CN113279790A - Working face support withdrawing robot and working method thereof - Google Patents
Working face support withdrawing robot and working method thereof Download PDFInfo
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- CN113279790A CN113279790A CN202110718821.9A CN202110718821A CN113279790A CN 113279790 A CN113279790 A CN 113279790A CN 202110718821 A CN202110718821 A CN 202110718821A CN 113279790 A CN113279790 A CN 113279790A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 137
- 210000000078 claw Anatomy 0.000 claims description 84
- 230000032258 transport Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 7
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 210000001145 finger joint Anatomy 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 6
- 238000005065 mining Methods 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 19
- 230000009471 action Effects 0.000 description 6
- 239000003245 coal Substances 0.000 description 4
- 239000000725 suspension Substances 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 239000000178 monomer Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 229910001234 light alloy Inorganic materials 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 238000004901 spalling Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/60—Devices for withdrawing props or chocks
- E21D15/606—Devices for withdrawing props or chocks the props being moved systematically
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention discloses a working face support withdrawing robot and a working method thereof, wherein the working face support withdrawing robot comprises a chassis, a traveling mechanism, a stand column withdrawing mechanism and a cross beam withdrawing mechanism, wherein the stand column withdrawing mechanism and the cross beam withdrawing mechanism both adopt multi-degree-of-freedom mechanical arms, and the grabbing task is completed by matching the mechanical arms at all levels; the cross beam withdrawing mechanism is matched with the work of the stand column withdrawing mechanism to lift the cross beam, so that the stability of the cross beam in the withdrawing process of the single hydraulic prop of the stand column withdrawing mechanism is ensured; the upright post withdrawing mechanism is provided with an unloading unit to realize unloading of the single hydraulic prop; the first camera unit and the second camera unit are used for collecting actual image data of the corresponding operation object of the first clamping hand and the second clamping hand, mechanization and automation of a working face supporting withdrawing process are achieved, supporting withdrawing work efficiency of the fully mechanized mining face is improved, labor intensity of workers is greatly reduced, and potential safety hazards of underground operation workers are reduced.
Description
Technical Field
The invention belongs to the technical field of coal mine machinery technology, and particularly relates to a working face support withdrawing robot and a working method thereof.
Background
At present, the supporting and protecting use amount of the underground fully mechanized coal mining face is huge, the withdrawing work of single hydraulic supporting columns of a roadway is the final link of withdrawing the whole working face, and a great amount of columns are permanently supported on the exploited working face, so that great waste is caused. However, in the process of withdrawing the hydraulic upright, the smooth proceeding of the withdrawing operation is affected to different degrees due to the rib spalling, the broken strut, the sinking of the top plate, the frame pressing and the like.
The single hydraulic prop and the cross beam are adopted for supporting the working face at present, wherein the single hydraulic prop is mostly used for DWX hydraulic props, the plunger suspension technical principle is adopted, the suspension force reaches four fifths of the working resistance, the stress of the hydraulic prop is only one fifth, the stability and the safety of the prop are greatly improved, and the supporting height, the bearing capacity and the unbalance loading resistance of the prop are also improved; according to different specifications of the strut, the weight of the whole strut of the suspension type hydraulic strut is reduced by more than 15-30% compared with that of a piston type hydraulic strut, and is even lighter than that of a light alloy strut, the supporting capacity is improved by 25%, the application range is expanded by 200%, the minimum height of the strut is greatly shortened, and the suspension type hydraulic strut is convenient to move, transport and use; the single hydraulic prop has no piston in the oil cylinder and no internal leakage; the single hydraulic prop has large hydraulic working stroke, and the application range is enlarged; especially, the top plate sinks to a larger working face, the large-stroke support can still meet the requirement of large constant resistance-increasing distance-reducing, the support is convenient to return, and the recovery rate of the support is also improved.
When the working face support is arranged, the working face support is strictly paid attention to and checked for support specification and quality, horizontal rows and vertical lines are guaranteed, hydraulic support columns are erected to be perpendicular to a top plate, the working faces of single hydraulic support columns cannot be used in a mixed mode with support columns with different properties, and unqualified support columns need to be checked and corrected or replaced. The working face pillar is matched with the top beam for use, namely 'number matching seating' and 'board management', and after the hydraulic pillar lifting operation is finished, the hydraulic pillar must be ensured to reach the rated initial supporting force.
At present, most mine retraction working faces generally adopt a single-channel single-wing rapid retraction moving process, a wood pile is matched with a working face to support a retraction channel, when a face is mined and a rod is moved, at least two persons need to operate, one person puts prepared hydraulic support columns into dug column nests close to a large wall and plants a middle roof in advance, the two hydraulic support columns are firmly filled with coal, and the other person carries out liquid discharge and unloading on monomers on the old pond side. The withdrawing mode causes the labor intensity of workers to be high, the withdrawing efficiency of the working face is low, and the potential safety hazard of the withdrawing work is increased.
Disclosure of Invention
In order to solve the problems, the invention provides a working surface support withdrawing robot and a working method thereof.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a working face support withdrawing robot is used for withdrawing single hydraulic supports and cross beams of a working face support, wherein a plurality of single hydraulic supports are vertically arranged, and two ends of each cross beam are respectively connected to the tops of two single hydraulic supports; the working face supporting and withdrawing robot comprises a chassis and a traveling mechanism arranged at the bottom of the chassis, and further comprises:
a mounting base mounted on the chassis;
the strut withdrawing mechanism comprises a first multi-degree-of-freedom mechanical arm; the first multi-degree-of-freedom mechanical arms are multiple and are respectively installed on the installation base; the first multi-degree-of-freedom mechanical arm comprises a first mechanical arm, a first clamping hand and a first camera unit; the first clamping hand comprises a clamping jaw and an unloading unit; the clamping jaws are used for grabbing the single hydraulic prop; the unloading unit comprises a fixed seat, a moving body and an unloading top block, wherein the fixed seat is installed on the first clamping hand; the fixed seat is connected with the moving body in a sliding way; the movable body is provided with the unloading top block; the unloading jacking block pushes a pressure relief valve switch of the single hydraulic prop to release hydraulic oil in the single hydraulic prop; the first camera unit is used for acquiring actual image data of the operating object corresponding to the first clamping hand and transmitting the actual image data to an operating driver in real time;
the beam withdrawing mechanism comprises a second multi-freedom-degree mechanical arm which is arranged in the middle of the mounting base; the second multi-degree-of-freedom mechanical arm comprises a second mechanical arm, a second clamping hand and a second camera unit; the second clamping hand comprises a beam supporting claw and a top supporting unit; the beam supporting claw wraps the bottom surface, the left side wall and the right side wall of the beam; the top bracing unit comprises a linear telescopic piece and a first sensor; the linear telescopic piece is telescopic according to the distance between the cross beam supporting claw and the cross beam; the first sensor is connected with the linear telescopic piece; the second camera unit is used for acquiring actual image data of the operating object corresponding to the second clamping hand and transmitting the actual image data to the operating driver in real time;
a power concentration station installed at an upper portion of the chassis; the power concentration station comprises a control unit, a driver operating platform, a hydraulic pump station and a lighting lamp; the control unit is connected with the driver operating platform and the hydraulic pump station and controls the motion states of the strut withdrawing mechanism and the beam withdrawing mechanism; the driver console comprises a display device and a driver operating platform, wherein the display device is connected with the first camera unit and the second camera unit.
The device further comprises a support leg mechanism which is respectively arranged in front of and behind the travelling mechanism and used for supporting the chassis; and one end of the supporting leg mechanism is rotatably arranged at the bottom of the chassis, and the other end of the supporting leg mechanism is used for supporting the ground.
Further, the running gear comprises a running track assembly.
Further, still include, elevating system includes, vertical flexible unit and four link assembly, wherein, vertical flexible unit and four link assembly parallel mount, uniform end connect the top surface on chassis, the other end is connected the mounting base.
Furthermore, the clamping jaw comprises a paw lifting unit, a finger joint rotating unit and a clamping unit, wherein the paw lifting unit comprises a fixed frame, a guide rod, a lifting slide block and a first telescopic element, the fixed frame is a U-shaped bracket, the guide rod penetrates through two vertical surfaces of the U-shaped bracket, and the lifting slide block is slidably mounted on the guide rod; the fixed end of the first telescopic element is arranged on the fixed frame, and the movable end of the first telescopic element is arranged on the lifting slide block; the knuckle rotating unit comprises a first swinging element and a rotating base, wherein the fixed end of the first swinging element is installed on the lifting slide block, and the rotating base is installed on the movable end of the first swinging element; the clamping unit is arranged on the rotary base and comprises an arc-shaped plate, clamping fingers, a second telescopic element and a second sensor, wherein the arc-shaped plate is arranged in the middle of the rotary base, and the clamping fingers are at least two and are arranged by taking the central axis of the arc-shaped plate as a symmetrical axis; the second telescopic element is arranged between the clamping finger and the rotary base, the movable end of the second telescopic element is connected with the clamping finger, and the clamping finger is connected with the second sensor; and the unloading unit is arranged on the lifting slide block.
Further, the first mechanical arm comprises a first base rotating unit, a first vertical arm, a first cross arm, a first telescopic arm, a first arm connecting rod and a first pitching mechanism; the fixed end of the first base rotary unit is arranged on the mounting base and is used for completing the rotary motion of the first mechanical arm; one end of the first vertical arm is arranged on the movable end of the first base rotary unit; the other end of the first vertical arm is hinged with one end of the first cross arm; the other end of the first cross arm is connected with the fixed end of the first telescopic arm; the first arm connecting rod is a hydraulic telescopic rod, and two ends of the first arm connecting rod are respectively hinged with the first vertical arm and the first cross arm; the first pitching mechanism comprises a first rotating element and a slewing bracket; wherein a fixed end of the first rotating element is mounted on a moving end of the first telescopic arm; one end of the rotary support is rotatably arranged on the rotary output end of the first rotating element, and the other end of the rotary support is connected with the first clamping hand.
Further, the second mechanical arm comprises a second base rotary unit, a second vertical arm, a second cross arm, a second telescopic arm, a second arm connecting rod, a supporting claw pitching mechanism, a supporting claw rotary mechanism and a supporting claw rotary element; the fixed end of the second base rotary unit is arranged in the middle of the mounting base and is used for completing the rotary motion of the second mechanical arm; one end of the second vertical arm is arranged on the movable end of the second base rotary unit; the other end of the second vertical arm is hinged with one end of the second cross arm; the other end of the second cross arm is connected with the fixed end of the second telescopic arm; the second arm connecting rod is a hydraulic telescopic rod, and two ends of the second arm connecting rod are respectively hinged with the second vertical arm and the second cross arm; the supporting claw pitching mechanism comprises a supporting claw rotary support and a second rotating element, wherein one end of the supporting claw rotary support is rotatably arranged on the rotary output end of the second rotating element, and the second rotating element is arranged on the moving end of the second telescopic arm; the supporting claw rotating mechanism comprises a supporting claw swinging element and a supporting claw rotating base, wherein the fixed end of the supporting claw swinging element is installed on the other end of the supporting claw rotating support, and the supporting claw rotating base is installed on the movable end of the supporting claw swinging element; the fixed end of the supporting claw rotating element is installed on the supporting claw rotating base, and the rotating output end of the supporting claw rotating element is connected with the second clamping hand.
A use method of a working face support withdrawing robot further comprises the following specific steps:
after a driver checks that equipment is normal, starting a working surface support withdrawing robot, and driving the working surface support withdrawing robot to a specified working surface position by a walking mechanism;
step two, stopping the steady running mechanism;
thirdly, a driver operates the beam retracting mechanism through a driver operating platform according to actual image data acquired by a second camera unit displayed by a display device, adjusts a second mechanical arm, enables a beam supporting claw of a second clamping hand to wrap the bottom surface, the left side wall and the right side wall of the beam, and gives a second mechanical arm stop signal through the driver operating platform; the control unit gives an instruction to control the second mechanical arm to stop moving; a driver starts the top support unit to perform telescopic motion, the first sensor collects the motion state of the linear telescopic part, and when the numerical value collected by the first sensor reaches a preset threshold value, the control unit judges that the cross beam is clamped tightly and controls the hydraulic pump station to stop the motion of the linear telescopic part; keeping a second mechanical arm of the beam withdrawing mechanism in a stop motion state, and enabling a second clamping hand to continuously support the beam;
step four: the method comprises the steps that a driver operates an upright post withdrawing mechanism through a driver operating platform according to actual image data acquired by a first camera unit displayed by a display device to adjust a first mechanical arm, an unloading top block corresponds to an unloading port of a hydraulic support through the actual image data acquired by the first camera unit, a first mechanical arm stop signal is given through the driver operating platform, and a control unit gives an instruction to control the first mechanical arm to stop moving; the clamping jaw is adjusted through a driver operating platform to grab the single hydraulic prop; a driver continues to operate the moving body for adjusting the unloading unit, the unloading top block enters the unloading port to push the pressure relief valve switch, and hydraulic oil in the single hydraulic prop is released;
fifthly, the clamping jaw of the upright post withdrawing mechanism and the single hydraulic prop keep a clamping state, the upright post withdrawing mechanism is operated through a driver operation platform, a withdrawing movement signal of the first mechanical arm is given, the control unit gives an instruction, the first mechanical arm and the step four are controlled to move reversely, withdrawing of the single hydraulic prop is completed, and the single hydraulic prop is conveyed to a specified transport vehicle outside a mine;
sixthly, the crossbeam supporting claw of the crossbeam withdrawing mechanism and the crossbeam are kept in a clamping state, the crossbeam withdrawing mechanism is operated through a driver operating platform, a withdrawing movement signal of a second mechanical arm is given, a control unit gives an instruction, the second mechanical arm is controlled to move in the opposite direction of the third step, the withdrawing of the single hydraulic prop is completed, and the single hydraulic prop is conveyed to a specified transport vehicle outside a mine;
step seven: and repeating the second step and the sixth step, withdrawing the single hydraulic prop and the cross beam of the working face, and transporting the single hydraulic prop and the cross beam out of the appointed mine transport vehicle.
Further, in the second step, the step of stably stopping the traveling mechanism specifically includes stopping the traveling mechanism and operating the supporting leg mechanism to rotate so that one end of the supporting leg mechanism supporting the ground contacts the ground.
Furthermore, in the third step, after the second mechanical arm is completely extended, the beam supporting claw of the second clamping hand cannot wrap the bottom surface, the left side wall and the right side wall of the beam, an instruction for starting the lifting mechanism is given through the driver operating platform, the control unit gives a control signal, the telescopic unit is extended, when the beam supporting claw of the second clamping hand wraps the bottom surface, the left side wall and the right side wall of the beam, an instruction for stopping the lifting mechanism is given through the driver operating platform, the control unit gives a control signal, and the telescopic unit stops moving.
The invention has the following beneficial effects:
firstly, in the invention, the upright post withdrawing mechanism and the cross beam withdrawing mechanism both adopt multi-degree-of-freedom mechanical arms, and the grabbing task is completed by using the mechanical arms at all levels in a matched manner; the cross beam withdrawing mechanism is matched with the work of the stand column withdrawing mechanism to lift the cross beam supporting the top plate, so that the stability of the cross beam in the process of withdrawing the single hydraulic prop by the stand column withdrawing mechanism is ensured; the upright post withdrawing mechanism is provided with an unloading unit to realize unloading of the single hydraulic prop and drop of the movable rod; the first camera unit and the second camera unit are used for acquiring actual image data of the operating objects corresponding to the first clamping hand and the second clamping hand, the actual image data are transmitted to an operating driver in real time, the driver can conveniently adjust the upright post withdrawing mechanism and the cross beam withdrawing mechanism, accurate operation is realized under the condition of poor sight of a working face, and the mechanical and automatic working face support disassembling and withdrawing process is realized by avoiding an impact event; the fully mechanized coal mining face support withdrawing work efficiency is improved, the labor intensity of workers is greatly reduced, the potential safety hazard of underground operation workers is reduced, the waste of mineral resources is avoided, and the work efficiency and the safety are improved.
And secondly, a supporting leg mechanism is added to help stabilize the working surface support retraction robot to stop working stably, so that the situation of skidding or out of control under severe working conditions is avoided.
Thirdly, a walking crawler is used as a walking mechanism, and the crawler controls the whole robot to move forward and provides forward power; the functions of climbing, obstacle crossing and the like can be realized, the specified position can be reached, and the adaptability of the bottom plate is stronger.
Fourthly, the lifting mechanism provides a stable and liftable chassis for the work of the upright post retracting mechanism and the beam retracting mechanism, and compensates the displacement of each execution unit in the vertical direction; the vertically telescopic oil cylinder is responsible for the lifting motion of the lifting mechanism, and the four-connecting-rod assembly prevents the mounting base from generating transverse and front-back displacement due to large load.
Fifthly, clamping the single hydraulic prop by the clamping jaw of the upright post withdrawing mechanism, and moving the clamping jaw in the vertical direction through the paw lifting unit without changing the distance between the clamping jaw and the single hydraulic prop; the finger joint rotating unit is matched with the clamping unit, the clamping unit can stably clamp the single hydraulic prop under the inclination of various angles, and the second sensor is additionally arranged in the clamping unit and used for judging the clamping state, so that the judgment is accurate, and the action response is more timely.
Drawings
FIG. 1 is a schematic view of the overall configuration of the present invention when not in operation;
FIG. 2 is a schematic view of the overall structure of the column retracting mechanism and the beam retracting mechanism of the present invention during operation;
FIG. 3 is a schematic structural view of the present invention in cooperation with a single hydraulic prop and cross member;
FIG. 4 is a schematic structural view of the lifting mechanism of the present invention when not in operation;
FIG. 5 is a schematic structural view of the lifting mechanism of the present invention;
FIG. 6 is a schematic structural view of the pillar retracting mechanism of the present invention;
FIG. 7 is a schematic structural view of a beam retracting mechanism of the present invention;
FIG. 8 is a schematic diagram of the fitting structure of the lifting slider, the knuckle rotating unit, the clamping unit and the unloading unit according to the present invention;
FIG. 9 is an enlarged view of portion A of FIG. 3;
FIG. 10 is an enlarged view of portion B of FIG. 3;
description of the symbols:
1. the device comprises a traveling mechanism, 2 a chassis, 3 a power concentration station, 4 a mounting base, 5 a lifting mechanism, 5-1 a four-link assembly, 5-2 an oil cylinder, 6 an upright post withdrawing mechanism, 6-1 a fixed frame, 6-2 a guide rod, 6-3 a first telescopic element, 6-4 a lifting sliding block, 6-5 a fixed seat, 6-6 a moving body, 6-7 an unloading top block, 6-8 an upright post base, 6-9 an upright post arm swinging element, 6-10 an upright post rotating top plate, 6-11 a first upright arm, 6-12 a first cross arm, 6-13 a first telescopic arm, 6-14 a first rotating element, 6-15 a rotary bracket, 6-16 a rotary base, 6-17 an arc-shaped plate, 6-18 clamping fingers and a clamping device, 6-19 parts of second telescopic element, 6-20 parts of first arm connecting rod, 6-21 parts of first camera unit, 7 parts of beam retracting mechanism, 7-1 parts of beam supporting claw, 7-2-1 parts of linear telescopic part, 7-2-2 parts of gasket, 7-3 parts of beam base, 7-4 parts of beam arm swinging element, 7-5 parts of beam rotating top plate, 7-6 parts of second vertical arm, 7-7 parts of second cross arm, 7-8 parts of second arm connecting rod, 7-9 parts of second telescopic arm, 7-10 parts of supporting claw rotating bracket, 7-11 parts of second rotating element, 7-12 parts of supporting claw rotating base, 7-13 parts of supporting claw swinging element, 7-14 parts of supporting claw rotating element, 7-15 parts of second camera unit, 8 parts of supporting leg mechanism, 101. Hydraulic prop, 102 cross beam.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
As shown in fig. 1 to 10, a working face support withdrawing robot for withdrawing individual hydraulic props 101 and beams 102 of a working face support and transporting to a designated mine transportation vehicle; a plurality of single hydraulic supports 101 are vertically arranged, and two ends of the cross beam 102 are respectively connected to the tops of the two single hydraulic supports 101; a working face support withdrawing robot comprises a traveling mechanism 1, a chassis 2, a power concentration station 3, a mounting base 4, a lifting mechanism 5, a stand column withdrawing mechanism 6, a cross beam withdrawing mechanism 7 and a supporting leg mechanism 8.
The walking mechanism 1 is arranged at the bottom of the chassis 2 and comprises a walking crawler assembly; the robot can better adapt to the landform and the landform of a working surface, and the robot can pass smoothly; support leg mechanisms 8, preferably 4, which are respectively arranged in front of and behind the travelling mechanism 1 and 2 in front of and behind the travelling mechanism 1 and used for supporting the chassis 2; one end of the supporting leg mechanism 8 is rotatably arranged at the bottom of the chassis 2, the other end of the supporting leg mechanism is used for supporting the ground, when the walking mechanism stops, the supporting leg mechanism 8 rotates to enable one end of the supporting ground to be in contact with the ground, and therefore the stable operation of the working face support retraction robot is stabilized.
A mounting base 4 mounted on the chassis 2, preferably the mounting base is provided with a horizontal mounting surface and vertical mounting surfaces each located on a side wall; the lifting mechanism 5 is arranged between the chassis 2 and the mounting base 4 and comprises a vertical telescopic unit and a four-connecting-rod assembly 5-1, preferably, the vertical telescopic unit is an oil cylinder 5-2, wherein the oil cylinder 5-2 and the four-connecting-rod assembly 5-1 are arranged in parallel, one end of the oil cylinder is connected with the top surface of the chassis 2, the other end of the oil cylinder is connected with the mounting base 4, and the oil cylinder 5-2 is connected with the mounting base 4 through a telescopic end; preferably, the three oil cylinders 5-2 are arranged in an isosceles triangle shape, the three oil cylinders 5-2 which stretch in the vertical direction are responsible for the telescopic lifting mechanism 5, the four-link assembly prevents the mounting base 4 from displacing transversely and back and forth due to a large load, and the four-link assembly provides a stable and liftable base for the work of the upright post retracting mechanism 6 and the beam retracting mechanism 7 to complement the displacement of each execution unit in the vertical direction.
The upright post withdrawing mechanism 6 and the cross beam withdrawing mechanism 7 are actuating mechanisms of the scheme of the invention, and both comprise a multi-degree-of-freedom mechanical arm, and the tasks of grabbing the single hydraulic prop are completed by matching the mechanical arms at all levels.
The upright post withdrawing mechanism 6 comprises a plurality of first multi-degree-of-freedom mechanical arms which are respectively arranged on the mounting base 4, and preferably, the first multi-degree-of-freedom mechanical arms are respectively arranged on a vertical mounting surface of the mounting base 4; the first multi-degree-of-freedom mechanical arm comprises a first mechanical arm, a first clamping hand and first camera units 6-21; preferably, the first multi-degree-of-freedom mechanical arm is a 6-degree-of-freedom mechanical arm, the first clamping hand comprises two movement works of clamping and unloading, and the first camera unit 6-21 provides real-time operation position image data for driver operation.
The first clamping hand comprises a clamping jaw and an unloading unit; the clamping jaws are used for grabbing the single hydraulic prop 101; the clamping jaw comprises a paw lifting unit, a knuckle rotating unit and a clamping unit, wherein the paw lifting unit comprises a fixed frame 6-1, a guide rod 6-2, a lifting slide block 6-4 and a first telescopic element 6-3, the fixed frame 6-1 is a U-shaped bracket, the guide rod 6-2 penetrates through two vertical surfaces of the U-shaped bracket, the lifting slide block 6-4 is slidably mounted on the guide rod 6-2, and preferably at least 2 guide rods 6-2 are arranged to ensure that the lifting slide block 6-2 can stably slide; the fixed end of the first telescopic element 6-3 is arranged on the fixed frame 6-1, the movable end is arranged on the lifting slide block 6-4, the lifting slide block 6-4 slides on the fixed frame 6-1 along the guide rod 6-2 in a reciprocating manner, and preferably, the first telescopic element 6-3 is a telescopic oil cylinder; the knuckle rotating unit comprises a first swinging element and a rotating base 6-16, wherein the fixed end of the first swinging element is installed on the lifting slide block 6-4, the rotating base 6-16 is installed on the movable end of the first swinging element, and preferably, the first swinging element is a swinging hydraulic cylinder or a gear rack swinging oil cylinder; the clamping units are arranged on the rotary bases 6-16 and comprise arc-shaped plates 6-17, clamping fingers 6-18, second telescopic elements 6-19 and second sensors, the arc-shaped plates 6-17 are arranged in the middle of the rotary bases 6-16, and at least two clamping fingers 6-18 are arranged and arranged by taking the central shafts of the arc-shaped plates 6-17 as symmetrical axes; the second telescopic elements 6-19 are arranged between the clamping fingers 6-18 and the rotary base 6-16, the movable ends of the second telescopic elements 6-19 are connected with the clamping fingers 6-18, and preferably, the second telescopic elements 6-19 are telescopic hydraulic cylinders; the second telescopic unit is connected with the clamping fingers 6-18, the motion state of the second telescopic unit is judged through a second sensor, preferably, the second sensor is a pressure sensor, and when the second telescopic unit works, the clamping fingers 6-18 on both sides of the arc-shaped plates 6-17 are pushed by the second telescopic elements 6-19 to approach each other, so as to clamp the single hydraulic prop 101, specifically, the arc-shaped plates 6-17 are pressed against one side wall of the single hydraulic prop 101, the gripping fingers 6-18 are then gripped towards the middle, and when the pressure picked up by the second sensor reaches a predetermined threshold, it is determined that the monomer hydraulic prop has been clamped, the second telescopic element 6-19 stops moving, therefore, the single hydraulic prop 101 is fixed from three directions, the completion of the clamping action is identified through the second sensor, the judgment is accurate, and the action response is more timely.
The unloading unit is arranged on the lifting slide block 6-4 and comprises a fixed seat 6-5, a moving body 6-6 and an unloading top block 6-7, wherein the fixed seat 6-5 is arranged on the lifting slide block 6-4; the moving body 6-6 is connected to the fixed seat 6-5 in a sliding manner, preferably, a sliding rail is arranged on the fixed seat 6-5, a corresponding sliding groove is arranged on the moving body 6-6, and the moving body 6-6 is connected with a hydraulic telescopic cylinder to control the moving body 6-6 to slide; the unloading top block 6-7 is arranged on the moving body 6-6, preferably, the moving body 6-6 is provided with a groove body for clamping the pressure relief valve, and the unloading top block 6-7 is arranged on the side wall of the groove body and extends inwards; the unloading top blocks 6-7 push the pressure relief valve switches of the single hydraulic props 101 to release hydraulic oil in the single hydraulic props 101, so that the movable props of the single hydraulic props 101 fall back.
The first mechanical arm comprises a first base rotating device, a first vertical arm 6-11, a first cross arm 6-12, a first telescopic arm 6-13, a first arm connecting rod 6-20 and a first pitching mechanism; the first base slewing device comprises a stand column base 6-8, a stand column arm swinging element 6-9 and a stand column rotating top plate 6-10, wherein the stand column base 6-8 is installed on the installation base 4, the fixed end of the stand column arm swinging element 6-9 is fixedly connected with the stand column base 6-8, the movable end of the stand column arm swinging element 6-9 is connected with one end of the stand column rotating top plate 6-10, and preferably, the stand column arm swinging element 6-9 is a swinging hydraulic cylinder or a gear rack swinging oil cylinder; the other end of the upright post rotating top plate 6-10 is connected with one end of a first vertical arm 6-11; the other end of the first vertical arm 6-11 is hinged with one end of the first cross arm 6-12; the other end of the first cross arm 6-12 is connected with the fixed end of a first telescopic arm 6-13, preferably, the first telescopic arm 6-13 is a hydraulic telescopic rod; the first arm connecting rod 6-20 is a hydraulic rod telescopic rod, two ends of the first arm connecting rod are respectively hinged with the first vertical arm 6-11 and the first cross arm 6-12, and the first pitching mechanism comprises a rotary support 6-15 and a first rotating element 6-14, wherein one end of the rotary support 6-15 is rotatably installed on the rotary output end of the first rotating element 6-14, and the other end of the rotary support is connected with the fixed frame 6-1; the first rotating member 6-14 is mounted on the moving end of the telescopic arm 6-13 of the upright, and preferably, the first rotating member 6-14 is a rotating motor.
The first camera shooting unit 6-21 is arranged at the top of the fixed frame 6-1, so that the camera shooting range of the first camera shooting unit is not shielded by the clamping jaw; preferably, the first camera unit 6-21 is an intrinsic safety type camera; the first camera units 6-21 collect actual image data of the operating objects corresponding to the first clamping hands, transmit the actual image data to an operating driver in real time, facilitate the driver to adjust the first mechanical arm, the clamping jaw and the unloading unit, and accurately operate under the condition that the sight of a working face is not good, so that impact events are avoided.
The beam withdrawing mechanism comprises a second multi-degree-of-freedom mechanical arm, preferably, the second multi-degree-of-freedom mechanical arm is a 6-degree-of-freedom mechanical arm, and is arranged in the middle of the mounting base 4, preferably, on a horizontal mounting surface of the mounting base 4; the second multi-degree-of-freedom mechanical arm comprises a second mechanical arm, a second clamping hand and second camera units 7-15; the second clamping hand is used for grabbing the beam 102; the second clamping hand comprises a beam supporting claw 7-1 and a top support unit; the cross beam supporting claw 7-1 wraps the bottom surface, the left side wall and the right side wall of the cross beam, and preferably, the cross beam supporting claw 7-1 is provided with a U-shaped groove which is used for wrapping the bottom surface, the left side wall and the right side wall of the cross beam; the jacking unit comprises a linear expansion piece 7-2-1 and a first sensor, wherein the linear expansion piece 7-2-1 performs telescopic motion according to the distance between the cross beam supporting claw 7-1 and the cross beam 102, the first sensor is connected with the linear expansion piece, preferably, in order to protect the surface of the cross beam 102 of the single hydraulic prop, a gasket 7-2-2 made of soft materials is arranged at the end part of the linear expansion piece 7-2-1, the linear expansion piece 7-2-1 is a telescopic hydraulic rod, the first sensor is a pressure sensor, and when the pressure collected by the first sensor reaches a preset threshold value, the linear expansion piece 7-2-1 stops moving; the completion of the clamping action is collected through the first sensor, the judgment is accurate, and the collection action response is more timely.
The second mechanical arm comprises a second base rotary unit, a second vertical arm 7-6, a second cross arm 7-7, a second telescopic arm 7-9, a second arm connecting rod 7-8, a supporting claw pitching mechanism, a supporting claw rotating mechanism and a supporting claw rotating element; the second base rotating device comprises a beam base 7-3, a beam arm swinging element 7-4 and a beam rotating top plate 7-5, wherein the beam base 7-3 is installed on the installation base 5-1, the fixed end of the beam arm swinging element 7-4 is fixedly connected with the beam base 7-3, the movable end of the beam arm swinging element 7-4 is connected with one end of the beam rotating top plate 7-5, and preferably, the beam arm swinging element 7-4 is a swinging hydraulic cylinder or a gear rack swinging oil cylinder; the other end of the beam rotating top plate 7-5 is connected with one end of a second vertical arm 7-6; the other end of the second vertical arm 7-6 is hinged with one end of a second cross arm 7-7; the other end of the second cross arm 7-7 is connected with the fixed end of a second telescopic arm 7-9, preferably, the second telescopic arm 7-9 is a hydraulic telescopic rod; the second arm connecting rod 7-8 is a hydraulic telescopic rod, and two ends of the hydraulic telescopic rod are respectively hinged with the second vertical arm 7-6 and the second cross arm 7-7; the supporting claw pitching mechanism comprises a supporting claw rotary support 7-10 and a second rotating element 7-11, wherein one end of the supporting claw rotary support 7-10 is rotatably arranged at the rotating output end of the second rotating element 7-11, the second rotating element 7-11 is arranged at the moving end of the beam telescopic arm 7-9, and preferably, the second rotating element 7-11 is a rotating motor; the supporting claw rotating mechanism comprises a supporting claw swinging element 7-13 and a supporting claw rotating base 7-12, wherein the fixed end of the supporting claw swinging element 7-13 is installed and supported on the other end of the claw rotating support 7-10, the supporting claw rotating base 7-12 is installed on the movable end of the supporting claw swinging element 7-13, and preferably, the supporting claw swinging element 7-13 is a swinging hydraulic cylinder or a gear rack swinging oil cylinder; the fixed end of the supporting claw rotating element 7-14 is arranged on the supporting claw rotary base 7-12, the rotary output end is connected with the cross beam supporting claw 7-1, and preferably, the supporting claw rotating element 7-14 is a rotary motor.
The second camera shooting unit 7-15 is arranged at the tail end of the telescopic end of the second telescopic arm 7-9, and the height of the second camera shooting unit is higher than that of the second clamping hand, so that the camera shooting range of the second camera shooting unit is not shielded by the second clamping hand; preferably, the second camera unit 7-15 is an intrinsic safety type camera; the second camera units 7-15 collect actual image data of the second clamping hands corresponding to the operation objects, the actual image data are transmitted to an operation driver in real time, the driver can conveniently adjust the second mechanical arm and the second clamping hands, particularly the alignment between the beam supporting claw and the beam, the operation is accurate under the condition that the sight of a working face is not good, and the occurrence of a collision event is avoided.
A power concentration station 3 installed on the upper part of the chassis 2; the power concentration station 3 comprises a control unit, a driver operating platform, a hydraulic pump station and an illuminating lamp, and is used for providing power, controlling operation and illuminating for the working surface support retraction robot; the control unit comprises a PLC controller which is respectively connected with a first sensor, a second sensor, a hydraulic pump station, a first rotating element 6-14, a second rotating element 7-11 and a supporting claw rotating element 7-14; the hydraulic pump station is connected with the oil cylinder 5-1, the telescopic element 6-3, the first swinging element, the second telescopic element 6-19, the hydraulic telescopic cylinder of the moving body, the upright post arm swinging element 6-9, the first telescopic arm 6-13, the first arm connecting rod 6-20, the linear telescopic part 7-2-1, the cross beam arm swinging element 7-4, the second telescopic arm 7-9, the second arm connecting rod 7-8 and the supporting claw swinging element 7-13, and the action of the hydraulic elements is controlled through a control instruction of a PLC (programmable logic controller); and the driver operating platform comprises a display device and a driver operating platform, and is connected with the first camera unit and the second camera unit.
A use method of a working face support withdrawing robot comprises the following specific steps:
step one, after a driver checks that equipment is normal, a working face support withdrawing robot is started, and a walking mechanism drives the working face support withdrawing robot to a specified working face position.
And step two, the stopping walking mechanism comprises a stopping walking mechanism and an operating supporting leg mechanism which rotate to enable one end of the supporting leg mechanism to contact the ground, so as to help stabilize the working face support retracting robot to stop stably.
Thirdly, a driver operates the beam retracting mechanism through a driver operating platform according to actual image data acquired by a second camera unit displayed by a display device, adjusts a second mechanical arm to enable a beam supporting claw of a second clamping hand to wrap the bottom surface, the left side wall and the right side wall of the beam, the driver operates to give a second mechanical arm stop signal, the PLC gives an instruction, the hydraulic pump station controls the beam arm swinging element, the second telescopic arm, the second arm connecting rod and the supporting claw swinging element to stop moving, and the PLC controls the second rotating element and the supporting claw rotating element to stop moving; a driver starts the top support unit to perform telescopic motion, the first sensor collects the pressure of the linear telescopic part from the cross beam, and when the pressure collected by the first sensor reaches a preset threshold value, the PLC judges that the cross beam is clamped tightly and controls the hydraulic pump station to stop the linear telescopic part; and keeping the second mechanical arm of the beam withdrawing mechanism in a stop motion state, so that the second clamping hand continuously supports the beam.
Step four: the method comprises the steps that a driver operates an upright post retracting mechanism through actual image data acquired by a first camera unit displayed by a display device, adjusts a first mechanical arm, enables an unloading top block to correspond to an unloading port of a hydraulic support through the actual image data acquired by the first camera unit, gives an instruction through a first mechanical arm stop signal of the driver operating platform, controls a vertical post arm swinging element, a first telescopic arm, a first arm connecting rod and a first telescopic element to stop moving through a hydraulic pump station, and controls the first rotating element to stop moving through a PLC; the clamping jaw is enabled to grab the single hydraulic prop, a driver starts the second telescopic element, the PLC gives a control signal, the hydraulic pump station controls the second telescopic element to extend out, the clamping finger starts to clamp towards the middle, the second sensor starts to collect the pressure of the single hydraulic pressure on the clamping finger, when the pressure collected by the second sensor reaches a preset threshold value, the PLC judges that the single hydraulic prop is clamped, the PLC gives a control signal, and the hydraulic pump station controls the second telescopic element to stop moving; the driver continues to operate the moving body of the unloading unit, the unloading top block enters the unloading port to push the pressure relief valve switch, and hydraulic oil in the single hydraulic prop is released.
And step five, the clamping jaw of the upright post withdrawing mechanism and the single hydraulic prop keep a clamping state, the upright post withdrawing mechanism is operated through a driver operating platform, a withdrawing motion signal of the first mechanical arm is given, the PLC gives an instruction, the first mechanical arm and the step four are controlled to move reversely, withdrawing of the single hydraulic prop is completed, and the single hydraulic prop is conveyed to a specified transport vehicle outside the mine.
And sixthly, the crossbeam supporting claw of the crossbeam withdrawing mechanism and the crossbeam are kept in a clamping state, the crossbeam withdrawing mechanism is operated through a driver operating platform, a withdrawing movement signal of the second mechanical arm is given, the PLC gives an instruction, the second mechanical arm is controlled to move in the opposite direction of the third step, the withdrawing of the single hydraulic prop is completed, and the single hydraulic prop is conveyed to a specified transport vehicle outside the mine.
Step seven: and repeating the second step and the sixth step, withdrawing the single hydraulic prop and the cross beam of the working face, and transporting the single hydraulic prop and the cross beam out of the appointed mine transport vehicle.
In the third step, when the second mechanical arm is completely stretched out, the beam supporting claw of the second clamping hand cannot wrap the bottom surface, the left side wall and the right side wall of the beam, a command for starting the lifting mechanism is given through the driver operating platform, the PLC gives a control signal, the hydraulic pump station starts the oil cylinder, the oil cylinder gradually stretches out, when the beam supporting claw of the second clamping hand wraps the bottom surface, the left side wall and the right side wall of the beam, a command for stopping the lifting mechanism is given through the driver operating platform, the PLC gives a control signal, and the hydraulic pump station stops the oil cylinder from moving.
The above-mentioned embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention, and any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention; accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
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| CN113279790B (en) | 2024-04-12 |
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