor supporting cooperative machine), compared with the prior art, the invention has the beneficial effects that:
1) The invention is walking, has good maneuvering performance and is suitable for coal mine roadways with complex working conditions.
The invention reasonably improves the walking support mode, guides the walking of the robot by using the monorail crane, and bears the load of the whole system by using the ground support system, thereby improving the stability and the safety of the equipment in the moving process, and the ground support system has a certain turning function, so that the equipment can be stably transported and operated in rock tunnels with different hardness.
2) The invention ensures that the working platform of the anchoring robot is stably contracted and expanded through the connecting rod mechanism, and has high control precision.
The lower ends of the working platforms of the anchoring robots can simultaneously shrink and expand the working platforms at two sides and the ground supporting hydraulic cylinders thereof through the connecting rod sliding block mechanism, so that the position precision of the working platforms is improved, and the anchoring robots can move on the surfaces of the working platforms more stably.
3) The invention has a plurality of support systems, and provides a stable working platform for anchoring operation.
The wall support system of the present invention both prevents the equipment from rocking side-to-side during transport and bears a portion of the weight of the equipment. Meanwhile, in the anchoring operation process, the system and the ground supporting hydraulic cylinder form a buffer system together, so that the drilling impact force is absorbed and transferred to the surface of a roadway, and the stability of the working platform of the anchoring robot is ensured.
4) The invention has compact structure and high space utilization rate.
The main components of the invention can be expanded and contracted under different working environments, and the invention has compact structure and small space volume. Meanwhile, two sets of anchoring robots are arranged on the anchoring robot working platform, so that the anchoring operation is carried out together, and the anchoring working efficiency is improved. In addition, the invention occupies small roadway space and provides space for the operation of other equipment.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic view of the suspension support system of the present invention;
FIG. 3 is a schematic view of a main beam of the system of the present invention;
FIG. 4 is a schematic diagram of a power system of the present invention;
FIG. 5 is a schematic diagram of the connection relationship between the main beam of the system of the present invention and the anchoring robot system;
FIG. 6 is a schematic view of the anchoring robot system of the present invention in a non-operational state;
FIG. 7 is a schematic view of the operating state of the anchoring robot system of the present invention;
FIG. 8 is a schematic view of an anchoring robot work platform of the present invention;
FIG. 9 is a schematic view of a floor support system of the present invention;
FIG. 10 is a schematic view of a rear steering rail of the floor support system of the present invention;
FIG. 11 is a schematic view of a steering mechanism of the floor support system of the present invention;
FIG. 12 is a schematic view of a support platform of the floor support system of the present invention;
FIG. 13 is a schematic view of a front steering rail of the floor support system of the present invention;
FIG. 14 is a schematic view of a wall support system of the present invention;
FIG. 15 is a schematic view of a wall support system support mechanism according to the present invention.
The reference numerals in the drawings denote: 1. a suspension support system; 2. a power system; 3. an anchoring robotic system; 4. a ground support system; 5. a wall support system; 1-1, top beams; 1-2, a supporting piece; 1-3, track; 1-4, rectangular pins; 1-5, a main beam of the system; 2-1, a bearing trolley; 2-2, a motor base; 2-3, a motor; 2-4, a gear transmission system; 2-5, a power connection device; 3-1, a beam arm hydraulic cylinder group; 3-2, anchoring the robot connecting assembly; 3-3, anchoring a robot working platform; 3-4, anchoring the robot; 3-5, an anchor rod storage device; 3-2-1. Upper connecting arms; 3-2-2. Lower connecting arms; 3-2-3, connecting a hydraulic cylinder group; 3-3-1. An intermediate work platform; 3-3-2, the arm platform is connected with a hydraulic cylinder; 3-3-3, a folding hydraulic cylinder; 3-3-4. Connecting rod A;3-3-5, supporting the ground hydraulic cylinder; 3-3-6. Connecting rod B;3-3-7. Sliding block; 3-3-8. Connecting rod C;3-3-9. Boundary working platform; 3-4-1. A driving mechanism; 3-4-2, a turntable base; 3-4-3. Big arm; 3-4-4. An actuator; 3-4-4-1. Chain; 3-4-4-2, a jumbolter; 3-4-4-3. A propulsion motor; 3-4-4-4 jumbolter guide rails; 3-5-1, a support is stored on the anchor rod; 3-5-2, a bracket rotating motor; 4-1, supporting a main girder; 4-2, supporting the platform; 4-3, rear steering track; 4-4, a steering mechanism; 4-5, supporting devices; 4-6, front steering track; 4-3-1. Small roller A;4-3-2. Big idler wheel A;4-3-3. A chute mechanism A;4-4-1. Small roller C;4-4-2. Big idler wheel C;4-4-3. A fixing groove; 4-4-4. Steering hydraulic cylinder A;4-4-5. Connecting block A;4-4-6. Pushing the hydraulic cylinder A;4-4-7. Supporting sleeve; 4-4-8. Fixing part A;4-4-9. Fixing part B;4-4-10 steering hydraulic cylinder B;4-4-11. Pushing the hydraulic cylinder B;4-4-12. Connecting block B;4-5-1. A supporting seat; 4-5-2, a rear ground support hydraulic cylinder; 4-5-3, a middle ground support hydraulic cylinder; 4-5-4, a front ground support hydraulic cylinder; 4-6-1. Small roller B;4-6-2. Big idler wheel B;4-6-3. A chute mechanism B;5-1, supporting a main girder on the side surface; 5-2, a side support platform; 5-3, a side support mechanism; 5-4, pushing the hydraulic cylinder; 5-3-1, upper rollers; 5-3-2. A fixed table; 5-3-3, a wall supporting seat; 5-3-4, a front end wall supporting hydraulic cylinder; 5-3-5, a rear end wall supporting hydraulic cylinder; 5-3-6. Lower roller.
Detailed Description
In order that the manner in which the above-recited features, advantages and features of the invention are obtained, a more particular description of the invention briefly summarized below may be had by reference to the appended drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, an anchoring robot suitable for complex working conditions of a fully-mechanized excavation face comprises a suspension support system 1, a power system 2, an anchoring robot system 3, a ground support system 4 and a wall support system 5; the suspension support system 1 is fixed at the top end of the coal mining roadway through an anchor rod, and supports are provided for the whole set of equipment; the power system 2 is arranged at the tail ends of the main beams 1-5 of the suspension support system 1; the anchoring robot system 3 is arranged at the lower end of a system main beam 1-5 in the suspension support system 1; the ground support system 4 is fixed on the system main beams 1-5 in the suspension support system 1 above the installation position of the anchoring robot system 3; the wall support system 5 is fixed to the system girders 1-5 in the suspension support system 1 above the installation location of the ground support system 4. The anchoring robot suitable for complex working conditions of the fully-mechanized coal mining working face is characterized in that the ground support system 4 and the wall support system 5 are used for supporting the dead weight of the whole device together when the robot walks and works, so that the working stability and safety are greatly improved.
Referring to fig. 2 and 3, the suspension support system 1 comprises a top beam 1-1, a support piece 1-2, a track 1-3, a rectangular pin 1-4 and a system main beam 1-5; the system main beam 1-5 is arranged on the track 1-3 through the bearing trolley 2-1; four holes are formed in the top beam 1-1 and are used for fixing the top beam on the top end of a coal mining roadway through anchor rods; the upper end of the supporting piece 1-2 is connected with the top beam 1-1 through the rectangular pin 1-4, and the lower end of the supporting piece is connected with the track 1-3 through the rectangular pin 1-4.
Referring to fig. 4, the power system 2 comprises a bearing trolley 2-1, a motor 2-3, a motor base 2-2, a gear transmission system 2-4 and a power connecting device 2-5; the motor 2-3 is arranged on the motor base 2-2 through bolts, and the motor base 2-2 is arranged on the lower bottom surface of the bearing trolley 2-1 through bolts; the bearing trolley 2-1 is arranged on the track 1-3, and is characterized in that the bearing trolley 2-1 can slide on the surface of the track 1-3; the input shaft in the gear transmission system 2-4 is connected with the motor 2-3 through a coupler, an output gear in the gear transmission system 2-4 is matched with a rack in the track 1-3 for installation, one end of the power connecting device 2-5 is welded to the gear transmission system 2-4, and the other end of the power connecting device is connected with the system main beam 1-5 through a pin.
Referring to fig. 5, 6, 7 and 8, the anchoring robot system 3 includes a beam arm hydraulic cylinder group 3-1, an anchoring robot connecting assembly 3-2, an anchoring robot working platform 3-3, an anchoring robot 3-4 and an anchor rod storage device 3-5; the anchoring robot connecting assembly 3-2 comprises an upper connecting arm 3-2-1, a lower connecting arm 3-2-2 and a connecting hydraulic cylinder group 3-2-3; the upper connecting arm 3-2-1 is connected with the system main beam 1-5 through a pin; one end of the beam arm hydraulic cylinder group 3-1 is connected with the system main beam 1-5 through a pin, the other end of the beam arm hydraulic cylinder group is connected with the upper connecting arm 3-2-1 through a pin, and two sets of beam arm hydraulic cylinder groups 3-1 are arranged on two sides of the system main beam 1-5; The upper connecting arm 3-2-1 is connected with the lower connecting arm 3-2-2 through a pin; one end of the connecting hydraulic cylinder group 3-2-3 is connected with the upper connecting arm 3-2-1 through a pin, and the other end is connected with the lower connecting arm 3-2-2 through a pin; the lower connecting arm 3-2-2 is connected with the anchoring robot working platform 3-3 through a pin; the anchoring robot working platform 3-3 comprises an intermediate working platform 3-3-1, an arm platform connecting hydraulic cylinder 3-3-2, a folding hydraulic cylinder 3-3-3, a connecting rod A3-3-4, a ground supporting hydraulic cylinder 3-3-5, a connecting rod B3-3-6, a sliding block 3-3-7, a connecting rod C3-3-8 and a boundary working platform 3-3-9; One end of the arm platform connecting hydraulic cylinder 3-3-2 is connected with the middle position of the tail end of the lower connecting arm 3-2-2 through a pin, and the other end of the arm platform connecting hydraulic cylinder is connected with the middle position of the bottom of the middle working platform 3-3-1 through a pin; the boundary work platforms 3-3-9 on both sides are symmetrically arranged with respect to the middle work platform 3-3-1, which will be described below with respect to one side; one end of the folding hydraulic cylinder 3-3-3 is connected with the middle working platform 3-3-1 through a pin, and the other end of the folding hydraulic cylinder is connected with one ends of the connecting rod A3-3-4 and the connecting rod B3-3-6 through a pin; the lower end of the boundary working platform 3-3-9 is connected with the connecting rod A3-3-4 through a pin; The sliding blocks 3-3-7 are matched with a groove structure at the lower side of the boundary working platform 3-3-9 to realize translation; the lower end of the sliding block 3-3-7 is connected with one end of the connecting rod B3-3-6 and one end of the connecting rod C3-3-8 through a pin; the connecting rod C3-3-8 is connected with the ground supporting hydraulic cylinder 3-3-5 through a pin; the anchoring robot working platform 3-3 and a mechanism at the bottom end of the anchoring robot 3-4 form a linear motor; the anchor rod storage device 3-5 comprises an anchor rod storage bracket 3-5-1 and a bracket rotating motor 3-5-2; the bracket rotating motor 3-5-2 is arranged on the inner side surface of the anchoring robot connecting assembly 3-2; The anchor rod storage bracket 3-5-1 is arranged on the outer side surface of the anchoring robot connecting assembly 3-2; the anchoring robot 3-4 comprises a driving mechanism 3-4-1, a turntable base 3-4-2, a big arm 3-4-3 and an actuator 3-4-4; the driving mechanism 3-4-1 can drive the turntable base 3-4-2 to rotate so as to meet the requirements of different stations of the actuator 3-4-4; the large arm 3-4-3 is connected with the rotary table base 3-4-2 and can swing relatively; the large arm 3-4-3 and the actuator 3-4-4 form a four-bar linkage mechanism which can control the rotation angle of the actuator 3-4-4; the actuator 3-4-4 comprises a chain 3-4-4-1, an anchor drilling machine 3-4-4-2, a propulsion motor 3-4-4-3 and an anchor drilling machine guide rail 3-4-4-4; the propulsion motor 3-4-4-3 is arranged at the front end of the actuator 3-4-4; the anchor rod drilling machine 3-4-4-2 is arranged on the anchor rod drilling machine guide rail 3-4-4 through holes on two sides; the propulsion motor 3-4-4-3 drives the jumbolter 3-4-4-2 to move on the jumbolter guide rail 3-4-4-4 by driving the chain 3-4-4-1.
Referring to fig. 9, 10, 11, 12 and 13, the ground support system 4 includes a support main 4-1, a support platform 4-2, a rear steering rail 4-3, a steering mechanism 4-4, a support device 4-5 and a front steering rail 4-6; the ground support system 4 is symmetrically arranged about the system main beams 1-5 in the suspension support system 1; the ground support system 4 will be described below by way of example. One end of each of three groups of supporting main beams 4-1 on one side of a system main beam 1-5 in the suspension support system 1 is fixed on the system main beam 1-5 in the suspension support system 1 through bolts, and the other end of each of the three groups of supporting main beams is fixed on the supporting platform 4-2 through bolts; The rear steering track 4-3 comprises a small roller A4-3-1, a large roller A4-3-2 and a chute mechanism A4-3-3; one side of the ground support system 4 comprises three identical sets of the support means 4-5; the supporting device 4-5 comprises a supporting seat 4-5-1, a rear ground supporting hydraulic cylinder 4-5-2, a middle ground supporting hydraulic cylinder 4-5-3 and a front ground supporting hydraulic cylinder 4-5-4; the lower end of the rear ground support hydraulic cylinder 4-5-2 is connected with the support seat 4-5-1 through a pin; the small roller A4-3-1 is arranged at the upper end of a groove opening of the chute mechanism A4-3-3; The large roller A4-3-2 is arranged in a groove of the groove opening of the chute mechanism A4-3-3; the small roller A4-3-1 and the large roller A4-3-2 can be buckled with the upper surface and the lower surface of the supporting platform 4-2 to realize rolling fit; the steering mechanism 4-4 comprises a small roller C4-4-1, a large roller C4-4-2, a fixed groove 4-4-3, a steering hydraulic cylinder A4-4-4, a fixed part A4-4-8, a pushing hydraulic cylinder A4-4-6, a supporting sleeve 4-4-7, a fixed part B4-4-9, a steering hydraulic cylinder B4-4-10, a pushing hydraulic cylinder B4-4-11, a connecting block A4-4-5 and a connecting block B4-4-12; The small roller C4-4-1 is arranged at the upper end of the groove opening of the fixed groove 4-4-3; the large roller C4-4-2 is arranged in a groove of the groove opening of the fixed groove 4-4-3; the small roller C4-4-1 and the large roller C4-4-2 can be buckled with the upper surface and the lower surface of the supporting platform 4-2 to realize rolling fit; the upper bottom end of the fixed groove 4-4-3 is fixed at the upper end of the hydraulic cylinder; the fixing piece A4-4-8 is sleeved on the middle ground support hydraulic cylinder 4-5-3; one side of the fixing piece A4-4-8 is provided with the steering hydraulic cylinder A4-4-4, and the other side is provided with the pushing hydraulic cylinder A4-4-6; One end of the connecting block A4-4-5 is sleeved on the pushing hydraulic cylinder A4-4-6, and the other end of the connecting block A4-4-5 is connected with one end of the steering hydraulic cylinder A4-4-4; the fixing piece B4-4-9 is sleeved on the middle ground support hydraulic cylinder 4-5-3 at the lower side of the fixing piece A4-4-8; one side of the fixing piece B4-4-9 is provided with the steering hydraulic cylinder B4-4-10, and the other side is provided with the pushing hydraulic cylinder B4-4-11; one end of the connecting block B4-4-12 is sleeved on the pushing hydraulic cylinder B4-4-11, and the other end of the connecting block B4-4-12 is connected with one end of the steering hydraulic cylinder B4-4-10; The supporting sleeve 4-4-7 is arranged on the middle ground supporting hydraulic cylinder 4-5-3 at the lower side of the fixing piece A4-4-8; the two supporting legs of the supporting sleeve 4-4-7 are respectively fixed on the fixing piece A4-4-8 and the fixing piece B4-4-9; the front steering track 4-6 is similar to the rear steering track 4-3 and comprises a small roller B4-6-1, a large roller B4-6-2 and a chute mechanism B4-6-3; the small roller B4-6-1 is arranged at the upper end of a groove opening of the chute mechanism B4-6-3; the large roller B4-6-2 is arranged in a groove of the groove opening of the chute mechanism B4-6-3; the small roller B4-6-1 and the large roller B4-6-2 can be buckled with the upper surface and the lower surface of the supporting platform 4-2 to realize rolling fit; the pushing hydraulic cylinder A4-4-6 is connected with the rear ground supporting hydraulic cylinder 4-5-2 at the rear end of the supporting device 4-5 through a pin; the pushing hydraulic cylinder B4-4-11 is connected with the front ground supporting hydraulic cylinder 4-5-4 at the front end of the supporting device 4-5 through a pin; the supporting platform 4-2 is matched with the small roller A4-3-1 and the large roller A4-3-2 on the rear steering track 4-3, the small roller C4-4-1 and the large roller C4-4-2 on the steering mechanism 4-4 and the small roller B4-6-1 and the large roller B4-6-2 on the front steering track 4-6 in a rolling way, so that the rear steering track 4-3, the steering mechanism 4-4 and the front steering track 4-6 can roll on the supporting platform 4-2.
Referring to fig. 14 and 15, the wall surface supporting system 5 comprises a side surface supporting main beam 5-1, a side surface supporting platform 5-2, a pushing hydraulic cylinder 5-4 and a side surface supporting mechanism 5-3; the wall surface support system 5 is symmetrically arranged about the system main beams 1-5 in the suspension support system 1; the ground support system 4 is described below as an example; one end of each of the two groups of side support girders 5-1 on one side of the system girders 1-5 in the suspension support system 1 is fixed on the system girders 1-5 in the suspension support system 1 through bolts, and the other end of each of the two groups of side support girders 5-1 is fixed on the side support platform 5-2 through bolts. The side supporting mechanism 5-3 comprises an upper roller 5-3-1, a lower roller 5-3-6, a fixed table 5-3-2, a wall supporting seat 5-3, a front end wall supporting hydraulic cylinder 5-3-4 and a rear end wall supporting hydraulic cylinder 5-3-5; the upper roller 5-3-1 is arranged at the upper end of the groove-shaped opening of the fixed table 5-3-2; the lower roller 5-3-6 is arranged in a groove of the groove-shaped opening of the fixed table 5-3-2; the upper roller 5-3-1 and the lower roller 5-3-6 can be buckled with the upper surface and the lower surface of the side support platform 5-2 to realize rolling fit; the upper ends of the front end wall supporting hydraulic cylinder 5-3-4 and the rear end wall supporting hydraulic cylinder 5-3-5 are respectively fixed with the fixed table 5-3-2, and the lower ends are respectively connected with the wall supporting seat 5-3-3 through pins; the two groups of side supporting mechanisms 5-3 are connected through the pushing hydraulic cylinders 5-4; the two ends of the pushing hydraulic cylinder 5-4 are respectively fixed on the fixed tables 5-3-2 of the two groups of side supporting mechanisms 5-3; the wall surface supporting system 5 is characterized in that the pushing hydraulic cylinder 5-4 can realize the alternate rolling of the two side surface supporting mechanisms 5-3 on the side surface supporting platform 5-2.
The anchoring robot suitable for complex working conditions of the fully-mechanized coal mining face has the following advancing process characteristics:
S1: the whole equipment is installed on the laid suspension support system 1;
S2: when the motor 2-3 works, the power system 2 moves on the track 1-3 through the gear transmission system 2-4 to push the system main beam 1-5 connected with the power system to move, so that the supporting platform 4-2 and the side supporting platform 5-2 are driven to move together;
S3: the ground support system 4 and the wall support system 5 are arranged on two sides of the main beams 1-5 of the system, and the working processes of the systems on two sides are completely synchronous, and one side working process is taken as an example for description. At the beginning of the operation of the whole set of equipment, a front ground support hydraulic cylinder 4-5-4, a middle ground support hydraulic cylinder 4-5-3 and a rear ground support hydraulic cylinder 4-5-2 in a support device 4-5 are simultaneously supported on a roadway bottom plate; the front end wall supporting hydraulic cylinder 5-3-4 and the rear end wall supporting hydraulic cylinder 5-3-5 are simultaneously supported on the wall surface of the roadway, and the pushing hydraulic cylinder B4-4-11 and the pushing hydraulic cylinder 5-4 are in a contracted state. During operation, the front ground supporting hydraulic cylinder 4-5-4 and the front wall supporting hydraulic cylinder 5-3-4 shrink, the front steering rail 4-6 connected with the front ground supporting hydraulic cylinder 4-5-4 is pushed to move forwards to a designated position along the supporting platform 4-2 under the action of the pushing hydraulic cylinder B4-4-11, and meanwhile, the side supporting mechanism 5-3 connected with the front wall supporting hydraulic cylinder 5-3-4 is pushed to move forwards to the designated position along the side supporting platform 5-2 under the action of the pushing hydraulic cylinder 5-4. Then, the front ground supporting hydraulic cylinder 4-5-4 extends and is supported on the roadway bottom plate, and meanwhile, the front wall supporting hydraulic cylinder 5-3-4 extends and is supported on the roadway wall surface;
S4: the middle ground supporting hydraulic cylinder 4-5-3 is contracted, then the hydraulic cylinder B4-4-11 is pushed to contract, meanwhile, the hydraulic cylinder A4-4-6 is pushed to extend, the two hydraulic cylinders cooperate to enable the chute mechanism A4-3-3 connected with the middle ground supporting hydraulic cylinder 4-5-3 to move forwards to a designated position along the side supporting platform 5-2, and then the middle ground supporting hydraulic cylinder 4-5-3 extends and is supported on a roadway floor;
S5: the rear ground supporting hydraulic cylinder 4-5-2 and the rear wall supporting hydraulic cylinder 5-3-5 are contracted, the rear steering rail 4-3 connected with the rear ground supporting hydraulic cylinder 4-5-2 is pulled to move forwards to a designated position along the supporting platform 4-2 under the action of the pushing hydraulic cylinder A4-4-6, and meanwhile, the rear wall supporting hydraulic cylinder 5-3-5 is pulled to move forwards to the designated position along the side supporting mechanism 5-3 under the action of the pushing hydraulic cylinder 5-4. Then, the rear ground supporting hydraulic cylinder 4-5-2 extends and is supported on a roadway bottom plate, and meanwhile, the rear wall supporting hydraulic cylinder 5-3-5 is supported on a roadway wall surface, so that the distance of one travelling end of the whole equipment is realized; the continuous progress of the whole equipment can be realized by repeating the steps.
The anchoring robot suitable for complex working conditions of the fully-mechanized coal mining face has the turning process characteristics that the anchoring robot comprises the following steps:
S1: when the turning function of the whole equipment is realized, the front-end ground supporting hydraulic cylinder 4-5-4 is contracted, the front-end ground supporting hydraulic cylinder 4-5-4 can be driven to swing in the front steering track 4-6 under the telescopic action of the steering hydraulic cylinder B4-4-10, so that the front-end ground supporting hydraulic cylinder 4-5-4 is not positioned on a connecting line of the middle ground supporting hydraulic cylinder 4-5-3 and the rear-end ground supporting hydraulic cylinder 4-5-2, and then the front-end ground supporting hydraulic cylinder 4-5-4 is stretched and supported on a roadway bottom plate;
s2: the rear end ground support hydraulic cylinder 4-5-2 is contracted, and the rear end ground support hydraulic cylinder 4-5-2 can be driven to swing in the rear steering track 4-3 under the telescopic action of the steering hydraulic cylinder A4-4-4, so that the rear end ground support hydraulic cylinder 4-5-2, the middle ground support hydraulic cylinder 4-5-3 and the front end ground support hydraulic cylinder 4-5-4 are on the same straight line, and then the front end ground support hydraulic cylinder 4-5-4 extends and is supported on a roadway bottom plate, and turning actions are realized.
The anchoring robot suitable for complex working conditions of the fully-mechanized coal mining face is characterized by comprising the following steps:
S1: an anchor robot working platform 3-3 in the anchor robot system 3 descends by a certain height and keeps parallel with the ground under the combined action of an anchor robot connecting component 3-2, a folding hydraulic cylinder 3-3 and a ground supporting hydraulic cylinder 3-3-5, so that the supporting action is completed;
S2: the anchoring robot 3-4 and the anchor rod storage bracket 3-5-1 are simultaneously adjusted in position, so that one anchor rod in the anchor rod storage bracket 3-5-1 is installed on the anchor rod drilling machine 3-4-4-2, and anchor rod installation is completed;
s3: the two groups of anchoring robots 3-4 adjust different poses, so that the anchoring operation of the jumbolter 3-4-4-2 at different positions of the side surface and the top plate of the roadway can be realized, and the roadway support operation is completed.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and all such modifications and equivalents are intended to be encompassed in the scope of the claims of the present invention.
Claims (6)
1. An anchor robot suitable for combine to dig working face complex operating mode, characterized by: comprises a suspension support system, a power system, an anchoring robot system, a ground support system and a wall support system; the suspension support system is fixed at the top end of the coal mining roadway through an anchor rod and provides support for the anchor support robot; the power system is arranged at the tail end of a main beam of the system in the suspension support system; the anchoring robot system is arranged at the lower end of the main beam of the system in the suspension support system; the ground support system and the wall support system are both fixed on a system main beam in the suspension support system above the installation position of the anchoring robot system;
the ground support system comprises a support girder, a support platform, a rear steering rail, a steering mechanism, a support device and a front steering rail; the ground support system is symmetrically arranged about a system main beam in the suspension support system; the rear steering track comprises a small roller A, a large roller A and a chute mechanism A; the small roller A is arranged at the upper end of a groove opening of the sliding groove mechanism A; the steering mechanism comprises a small roller C, a large roller C, a fixed groove, a steering hydraulic cylinder A, a fixed part A, a pushing hydraulic cylinder A, a supporting sleeve, a fixed part B, a steering hydraulic cylinder B, a pushing hydraulic cylinder B, a connecting block A and a connecting block B; three groups of identical supporting devices are arranged on one side of the ground supporting system;
The anchoring robot system comprises a beam arm hydraulic cylinder group, an anchoring robot connecting assembly, an anchor rod storage device, an anchoring robot working platform and an anchoring robot unit; the anchoring robot connecting assembly comprises an upper connecting arm, a lower connecting arm and a connecting hydraulic cylinder group; the upper end of the anchoring robot connecting assembly is connected with the system main beam through a pin; the tail end of the anchoring robot connecting assembly is connected with the anchoring robot working platform through a pin; the anchoring robot working platform comprises an intermediate working platform, an arm platform connecting hydraulic cylinder, a folding hydraulic cylinder, a connecting rod A, a ground supporting hydraulic cylinder, a connecting rod B, a sliding block, a connecting rod C and a boundary working platform; the anchoring robot work platform is composed of three sections, and can realize a folding function;
the supporting device comprises a front-end ground supporting hydraulic cylinder, a middle ground supporting hydraulic cylinder, a rear-end ground supporting hydraulic cylinder and a supporting seat; the front steering track is similar to the rear steering track and comprises a small roller B, a large roller B and a chute mechanism B; the small roller B is arranged at the upper end of a groove opening of the sliding groove mechanism B; the support platform is matched with the small roller A and the large roller A on the rear steering track, the small roller C and the large roller C on the steering mechanism and the small roller B and the large roller B on the front steering track in a rolling way, so that the rear steering track, the steering mechanism and the front steering track can roll on the support platform;
The anchor rod storage device comprises a support rotating motor and an anchor rod storage support; the anchoring robot unit comprises a driving mechanism, a rotary table base, a large arm and an actuator; the driving mechanism can drive the turntable base to rotate so as to meet the requirements of different stations of the actuator; the large arm is connected with the turntable base and can swing relatively; the large arm and the actuator form a four-bar mechanism, so that the rotation angle of the actuator can be controlled; the actuator comprises an anchor rod drilling machine guide rail, a propulsion motor, an anchor rod drilling machine and a chain; the propulsion motor is arranged at the front end of the anchor rod drilling machine guide rail; the jumbolter is arranged on a sliding rod of the guide rail of the jumbolter through holes on two sides; the propulsion motor drives the jumbolter to move in the guide rail of the jumbolter through driving the chain.
2. The anchoring robot applicable to complex working conditions of fully-mechanized coal mining face according to claim 1, which is characterized in that: the wall surface supporting system comprises a side surface supporting main beam, a side surface supporting platform, a pushing hydraulic cylinder and a side surface supporting mechanism; the wall support system is symmetrically arranged about a system main beam in the suspension support system.
3. The anchoring robot applicable to complex working conditions of fully-mechanized coal mining face according to claim 2, which is characterized in that: the side supporting mechanism comprises an upper roller, a lower roller, a fixed table, a front-end wall supporting hydraulic cylinder, a rear-end wall supporting hydraulic cylinder and a wall supporting seat; the upper roller is arranged at the upper end of the groove-shaped opening of the fixed table; the lower roller is arranged in a groove of the groove-shaped opening of the fixed table; the upper roller and the lower roller can be buckled with the upper surface and the lower surface of the side support platform to realize rolling fit; the upper ends of the front-end wall supporting hydraulic cylinder and the rear-end wall supporting hydraulic cylinder are fixedly provided with the fixed table, and the lower ends of the front-end wall supporting hydraulic cylinder and the rear-end wall supporting hydraulic cylinder are connected with the wall supporting seat through pins; the two groups of side supporting mechanisms are connected through the pushing hydraulic cylinder; the two ends of the pushing hydraulic cylinder are respectively fixed on the fixed tables of the two groups of side supporting mechanisms.
4. An anchoring robot suitable for complex working conditions of fully-mechanized coal mining face according to claim 3, characterized in that the travelling process comprises the following steps:
s1: the whole set of equipment is arranged on a track laid on a roadway roof in advance;
S2: when the motor works, the power system moves on the track through the gear transmission system to push the system main beam connected with the power system to move, so that the support platform and the side support platform are driven to move together;
S3: the ground support systems and the wall support systems are arranged on two sides of the main beam of the system, the working processes of the systems on the two sides are completely synchronous, and one side working process is taken as an example for description; at the beginning of the operation of the whole set of equipment, a front ground supporting hydraulic cylinder, a middle ground supporting hydraulic cylinder and a rear ground supporting hydraulic cylinder in the supporting device are simultaneously supported on a roadway bottom plate; the front end wall supporting hydraulic cylinder and the rear end wall supporting hydraulic cylinder are simultaneously supported on the wall surface of the roadway, and the pushing hydraulic cylinder B and the pushing hydraulic cylinder are in a contracted state; when the front ground support hydraulic cylinder and the front wall support hydraulic cylinder are contracted, the front steering rail connected with the front ground support hydraulic cylinder is pushed to move forwards to a designated position along the support platform under the action of the pushing hydraulic cylinder B, and meanwhile, the side support mechanism connected with the front wall support hydraulic cylinder is pushed to move forwards to the designated position along the side support platform under the action of the pushing hydraulic cylinder; then, the front ground supporting hydraulic cylinder stretches to be supported on the roadway bottom plate, and meanwhile, the front wall supporting hydraulic cylinder stretches to be supported on the roadway wall surface;
S4: the middle ground supporting hydraulic cylinder is contracted, then the hydraulic cylinder B is pushed to be contracted, meanwhile, the hydraulic cylinder A is pushed to extend, the two hydraulic cylinders act together to enable the chute mechanism A connected with the middle ground supporting hydraulic cylinder to move forwards to a designated position along the side supporting platform, and then the middle ground supporting hydraulic cylinder extends and is supported on the roadway bottom plate;
S5: the rear end ground supporting hydraulic cylinder and the rear end wall supporting hydraulic cylinder shrink, the rear steering rail connected with the rear end ground supporting hydraulic cylinder is pulled to move forwards to a designated position along the supporting platform under the action of the pushing hydraulic cylinder A, and meanwhile, the rear end wall supporting hydraulic cylinder is pulled to move forwards to the designated position along the side supporting mechanism under the action of the pushing hydraulic cylinder; then, the rear ground supporting hydraulic cylinder extends and is supported on the roadway bottom plate, and meanwhile, the rear wall supporting hydraulic cylinder is supported on the roadway wall surface, so that the whole equipment can travel for a certain distance; the continuous progress of the whole equipment can be realized by repeating the steps.
5. An anchoring robot adapted to complex conditions of a fully-mechanized coal mining face according to claim 3, characterized in that the turning process comprises the steps of:
S1: when the turning function of the whole equipment is realized, the front-end ground support hydraulic cylinder is contracted, and the front-end ground support hydraulic cylinder can be driven to swing in the front steering track under the telescopic action of the steering hydraulic cylinder B, so that the front-end ground support hydraulic cylinder is not positioned on a connecting line of the middle ground support hydraulic cylinder and the rear-end ground support hydraulic cylinder, and then the front-end ground support hydraulic cylinder extends and is supported on a roadway bottom plate;
S2: the rear end ground support hydraulic cylinder contracts, and the rear end ground support hydraulic cylinder can be driven to swing in the rear steering track under the telescopic action of the steering hydraulic cylinder A, so that the rear end ground support hydraulic cylinder, the middle ground support hydraulic cylinder and the front end ground support hydraulic cylinder are on the same straight line, and then the front end ground support hydraulic cylinder extends and is supported on a roadway bottom plate, and turning action is realized.
6. The anchoring robot for complex working conditions of fully-mechanized coal mining face according to claim 5, wherein the anchoring process comprises the following steps:
s1: an anchoring robot working platform in the anchoring robot system descends by a certain height and keeps parallel with the ground under the combined action of an anchoring robot connecting assembly, a folding hydraulic cylinder and a ground supporting hydraulic cylinder, so that the supporting action is completed;
S2: the position and the posture of the anchoring robot unit and the anchor rod storage bracket are adjusted simultaneously, so that one anchor rod in the anchor rod storage bracket is installed into the anchor rod drilling machine, and the anchor rod installation action is completed;
S3: the two groups of anchoring robot units adjust different poses, so that anchoring operation of the jumbolter at different positions of the side surface and the top plate of the roadway can be realized, and supporting operation of the roadway can be completed.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010040881.5A CN111119960B (en) | 2020-01-13 | 2020-01-13 | Anchor robot suitable for combine to dig complicated operating mode of working face |
| AU2020220120A AU2020220120A1 (en) | 2020-01-13 | 2020-08-19 | Anchoring robot applicable to complicated work conditions of fully mechanized excavation working face |
| NL2026313A NL2026313B1 (en) | 2020-01-13 | 2020-08-20 | Anchoring robot applicable to complicated work conditions of fully mechanized excavation working face |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010040881.5A CN111119960B (en) | 2020-01-13 | 2020-01-13 | Anchor robot suitable for combine to dig complicated operating mode of working face |
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| CN111119960A CN111119960A (en) | 2020-05-08 |
| CN111119960B true CN111119960B (en) | 2024-07-09 |
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| CN202010040881.5A Active CN111119960B (en) | 2020-01-13 | 2020-01-13 | Anchor robot suitable for combine to dig complicated operating mode of working face |
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| Country | Link |
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| CN (1) | CN111119960B (en) |
| AU (1) | AU2020220120A1 (en) |
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| CN111608705A (en) * | 2020-06-01 | 2020-09-01 | 安徽理工大学 | A walking type anchor support robot for fully mechanized excavation face |
| CN112065429A (en) * | 2020-09-30 | 2020-12-11 | 江西蓝翔重工有限公司 | Supporting mechanism for suspension rail equipment |
| CN113338794B (en) * | 2021-07-22 | 2023-09-19 | 抚顺罕王傲牛矿业股份有限公司 | Underground horizontal drilling track moving platform |
| CN113882888B (en) * | 2021-11-01 | 2024-04-19 | 安徽理工大学 | Double-door type efficient and rapid circulation self-moving anchor supporting integrated equipment and control method |
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- 2020-08-20 NL NL2026313A patent/NL2026313B1/en not_active IP Right Cessation
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| CN211598706U (en) * | 2020-01-13 | 2020-09-29 | 安徽理工大学 | Anchoring robot suitable for complex working condition of fully mechanized excavation working face |
Also Published As
| Publication number | Publication date |
|---|---|
| NL2026313B1 (en) | 2022-04-06 |
| NL2026313A (en) | 2021-08-30 |
| AU2020220120A1 (en) | 2021-07-29 |
| CN111119960A (en) | 2020-05-08 |
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