CN113279790B - Working face support retracting robot and working method thereof - Google Patents
Working face support retracting robot and working method thereof Download PDFInfo
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- CN113279790B CN113279790B CN202110718821.9A CN202110718821A CN113279790B CN 113279790 B CN113279790 B CN 113279790B CN 202110718821 A CN202110718821 A CN 202110718821A CN 113279790 B CN113279790 B CN 113279790B
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 136
- 210000000078 claw Anatomy 0.000 claims description 75
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- XLOMVQKBTHCTTD-UHFFFAOYSA-N Zinc monoxide Chemical compound [Zn]=O XLOMVQKBTHCTTD-UHFFFAOYSA-N 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 6
- 238000005065 mining Methods 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 17
- 230000009471 action Effects 0.000 description 6
- 239000000725 suspension Substances 0.000 description 5
- 239000003245 coal Substances 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011111 cardboard Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination 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
- 230000013011 mating Effects 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a working face support retraction robot and a working method thereof, wherein the working face support retraction robot comprises a chassis, a travelling mechanism, a stand column retraction mechanism and a beam retraction mechanism, wherein the stand column retraction mechanism and the beam retraction mechanism all adopt multi-degree-of-freedom mechanical arms, and the mechanical arms at all levels are matched for use to complete a grabbing task; the beam retracting mechanism is matched with the work of the upright post retracting mechanism to lift the beam, so that the stability of the beam in the process of completing the retraction of the single hydraulic prop by the upright post retracting 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 operation objects corresponding to the first clamping hand and the second clamping hand, so that mechanization and automation of the working face support withdrawing process are realized, the fully-mechanized mining working face support withdrawing work efficiency is improved, the manual labor intensity is greatly reduced, and the potential safety hazard of underground operation workers is reduced.
Description
Technical Field
The invention belongs to the technical field of coal mine mechanical technology, and particularly relates to a working face support retracting robot and a working method thereof.
Background
At present, the underground fully-mechanized mining face support has huge usage amount, the retracting work of the single hydraulic support upright post of the roadway is the final link of retracting the whole face, and a large number of upright posts are permanently supported on the mined face, so that great waste is caused. However, in the process of withdrawing the hydraulic upright column, the smooth operation of withdrawing work can be affected to different degrees because of coal wall caving, support breakage, roof sinking, pressing frame and the like.
The single hydraulic prop and the cross beam are adopted for supporting the working face, wherein the single hydraulic prop is mainly used for DWX hydraulic prop, a plunger suspension type 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 unbalanced load resistance of the prop are also improved; according to different specifications of the support columns, the whole column weight of the suspension type hydraulic support column is reduced by more than 15-30% compared with that of a piston type hydraulic support column, even the suspension type hydraulic support column is lighter than that of a light alloy support column, the supporting capacity is improved by 25%, the application range is enlarged by 200%, the minimum height of the support column is greatly shortened, and the suspension type hydraulic support column is convenient to move, transport and use; the single hydraulic prop has no piston in the oil cylinder and no internal leakage; the hydraulic working stroke of the single hydraulic prop is large, and the application range is enlarged; particularly, the working face with a large sinking top plate can still meet the requirement of large constant resistance increase and distance reduction of the large-stroke support, so that the support is convenient to return, and the recovery rate of the support is improved.
When the working face support is arranged, the quality of the support specification is strictly noted and checked, the transverse rows and the vertical lines are ensured, the hydraulic support is supported to be perpendicular to the top plate, the working face of the single hydraulic support is not used in a mixed mode with supports with different properties, and the unqualified supports are required to be checked and corrected to be replaced. The working face support column is matched with the top beam in use by ' checking up and ' managing the card board ', and after the lifting of the hydraulic support column is finished, the hydraulic support column must be ensured to reach rated initial supporting force.
At present, most mine retraction working surfaces generally adopt a single-channel single-wing quick retraction moving process, a wooden stack is adopted to cooperate with the working surfaces to support a retraction channel, at least two people are required to operate when the mining surface moves rods, one person puts the prepared hydraulic support in a column nest dug close to a large wall, the middle roof is planted in advance, the two hydraulic support are filled with coal firmly, and the other person performs liquid discharge unloading on the monomer at the side of an old pond. The retraction mode ensures that the labor intensity of workers is high, the retraction efficiency of the working face is low, and the potential safety hazard of the retraction work is increased.
Disclosure of Invention
In order to solve the problems, the invention provides a working face support retracting robot and a working method thereof, wherein a plurality of mechanical arms are used for dismantling the working face support, so that unloading, grabbing and recycling operations of the working face support under uncertain working conditions are realized.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
the working face support retraction robot is used for retracting single hydraulic struts and beams of the working face support, wherein a plurality of single hydraulic struts are vertically arranged, and two ends of each beam are respectively connected to the tops of two single hydraulic struts; 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 pillar withdrawing mechanism comprises a first multi-degree-of-freedom mechanical arm; the plurality of first multi-degree-of-freedom mechanical arms are arranged and are respectively arranged on the mounting base; the first multi-degree-of-freedom mechanical arm comprises a first mechanical arm, a first clamping hand and a first camera shooting unit; the first clamping hand comprises a clamping jaw and an unloading unit; the clamping jaw is 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 arranged on the first clamping hand; the fixed seat is connected with the moving body in a sliding way; the unloading top block is arranged on the moving body; 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 collecting actual image data of an operation object corresponding to the first clamping hand and transmitting the actual image data to an operation driver in real time;
The beam retracting mechanism comprises a second multi-degree-of-freedom 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 shooting 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 jacking unit comprises a linear expansion piece and a first sensor; the linear expansion piece expands and contracts according to the distance between the beam supporting claw and the beam; the first sensor is connected with the linear expansion piece; the second camera unit is used for collecting actual image data of the operation object corresponding to the second clamping hand and transmitting the actual image data to an operation driver in real time;
a power concentrating 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 an illuminating lamp; the control unit is connected with the driver operating platform and the hydraulic pump station and used for controlling the movement states of the support post withdrawing mechanism and the cross beam withdrawing mechanism; the driver operating platform 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.
Further, the chassis is provided with a supporting leg mechanism which is respectively arranged in front of and behind the travelling mechanism and is 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 traveling mechanism comprises a traveling crawler assembly.
Further, the lifting mechanism comprises a vertical telescopic unit and a four-bar assembly, wherein the vertical telescopic unit and the four-bar assembly are installed in parallel, one end of the vertical telescopic unit and the four-bar assembly is connected with the top surface of the chassis, and the other end of the vertical telescopic unit and the four-bar assembly is connected with the installation base.
Further, the clamping jaw comprises a paw lifting unit, a knuckle rotating unit and a clamping unit, wherein the paw lifting unit comprises a fixing frame, a guide rod, a lifting sliding block and a first telescopic element, the fixing frame is a U-shaped bracket, the guide rod penetrates through two vertical surfaces of the U-shaped bracket, and the lifting sliding block is slidably arranged 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 sliding block; the knuckle rotating unit comprises a first swinging element and a rotating base, wherein the fixed end of the first swinging element is arranged on the lifting sliding block, and the rotating base is arranged on the movable end of the first swinging element; the clamping unit is arranged on the rotating 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 rotating base, and the clamping fingers are at least two and are arranged by taking the central shaft of the arc-shaped plate as a symmetrical shaft; the second telescopic element is arranged between the clamping finger and the rotating 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 sliding block.
Further, the first mechanical arm comprises a first base rotation 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 transverse 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 piece, 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 the fixed end of the first rotary element is mounted on the moving end of the first telescopic arm; one end of the rotary support is rotatably arranged on the rotary output end of the first rotary 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 rotation 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 rotating mechanism and a supporting claw rotating element; the fixed end of the second base rotary unit is arranged in the middle of the mounting base and 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 piece, 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 rotating bracket and a second rotating element, wherein one end of the supporting claw rotating bracket is rotatably arranged on a rotating output end of the second rotating element, and the second rotating element is arranged on a 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 arranged at the other end of the supporting claw rotating bracket, and the supporting claw rotating base is arranged at the movable end of the supporting claw swinging element; the fixed end of the supporting claw rotating element is arranged on the supporting claw rotating base, and the rotating output end is connected with the second clamping hand.
The application method of the working face support retraction robot further comprises the following specific steps:
step one, after a driver checks that equipment is normal, starting a working face support retracting robot, and driving the working face support retracting robot to a designated working face position by a travelling mechanism;
step two, stopping the running mechanism;
step three, the driver operates the beam retracting mechanism through the driver operating platform according to actual image data acquired by the second camera shooting unit displayed by the display device, and adjusts the second mechanical arm to enable the beam supporting claw of the second clamping hand to wrap the bottom surface, the left side wall and the right side wall of the beam, and the driver operating platform gives a second mechanical arm stop signal; the control unit gives an instruction to control the second mechanical arm to stop moving; the driver starts the jacking unit to perform telescopic movement, the first sensor collects the movement state of the linear telescopic piece, 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, and controls the hydraulic pump station to stop moving the linear telescopic piece; keeping a second mechanical arm of the beam retracting mechanism in a stop motion state, so that a second clamping hand continuously supports the beam;
step four: the method comprises the steps that a driver operates a column retracting mechanism through a driver operating platform according to actual image data acquired by a first camera unit displayed by a display device, a first mechanical arm is adjusted, an unloading top block corresponds to an unloading port of a hydraulic prop 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 to grasp the single hydraulic prop through the driver operation platform; 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 to open and close, and hydraulic oil in the single hydraulic prop is discharged;
Step five, the clamping jaw of the upright post withdrawing mechanism and the single hydraulic prop are kept in a clamping state, the upright post withdrawing mechanism is operated by a driver operating platform, a first mechanical arm withdrawing movement signal is given, a control unit gives an instruction, the first mechanical arm is controlled to reversely move with the step four, the single hydraulic prop is withdrawn, and the single hydraulic prop is transported to a specified out-of-mine transportation vehicle;
step six, the beam supporting claw of the beam withdrawing mechanism and the beam keep a clamping state, the beam withdrawing mechanism is operated by a driver operating platform to give out a withdrawing movement signal of the second mechanical arm, the control unit gives out an instruction to control the second mechanical arm to reversely move with the step three, the withdrawing of the single hydraulic prop is completed, and the single hydraulic prop is transported to a specified out-mine transportation vehicle;
step seven: and step two to step six, the single hydraulic prop and the beam of the working face are retracted, and the vehicles are transported out of the specified mine.
Further, in the second step, the stopping and stabilizing the walking mechanism specifically includes stopping the walking mechanism and operating the supporting leg mechanism to rotate so that one end of the supporting ground contacts the ground.
Further, in the third step, when the beam supporting claws of the second clamping hand are fully extended, the bottom surface and the left side wall and the right side wall of the beam cannot be covered by the beam supporting claws of the second clamping hand, a starting lifting mechanism instruction is given through the driver operation platform, a control signal is given by the control unit, the telescopic unit is extended, when the bottom surface and the left side wall and the right side wall of the beam are covered by the beam supporting claws of the second clamping hand, a stopping lifting mechanism instruction is given through the driver operation platform, a control signal is given by the control unit, and the telescopic unit stops moving.
The beneficial effects of the invention are as follows:
in the first and the second invention, the upright post withdrawing mechanism and the cross beam withdrawing mechanism are all mechanical arms with multiple degrees of freedom, and the mechanical arms at all levels are matched for use to complete the grabbing task; the beam withdrawing mechanism is matched with the work of the upright post withdrawing mechanism to lift the beam for supporting the top plate, so that the stability of the beam in the process of completing the withdrawing of the single hydraulic prop by the upright post withdrawing mechanism is ensured; the upright post withdrawing mechanism is provided with an unloading unit to realize unloading of the single hydraulic prop and falling of the movable rod; the first camera unit and the second camera unit are used for collecting actual image data of the operation objects corresponding to the first clamping hand and the second clamping hand, the actual image data are transmitted to an operation driver in real time, the driver can conveniently adjust the upright post withdrawing mechanism and the cross beam withdrawing mechanism, the operation is accurate under the condition that the sight line of the working surface is poor, and the working surface supporting, disassembling and withdrawing process is mechanized and automatic by avoiding the occurrence of an impact event; the fully mechanized coal face support withdrawing working efficiency is improved, the manual labor intensity is greatly reduced, the potential safety hazard of underground operation workers is reduced, the waste of mineral resources is avoided, and the working efficiency and the safety are improved.
Secondly, a supporting leg mechanism is added to help stabilize the working face support retracting robot to stop working, so that slipping or out-of-control under severe working conditions is avoided.
Thirdly, using a walking crawler belt as a walking mechanism, wherein the crawler belt controls the whole robot to advance and provides forward power; the climbing and obstacle crossing functions can be realized, the specified position is reached, and the adaptability of the bottom plate is strong.
Fourth, the lifting mechanism provides a stable lifting chassis for the work of the upright post withdrawing mechanism and the cross beam withdrawing mechanism, and compensates the displacement of each execution unit in the vertical direction; the vertical telescopic oil cylinder is responsible for lifting movement of the lifting mechanism, and the four-bar assembly prevents the mounting base from being displaced transversely and forwards and backwards due to the fact that the mounting base is subjected to a large load.
Fifthly, clamping work of the single hydraulic prop is completed by clamping jaws of the upright post withdrawing mechanism, and the vertical movement of the clamping jaws is completed through the clamping jaw lifting unit without changing the distance between the clamping jaws and the single hydraulic prop; the knuckle rotating unit is matched with the clamping unit, can be used for stably clamping under the inclination of various angles of the single hydraulic prop, is additionally provided with a second sensor for judging the clamping state, is accurate in judgment and is more timely in action response.
Drawings
FIG. 1 is a schematic view of the general structure of the present invention when not in operation;
FIG. 2 is a schematic view of the general structure of the column retraction mechanism and the beam retraction mechanism of the present invention in operation;
FIG. 3 is a schematic view of the structure of the present invention in cooperation with a single hydraulic prop and beam;
FIG. 4 is a schematic view of the lifting mechanism of the present invention when not in operation;
FIG. 5 is a schematic view of the lifting mechanism of the present invention in operation;
FIG. 6 is a schematic view of a column retracting mechanism according to the present invention;
FIG. 7 is a schematic view of the beam retraction mechanism of the present invention;
FIG. 8 is a schematic diagram of the mating structure of the lifting slider, knuckle swivel unit, clamping unit and unloading unit of the present invention;
FIG. 9 is an enlarged pictorial illustration of portion A of FIG. 3;
FIG. 10 is an enlarged schematic illustration of portion B of FIG. 3;
symbol description:
1. the hydraulic lifting device comprises a walking mechanism, a chassis, a power centering station, a mounting base, a lifting mechanism, a four-bar linkage assembly, a cylinder, a column retracting mechanism, a fixing frame, a guide rod, a first telescopic element, a lifting sliding block, a fixing seat, a moving body, an unloading top block and a lifting top block. 6-8 parts of upright post base, 6-9 parts of upright post arm swinging element, 6-10 parts of upright post rotating top plate, 6-11 parts of first upright arm, 6-12 parts of first cross arm, 6-13 parts of first telescopic arm, 6-14 parts of first rotating element, 6-15 parts of rotary support, 6-16 parts of rotary base, 6-17 parts of arc plate, 6-18 parts of clamping finger, and the like. 6-19, second telescoping member, 6-20, first arm connecting rod, 6-21, first camera unit, 7, beam retraction mechanism, 7-1, beam support jaw, 7-2-1, straight telescoping member, 7-2-2, spacer, 7-3, beam base, 7-4, beam arm swing member, 7-5, beam swing top plate, 7-6, second vertical arm, 7-7, second arm, 7-8, second arm connecting rod, 7-9, second telescoping arm, 7-10, support jaw swing bracket, 7-11, second swivel member, 7-12, support jaw swing base, 7-13, support jaw swing member, 7-14, support jaw swivel member, 7-15, second camera unit 8. Support leg mechanism, 101. Single hydraulic prop, 102. Crossbeam.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
As shown in fig. 1 to 10, a face-support retracting robot for retracting a single hydraulic prop 101 and a beam 102 of a face support and transporting to a specified off-mine transport vehicle; wherein, a plurality of single hydraulic struts 101 are vertically arranged, and two ends of a beam 102 are respectively connected to the tops of the two single hydraulic struts 101; the working face support retracting robot comprises a travelling mechanism 1, a chassis 2, a power concentration station 3, a mounting base 4, a lifting mechanism 5, a stand column retracting mechanism 6, a beam retracting 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 is better adapted to the topography of the working surface, and the smooth passing of the robot is ensured; the support leg mechanisms 8, preferably, 4 are provided, which are respectively installed at the front and rear of the traveling mechanism 1, 2 at the front and rear, respectively, for supporting the chassis 2; and 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, and when the walking mechanism stops, one end of the supporting leg mechanism 8 rotates to enable one end of the supporting ground to contact the ground, so that the stable work of the working face support retracting robot is helped.
A mounting base 4 mounted on the chassis 2, preferably 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-bar assembly 5-1, and preferably, the vertical telescopic unit is an oil cylinder 5-2, wherein the oil cylinder 5-2 and the four-bar 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 a telescopic end and is connected with the mounting base 4; preferably, three oil cylinders 5-2 are arranged in an isosceles triangle, the three oil cylinders 5-2 which are telescopic in the vertical direction are responsible for the telescopic lifting mechanism 5, the four-bar assembly prevents the mounting base 4 from being displaced transversely and forwards and backwards due to larger load, and the four-bar assembly provides a stable lifting base for the work of the upright post withdrawing mechanism 6 and the cross beam withdrawing mechanism 7 and complements 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 mechanical arm with multiple degrees of freedom, and the task of grabbing the single hydraulic prop is completed through the cooperation of the mechanical arms at all levels.
The upright post withdrawing mechanism 6 comprises a plurality of first multi-degree-of-freedom mechanical arms, wherein the plurality of first multi-degree-of-freedom mechanical arms are respectively arranged on the mounting base 4, and preferably, the first multi-degree-of-freedom mechanical arms are respectively arranged on the 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 a first camera unit 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.
A first clamping hand comprising a clamping jaw and an unloading unit; wherein the clamping jaw is 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 fixing frame 6-1, guide rods 6-2, lifting sliding blocks 6-4 and a first telescopic element 6-3, wherein the fixing frame 6-1 is a U-shaped bracket, the guide rods 6-2 penetrate through two vertical surfaces of the U-shaped bracket, the lifting sliding blocks 6-4 are slidably arranged on the guide rods 6-2, and preferably, at least 2 guide rods 6-2 are arranged to ensure stable sliding of the lifting sliding blocks 6-2; 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 back and forth on the fixed frame 6-1 along the guide rod 6-2, 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 arranged on the lifting sliding block 6-4, the rotating base 6-16 is arranged 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 unit is arranged on the rotating base 6-16 and comprises an arc-shaped plate 6-17, clamping fingers 6-18, a second telescopic element 6-19 and a second sensor, wherein the arc-shaped plate 6-17 is arranged in the middle of the rotating base 6-16, and the clamping fingers 6-18 are at least two and are arranged by taking the central shaft of the arc-shaped plate 6-17 as a symmetrical shaft; the second telescopic element 6-19 is arranged between the clamping finger 6-18 and the rotating base 6-16, the movable end of the second telescopic element 6-19 is connected with the clamping finger 6-18, and preferably, the second telescopic element 6-19 is a telescopic hydraulic cylinder; the second telescopic unit is connected with the clamping fingers 6-18, the movement state of the second telescopic unit is judged through the second sensor, preferably, the second sensor is a pressure sensor, when the second telescopic unit works, the clamping fingers 6-18 positioned on two sides of the arc plate 6-17 are pushed by the second telescopic elements 6-19 to be close to each other, the single hydraulic prop 101 is clamped, the arc plate 6-17 specifically abuts against one side wall of the single hydraulic prop 101, then the clamping fingers 6-18 clamp towards the middle, when the pressure collected by the second sensor reaches a preset threshold value, the single hydraulic prop is judged to be clamped, the second telescopic elements 6-19 stop moving, therefore, the single hydraulic prop 101 is fixed from three directions, the completion of the clamping action is recognized through the second sensor, the judgment is accurate, and the action reaction 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 movable body 6-6 is connected to the fixed seat 6-5 in a sliding way, preferably, a sliding rail is arranged on the fixed seat 6-5, a corresponding sliding groove is arranged on the movable body 6-6, and the movable body 6-6 is connected with a hydraulic telescopic cylinder to control the movable 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 jacking block 6-7 pushes the pressure relief valve switch of the single hydraulic prop 101 to release hydraulic oil in the single hydraulic prop 101, so that the movable prop of the single hydraulic prop 101 falls back.
The first mechanical arm comprises a first base rotating device, a first vertical arm 6-11, a first transverse arm 6-12, a first telescopic arm 6-13, a first arm connecting rod 6-20 and a first pitching mechanism; the first base rotating 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 arranged on the mounting base 4, a fixed end of the stand column arm swinging element 6-9 is fixedly connected with the stand column base 6-8, a 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 upright 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 the first telescopic arm 6-13, and 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 piece, 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, the first pitching mechanism comprises a rotary support 6-15 and a first rotary element 6-14, one end of the rotary support 6-15 is rotatably arranged on the rotary output end of the first rotary element 6-14, and the other end of the rotary support is connected with the fixed frame 6-1; the first rotary member 6-14 is mounted on the movable end of the column telescopic arm 6-13, and preferably the first rotary member 6-14 is a rotary 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 is not blocked by the clamping jaw; preferably, the first camera unit 6-21 is an intrinsic safety type camera; the first camera unit 6-21 collects actual image data of the operation object corresponding to the first clamping hand, and transmits the actual image data to an operation driver in real time, so that the driver can conveniently adjust the first mechanical arm, the clamping jaw and the unloading unit, and the operation is accurate under the condition of poor working face sight, and the occurrence of an impact event is avoided.
The beam retracting mechanism comprises a second multi-degree-of-freedom mechanical arm, preferably a 6-degree-of-freedom mechanical arm, which is arranged in the middle of the mounting base 4, preferably on the 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 a second camera unit 7-15; wherein the second clamping hand is used for grabbing the beam 102; the second clamping hand comprises a cross beam supporting claw 7-1 and a top supporting unit; the bottom surface, the left side wall and the right side wall of the cross beam are wrapped by the cross beam supporting claw 7-1, and preferably, the cross beam supporting claw 7-1 is provided with a U-shaped groove 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 expansion movement according to the distance between a beam supporting claw 7-1 and a beam 102, the first sensor is connected with the linear expansion piece, preferably, in order to protect the surface of the beam 102 of the single hydraulic prop, the end part of the linear expansion piece 7-2-1 is provided with a gasket 7-2-2 made of soft materials, the linear expansion piece 7-2-1 is a telescopic hydraulic rod, the first sensor is a pressure sensor, and when the pressure acquired by the first sensor reaches a preset threshold value, the linear expansion piece 7-2-1 stops moving; the first sensor is used for collecting the completion of the clamping action, so that the judgment is accurate, and the action collecting reaction is more timely.
The second mechanical arm comprises a second base rotation 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 claw supporting pitching mechanism, a claw supporting rotating mechanism and a claw supporting 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 arranged on the mounting 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 rack and pinion swinging oil cylinder; the other end of the beam rotating top plate 7-5 is connected with one end of the second vertical arm 7-6; the other end of the second vertical arm 7-6 is hinged with one end of the second cross arm 7-7; the other end of the second cross arm 7-7 is connected with the fixed end of the second telescopic arm 7-9, and 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 second arm connecting 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 rotating bracket 7-10 and a second rotating element 7-11, wherein one end of the supporting claw rotating bracket 7-10 is rotatably arranged on the rotating output end of the second rotating element 7-11, the second rotating element 7-11 is arranged on the moving end of a 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 mounted on the other end of the claw rotating bracket 7-10, the supporting claw rotating base 7-12 is mounted 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 cylinder; the fixed end of the supporting claw rotating element 7-14 is arranged on the supporting claw rotating base 7-12, the rotating output end is connected with the beam supporting claw 7-1, and preferably, the supporting claw rotating element 7-14 is a rotating 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 blocked by the second clamping hand; preferably, the second camera unit 7-15 is an intrinsic safety type camera; the second camera unit 7-15 collects actual image data of the second clamping hand corresponding to the operator, and transmits the actual image data to an operator in real time, so that the operator can conveniently adjust the second mechanical arm and the second clamping hand, particularly the alignment of the beam supporting claw and the beam, and the operator can accurately operate under the condition of poor sight of a working face, and collision events are avoided.
A power concentrating station 3 installed at the upper portion 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 for the working face support retraction robot, controlling operation and illumination; the control unit comprises a PLC controller which is respectively connected with the first sensor, the second sensor, the hydraulic pump station, the first rotary element 6-14, the second rotary element 7-11 and the claw-supporting rotary 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 arm swinging element 6-9, the first telescopic arm 6-13, the first arm connecting rod 6-20, the linear telescopic piece 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 claw supporting swinging element 7-13, and the action of the hydraulic element is controlled by a control instruction of a PLC; 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.
The application method of the working face support retraction robot comprises the following specific steps:
step one, after a driver checks that the equipment is normal, starting a working face support retracting robot, and driving the working face support retracting robot to a designated working face position by a travelling mechanism.
And step two, the stabilization walking mechanism comprises stopping the walking mechanism and operating the supporting leg mechanism to rotate so that one end of the supporting ground contacts the ground, thereby helping to stabilize the stabilization work of the working face support retraction robot.
Step three, a driver operates a beam retracting mechanism through a driver operating platform to adjust a second mechanical arm according to actual image data acquired by a second camera shooting unit displayed by a display device, so that a beam supporting claw of a second clamping hand wraps the bottom surface, the left side wall and the right side wall of the beam, a driver operates and gives out a second mechanical arm stop signal, a PLC (programmable logic controller) gives out an instruction, a hydraulic pump station controls a beam arm swinging element, a second telescopic arm, a second arm connecting rod and a supporting claw swinging element to stop moving, and the PLC controls a second rotating element and a supporting claw rotating element to stop moving; the driver starts the jacking unit to perform telescopic movement, the first sensor collects pressure from the cross beam, when the pressure collected by the first sensor reaches a preset threshold value, the PLC controller judges that the cross beam is clamped, and the hydraulic pump station is controlled to stop moving the linear telescopic member; and the second mechanical arm of the beam retracting mechanism is kept 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 a column withdrawing mechanism through a driver operating platform according to actual image data acquired by a first camera unit displayed by a display device, a first mechanical arm is adjusted, an unloading top block corresponds to an unloading port of a hydraulic column through actual image data acquired by the first camera unit, a PLC (programmable logic controller) gives out an instruction through a first mechanical arm stop signal of the driver operating platform, a hydraulic pump station controls a column arm swinging element, a first telescopic arm, a first arm connecting rod and a first telescopic element to stop moving, and a PLC controls a first rotating element to stop moving; the clamping jaw is enabled to grab the single hydraulic prop, a driver starts the second telescopic element, the PLC controller gives out a control signal, the hydraulic pump station controls the second telescopic element to stretch out, the clamping finger starts to clamp towards the middle, the second sensor starts to collect the pressure of the single hydraulic prop to the clamping finger, when the pressure collected by the second sensor reaches a preset threshold value, the PLC controller judges that the single hydraulic prop is clamped, the PLC controller gives out 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, and the unloading top block enters the unloading port to push the pressure relief valve to open and close, so as to release the hydraulic oil in the single hydraulic prop.
And fifthly, the clamping jaw of the stand column withdrawing mechanism and the single hydraulic prop are kept in a clamping state, the stand column withdrawing mechanism is operated through a driver operating platform, a first mechanical arm withdrawing movement signal is given, a PLC (programmable logic controller) gives an instruction, the first mechanical arm is controlled to reversely move with the step four, the single hydraulic prop is withdrawn, and the single hydraulic prop is transported to a specified out-of-mine transportation vehicle.
Step six, the beam supporting claw of the beam withdrawing mechanism and the beam keep a clamping state, the beam withdrawing mechanism is operated by a driver operating platform to give out a second mechanical arm withdrawing movement signal, the PLC controller gives out an instruction to control the second mechanical arm to reversely move with the step three, the withdrawing of the single hydraulic prop is completed, and the single hydraulic prop is transported to a specified transportation vehicle outside the mine.
Step seven: and step two to step six, the single hydraulic prop and the beam of the working face are retracted, and the vehicles are transported out of the specified mine.
In the third step, when the second mechanical arm is fully extended, the beam supporting claws of the second clamping hand cannot wrap the bottom surface, the left side wall and the right side wall of the beam, a starting lifting mechanism instruction is given through the driver operation platform, the PLC controller gives a control signal, the hydraulic pump station starts the oil cylinder, the oil cylinder is gradually extended, when the beam supporting claws of the second clamping hand wrap the bottom surface, the left side wall and the right side wall of the beam, a stopping lifting mechanism instruction is given through the driver operation platform, the PLC controller gives a control signal, and the hydraulic pump station stops the movement of the oil cylinder.
The above-described embodiments are merely illustrative of the principles and functions of the present invention, and not in limitation thereof, and modifications or alterations may be made to the above-described embodiments by any person skilled in the art without departing from the spirit and scope of the present invention; accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (8)
1. The working face support retraction robot is used for retracting single hydraulic struts and beams of the working face support, wherein a plurality of single hydraulic struts are vertically arranged, and two ends of each beam are respectively connected to the tops of two single hydraulic struts; the working face supporting and withdrawing robot comprises a chassis and a traveling mechanism arranged at the bottom of the chassis, and is characterized by further comprising: a mounting base mounted on the chassis; the pillar withdrawing mechanism comprises a first multi-degree-of-freedom mechanical arm; the plurality of first multi-degree-of-freedom mechanical arms are arranged and are respectively arranged on the mounting base; the first multi-degree-of-freedom mechanical arm comprises a first mechanical arm, a first clamping hand and a first camera shooting unit; the first clamping hand comprises a clamping jaw and an unloading unit; the clamping jaw is 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 arranged on the first clamping hand; the fixed seat is connected with the moving body in a sliding way; the unloading top block is arranged on the moving body; 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 collecting actual image data of an operation object corresponding to the first clamping hand and transmitting the actual image data to an operation driver in real time; the beam retracting mechanism comprises a second multi-degree-of-freedom 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 shooting 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 jacking unit comprises a linear expansion piece and a first sensor; the linear expansion piece expands and contracts according to the distance between the beam supporting claw and the beam; the first sensor is connected with the linear expansion piece; the second camera unit is used for collecting actual image data of the operation object corresponding to the second clamping hand and transmitting the actual image data to an operation driver in real time; a power concentrating 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 an illuminating lamp; the control unit is connected with the driver operating platform and the hydraulic pump station and used for controlling the movement states of the support post withdrawing mechanism and the cross beam withdrawing mechanism; the driver operating platform 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 first mechanical arm comprises a first base rotation unit, a first vertical arm, a first transverse 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 transverse 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 piece, 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 the fixed end of the first rotary element is mounted on the moving end of the first telescopic arm; one end of the rotary support is rotatably arranged on the rotary output end of the first rotary element, and the other end of the rotary support is connected with the first clamping hand;
the second mechanical arm comprises a second base rotation 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 rotating mechanism and a supporting claw rotating element; the fixed end of the second base rotary unit is arranged in the middle of the mounting base and 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 piece, 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 rotating bracket and a second rotating element, wherein one end of the supporting claw rotating bracket is rotatably arranged on a rotating output end of the second rotating element, and the second rotating element is arranged on a 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 arranged at the other end of the supporting claw rotating bracket, and the supporting claw rotating base is arranged at the movable end of the supporting claw swinging element; the fixed end of the supporting claw rotating element is arranged on the supporting claw rotating base, and the rotating output end is connected with the second clamping hand.
2. The work surface support retraction robot according to claim 1 further comprising support leg mechanisms mounted respectively in front of and behind the travelling mechanism for supporting a 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.
3. The worksurface support retraction robot of claim 1 wherein the travel mechanism comprises a travel track assembly.
4. The worksurface supporting retracting robot of claim 1, further comprising a lifting mechanism comprising a vertical telescopic unit and a four-bar assembly, wherein the vertical telescopic unit and the four-bar assembly are installed in parallel, a uniform end is connected to the top surface of the chassis, and the other end is connected to the installation base.
5. The work surface support retraction robot according to claim 1, wherein the clamping jaw comprises a paw lifting unit, a knuckle rotating unit and a clamping unit, wherein the paw lifting unit comprises a fixing frame, a guide rod, a lifting slide block and a first telescopic element, wherein the fixing 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 sliding block; the knuckle rotating unit comprises a first swinging element and a rotating base, wherein the fixed end of the first swinging element is arranged on the lifting sliding block, and the rotating base is arranged on the movable end of the first swinging element; the clamping unit is arranged on the rotating 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 rotating base, and the clamping fingers are at least two and are arranged by taking the central shaft of the arc-shaped plate as a symmetrical shaft; the second telescopic element is arranged between the clamping finger and the rotating 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 sliding block.
6. A method of using a work surface support retraction robot based on the work surface support retraction robot of claim 1, comprising the specific steps of:
step one, after a driver checks that equipment is normal, starting a working face support retracting robot, and driving the working face support retracting robot to a designated working face position by a travelling mechanism;
step two, stopping the running mechanism;
step three, the driver operates the beam retracting mechanism through the driver operating platform according to actual image data acquired by the second camera shooting unit displayed by the display device, and adjusts the second mechanical arm to enable the beam supporting claw of the second clamping hand to wrap the bottom surface, the left side wall and the right side wall of the beam, and the driver operating platform gives a second mechanical arm stop signal; the control unit gives an instruction to control the second mechanical arm to stop moving; the driver starts the jacking unit to perform telescopic movement, the first sensor collects the movement state of the linear telescopic piece, 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, and controls the hydraulic pump station to stop moving the linear telescopic piece; keeping a second mechanical arm of the beam retracting mechanism in a stop motion state, so that a second clamping hand continuously supports the beam; step four: the method comprises the steps that a driver operates a column retracting mechanism through a driver operating platform according to actual image data acquired by a first camera unit displayed by a display device, a first mechanical arm is adjusted, an unloading top block corresponds to an unloading port of a hydraulic prop 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 to grasp the single hydraulic prop through the driver operation platform; 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 to open and close, and hydraulic oil in the single hydraulic prop is discharged; step five, the clamping jaw of the upright post withdrawing mechanism and the single hydraulic prop are kept in a clamping state, the upright post withdrawing mechanism is operated by a driver operating platform, a first mechanical arm withdrawing movement signal is given, a control unit gives an instruction, the first mechanical arm is controlled to reversely move with the step four, the single hydraulic prop is withdrawn, and the single hydraulic prop is transported to a specified out-of-mine transportation vehicle; step six, the beam supporting claw of the beam withdrawing mechanism and the beam keep a clamping state, the beam withdrawing mechanism is operated by a driver operating platform to give out a withdrawing movement signal of the second mechanical arm, the control unit gives out an instruction to control the second mechanical arm to reversely move with the step three, the withdrawing of the single hydraulic prop is completed, and the single hydraulic prop is transported to a specified out-mine transportation vehicle; step seven: and step two to step six, the single hydraulic prop and the beam of the working face are retracted, and the vehicles are transported out of the specified mine.
7. The method of claim 6, wherein in step two, the step of stopping the traveling mechanism comprises stopping the traveling mechanism and operating the leg support mechanism to rotate so that one end of the support surface contacts the ground.
8. The method of claim 6, wherein in the third step, when the second mechanical arm is fully extended, the beam supporting claws of the second clamping hand cannot wrap the bottom surface and the left and right side walls of the beam, the control unit gives a control signal by the driver operating platform, the telescopic unit is extended, when the beam supporting claws of the second clamping hand wrap the bottom surface and the left and right side walls of the beam, the driver operating platform gives a stop lifting mechanism command, the control unit gives a control signal, and the telescopic unit stops moving.
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| CN114017080B (en) * | 2021-10-11 | 2023-02-03 | 煤炭科学研究总院有限公司 | Support disassembling vehicle |
| CN114017052B (en) * | 2021-10-11 | 2023-04-11 | 煤炭科学研究总院有限公司 | Support dismantling vehicle capable of automatically drilling |
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| 综采面支架液压撤出装置的研制与应用;温景辉;阴法胜;张维国;王在东;;科技信息(学术研究)(34);全文 * |
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| CN113279790A (en) | 2021-08-20 |
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