CN116104548A - A self-moving support structure installation system and method in mining method - Google Patents

Abstract

The present invention aims at the deficiencies of the existing mine tunnel support technology, and provides a mine self-moving support structure installation system and method, which can move, rotate, expand and contract in the tunnel, and complete the loading, unloading and transportation operations, speeding up the operation of the mine. This method can improve the efficiency of tunnel construction, reduce the labor intensity of workers, and greatly reduce the construction cost. This method is applied to the above-mentioned installation system. Through the combination of the installation system and the installation method, the mechanization of the mine tunnel construction can be realized. By installing the manipulator traversing device and the mutual cooperation of the two oil cylinders on the manipulator and the rotating mounting plate, the arc section can be up and down within a small range. The free adjustment of the left and right positions improves the docking accuracy. The invention has great significance for improving the installation efficiency of the I-beam support in the mine tunnel, increasing the safety of the support installation process, reducing the labor intensity of workers and reducing the installation cost.

Description

A system and method for installing a self-moving support structure in a mining method

technical field

The invention relates to the technical field of mine tunnel support, in particular to a mine self-moving support structure installation system and an installation method for installing I-shaped steel brackets using the installation system.

Background technique

The steel arch frame has a large overall rigidity, which can provide a large early support rigidity. At the same time, it can be well combined with anchor rods, steel mesh, and shotcrete to form a joint support to enhance the effectiveness of the support. It is widely used in the initial support of mining tunnels due to its advantages such as good mechanical conditions and prefabrication in advance. The I-beam support in mining method construction is generally composed of 6-8 support arc sections, and the different arc sections are connected by bolts. At present, in the process of tunnel construction, the commonly used models of I-beam are 18#, 20#, etc. Due to the different size and shape of the tunnel section, the weight of the I-beam support is also different. Generally, the weight of each section of I-beam is More than 100kg, the highest can be more than 400kg; but in the construction process of the mining method, most of the I-beam supports are erected manually, and a small part is installed by means of arch installation trolleys. For example, in the patent CN 202010274746.7 (corresponding publication number CN 111425216 A, announcement number CN 111425216 B) just disclose a kind of construction system of compound support structure; Comprise roadheader, bolt construction device, arc plate construction device, steel pipe construction device etc., but this construction system integrity Poor, each device works independently; in the patent CN 202220495598.6 (corresponding announcement number CN 216305963U), a bracket installation repair machine is disclosed, including a stepping movement mechanism, an intermediate lifting mechanism, a forearm, a control system, and a stepping movement mechanism Control the forward and backward movement of the installation and repair machine. The first grabbing manipulator and the second grabbing manipulator are installed on the stepping mobile structure. The first grabbing manipulator and the second grabbing manipulator grab the concrete brackets that have been installed in each section To fix the position of the installation and repair machine itself; the middle lifting mechanism controls the up and down movement of the internal mechanism of the installation and repair machine. The stepping movement mechanism is installed on the top of the middle lifting mechanism, and the forearm is installed on the front side of the middle lifting mechanism. The grasping mechanism, electromagnetic sucker or impact pick, the forearm drives the lateral grabbing mechanism, electromagnetic sucker or impact pick to move and rotate; the control system controls the stepping movement mechanism, the middle lifting mechanism and the forearm. However, this technology is mainly aimed at the installation of brackets in coal mine roadways. The section of coal mine roadways is usually small, and the stability of the bracket installation and repair machine during construction can be ensured only by the upper stepping mechanism manipulator grasping the lock. However, when mining tunnels are excavated, the required support section width is usually more than 6 meters. Therefore, when the above-mentioned technology installs the left and right arc brackets, only the upper manipulator grasps the lock, which will cause the overall instability of the installation machine and cause the machine to overturn. This technology alone cannot be directly applied to tunnel support construction in mining method.

Contents of the invention

Aiming at the deficiencies in the prior art, the object of the present invention is to provide a self-moving support structure installation system and method in mining method.

The technical scheme that the present invention adopts is as follows:

In the first aspect, the present invention provides a mining method self-moving support structure installation system, including a stepping mechanism, a first horizontal traversing mechanism, an installation mechanical claw traversing mechanism, a rotating installation disk mechanism and an installation mechanical arm. The bottom of the stepping mechanism is equipped with a first horizontal traversing mechanism, which includes a horizontal traversing frame, a horizontal traversing oil cylinder, a balance manipulator and a transmission motor; the horizontal traversing frame and the bottom of the stepping mechanism pass through The grooves are embedded together to form a whole, the cylinder body of the horizontal traversing cylinder is fixed on the stepping mechanism, the piston rod is connected with the horizontal traversing frame, and the horizontal traversing cylinder drives the horizontal traversing frame to move to both sides relative to the stepping mechanism ;A pair of balance manipulators are provided on the left end and the right end of the horizontal traversing frame respectively. The balance manipulator is installed inside the horizontal traversing frame through a movable support, and the ejection and retraction of the balance manipulator can be realized through the transmission motor. When the balance manipulator pops up , grasp the support structure; at the bottom of the first horizontal traversing mechanism, connect and install the mechanical claw traversing mechanism through a plurality of vertically arranged telescopic devices, and the installation mechanical claw traversing mechanism is connected with the rotating mounting plate mechanism, and rotates The mounting plate mechanism is connected with the mounting mechanical arm.

In the second aspect, the present invention also provides a method for installing the self-moving support structure installation system of the mining method, as follows:

1) Set up 6 to 8 I-steel supports in advance, the installation machine installs them on the erected I-steel supports through the stepping mechanism, and the arc section of the supports is transported from the position of the trestle to the working surface by the monorail crane transporter;

2) Transport the arc section of the bracket to the lower part of the installation manipulator, the installation manipulator on the rotating installation plate grabs the fixed top arc section bracket, the installation manipulator returns to its position, and the rotating installation plate rotates 180 degrees;

3) Control the telescopic length of the horizontal movement mechanism of the mechanical claw installed, and determine the horizontal distance installation position of the arc section of the top bracket;

4) The installation manipulator shrinks, lifts the I-beam at the top arc to the installation height, fine-tunes the angle of the top arc to make the I-beam fit the tunnel excavation surface better, and anchors the top arc to the surrounding rock mass ;

5) The installation machine returns to its position, the vertical telescopic device is extended, and the height of the installation machine drops; when the installation machine reaches the installation height of the first left and right bracket arc sections, it stops; the installation manipulator on the rotating installation plate grabs the monorail crane for transportation The arc segment of the left bracket;

6) Return the installation manipulator, keep the height of the installation machine unchanged, and control the traverse driving device of the installation mechanical claw traverse machine, so that the arc section of the left bracket and the arc section of the top are on the same plane;

7) Rotate the mounting plate clockwise by 135 degrees, and the installation arm is extended so that the arc section of the left bracket is aligned with the arc section of the top bracket, and the two parts are connected by bolts;

8) The installation manipulator shrinks and rotates back to its position, keeping the height unchanged, transports the bracket arc section to the lower part of the installation manipulator, and the installation manipulator grabs and transports the right bracket arc section;

9) Return the installation manipulator, keep the height of the installation machine unchanged, and control the traverse driving device of the installation mechanical claw traverse machine, so that the arc section of the right bracket and the arc section of the top are on the same plane;

10) Rotate the mounting plate counterclockwise by 135 degrees, and the installation arm will extend, so that the arc section of the right bracket reaches the corresponding installation position;

11) By adjusting the installation manipulator, the arc section of the right bracket is aligned with the arc section of the top bracket, and the two parts are connected by bolts;

12) The installation manipulator shrinks and rotates back to its position, and the top telescopic device continues to extend. When the installation machine reaches the installation height of the second left and the second right, the installation manipulator on the rotating installation plate grabs the arc section of the second left bracket for transportation;

13) Keep the height of the installation machine unchanged, and the first horizontal traversing mechanism moves to the left as a whole. After reaching the left position, the balance manipulator is ejected and elongated through the control of the transmission motor, and grabs the arc section of the installed bracket.

14) Manipulate and install the traverse driving device of the mechanical claw traverse machine so that the arc section of the second left bracket is on the same plane as the arc section of the installed bracket, rotate the mounting plate 45 degrees clockwise, and shrink the installation mechanical arm so that the second left bracket When the arc section reaches the corresponding installation position, align the arc section of the second left bracket with the arc section of the first left bracket, and connect the two parts;

15) Install the manipulator to shrink and rotate back to the position, the balance manipulator is controlled to return by the transmission motor, the horizontal traversing oil cylinder shrinks, and the first horizontal traversing mechanism moves to the right;

16) Keep the height of the mounting machine unchanged, the telescopic device of the mounting machine is extended, and the mounting manipulator on the rotating mounting plate grabs and transports the arc section of the second right bracket;

17) The installation machine moves to the right as a whole, and when it reaches the right position, the balance manipulator inside the first horizontal traversing mechanism pops up and stretches, and grabs the arc section of the installed bracket to ensure its stability;

18) Manipulate the horizontal telescopic device so that the arc section of the second right bracket is on the same plane as the installed arc section, rotate the installation disk 45 degrees clockwise, and shrink the installation mechanical arm, so that the arc section of the second right bracket reaches the corresponding installation position, and the second right bracket Align the arc of the bracket with the arc of the right bracket, and connect the two parts;

19) The installation manipulator rotates back to its position, the installation machine moves to the left, the vertical telescopic device shrinks, and the height of the installation machine is raised back to its position;

20) The second horizontal traversing mechanism of the monorail crane conveyor moves to the left, and the transport trolley continues to move to the left, aligning the arc section of the third left bracket on the conveyor with the arc section of the second left bracket already installed, and connecting the two parts;

21) The second horizontal traversing mechanism moves to the right, the transport trolley returns to its position, the monorail crane transports to the position of the trestle and lifts the arc section of the third right bracket to the working surface, the second horizontal traversing mechanism moves to the right, the transport trolley continues to move to the right, and the transport The arc section of the third right bracket on the top is aligned with the arc section of the installed right second bracket, and the two parts are connected by bolts;

22) Return the monorail crane conveyor to the position of the trestle bridge to lift the anti-bottom arc section to the working surface, align the anti-bottom arc section on the conveyor with the installed arc section, and connect the two parts with bolts;

23) The positioning cylinder of the installation machine is stretched backward, so that the mobile installation frame moves to the last group of bracket installation working surfaces;

24) The stepping mechanism stretches forward, and the bracket installation machine moves forward to the next set of installation working surfaces;

25) The stepping mechanism continues to shrink forward, driving the auxiliary beam to move forward to the next station;

26) Repeat the above steps to enter the installation of the next bracket, and so on.

The beneficial effects of the above-mentioned embodiments of the present invention are as follows:

The first object of the present invention is to provide a mining method self-moving support structure installation system, which can move, rotate, expand and contract in the tunnel, and complete loading, unloading and transportation operations, and can also shrink to the space within three meters of the top. In order to facilitate the construction of the lower part of the project, mobile handling and so on. The installation machine of the present invention can realize the overall left and right lateral movement of the installation machine by adding a horizontal traversing mechanism, which greatly increases the size of the installation section of the installation machine. At the same time, the horizontal traversing mechanism can pop up the balance manipulator and grab the lock on the installed I-beam bracket to ensure the stability of the installation machine when installing the left second (right second) and left third (right third) arc segment brackets. At the same time, by adding a monorail crane conveyor, the arc section of the bracket required for installation is transported from the position of the trestle bridge to the installation surface. The monorail crane conveyor is fixed on the installed I-beam bracket, which does not affect other ground work construction from the trestle bridge to the working surface .

The second object of the present invention is to provide a method for installing the I-steel bracket of the mining method, which can speed up the construction efficiency of the mining method tunnel, reduce the labor intensity of workers, and greatly reduce the construction cost, etc., and the method is applied to the above-mentioned installation system. Through the combination of the installation system and the installation method, the mechanization of the mine tunnel construction can be realized. By installing the manipulator traversing device and the mutual cooperation of the two oil cylinders and the rotating installation plate on the manipulator, the arc section can be up and down, left and right within a small range. The free adjustment of the position improves the docking accuracy. The invention has great significance for improving the installation efficiency of the I-beam support in the mine tunnel, increasing the safety of the support installation process, reducing the labor intensity of workers and reducing the installation cost.

Description of drawings

The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention.

Accompanying drawing 1 is the front view of installation machine;

Accompanying drawing 2 is a front view side view of the installation machine;

Accompanying drawing 3 is the front view of monorail crane transporter;

Accompanying drawing 4 is the side view of monorail crane conveyor;

Accompanying drawing 5 is the front view of the whole section of the mounting machine in the I-beam support;

Accompanying drawing 6 is the front view of the entire section of the monorail crane conveyor in the I-beam support;

Accompanying drawing 7 is the front view of the working state of the support structure installation system installing the left bracket;

Accompanying drawing 8 is the front view of the working state of the right bracket installed by the supporting structure installation system;

Accompanying drawing 9 is a side view of the Zhihu structure installation system;

Accompanying drawing 10 is a top view of the supporting structure installation system;

Accompanying drawing 11 is a three-dimensional axial view of the supporting structure installation system.

In the figure: 1- grasping mechanical claw, 2- stepping mechanical claw, 3- main beam of stepping device, 4- auxiliary beam of stepping device, 5- stepping oil cylinder, 6- horizontal traverse frame, 7- horizontal traverse Shifting cylinder, 8-balance manipulator, 9-transmission motor, 10-counterweight box, 11-three-stage telescopic cylinder, 12-transverse frame, 13-horizontal telescopic frame, 14-horizontal telescopic cylinder, 15-rotary mounting plate fixed plate , 16-rotary mounting plate, 17-installation manipulator, 18-installation manipulator telescopic oil cylinder, 19-installation manipulator arm breeding block; 20-grabbing lock manipulator, 21-slide rail fixing frame, 22-transporter slide rail, 23-transport trolley , 24-crane horizontal traverse frame, 25-wire rope, 26-transmission power motor;

27-transportation support arc, 28-top support arc, 29-left first support arc, 30-right first support arc; 31-left second support arc, 32-right second support arc, 33-left Three bracket arc sections, 34-right three bracket arc section brackets, 35-bottom bracket arc sections, 36-installed I-beam brackets.

Detailed ways

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It should be noted that the terminology used here is only for describing specific embodiments, and is not intended to limit exemplary embodiments according to the present invention. As used herein, unless the invention clearly states otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, their Indicate the presence of features, steps, operations, means, components and/or combinations thereof;

For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, they only indicate that they are consistent with the directions of up, down, left and right of the drawings themselves, and do not limit the structure. It is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Terminology Explanation Part: Terms such as "installation", "connection", "connection" and "fixation" in the present invention should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or an integral body; It can be a mechanical connection, or an electrical connection, a direct connection, or an indirect connection through an intermediary, or an internal connection between two components, or an interaction relationship between two components. For those of ordinary skill in the art, , the specific meanings of the above terms in the present invention can be understood according to specific situations.

In a typical implementation of the present invention, a mining self-moving support structure installation system proposed by the present invention includes a self-moving support structure installation machine and a monorail crane conveyor.

Wherein the self-moving support structure installation machine in this embodiment includes: a stepping mechanism, a first horizontal traversing mechanism, a mounting mechanical claw traversing mechanism, a rotating mounting plate mechanism, and a mounting mechanical arm.

The above-mentioned stepping mechanism includes a locking mechanical claw 1, a stepping mechanical claw 2, a main beam 3 of a stepping device, an auxiliary beam 4 of a stepping device, a stepping oil cylinder 5 and a counterweight box 10;

The locking mechanical claw 1 is installed on the main beam 3 of the stepping device, and the locking mechanical claw 1 includes two rows before and after, with two in the first row and six in the second row;

The stepping mechanical claw 2 is welded on the auxiliary beam 4 of the stepping device; the stepping mechanical claw 2 is arranged between the above-mentioned two rows of grasping and locking mechanical claws 1; The word steel beam, the auxiliary beam 4 of the stepping device is arranged in the main beam 3 of the stepping device, the main beam 3 of the stepping device and the auxiliary beam 4 of the stepping device form a through groove, and a pulley is embedded in the groove; the stepping oil cylinder 5 has two functions. When the stepping oil cylinder 5 stretches out, the auxiliary beam 4 of the stepping device is driven to move forward relative to the main beam 3 of the stepping device; The protective structure is fixed, and at this moment, the stepping oil cylinder 5 is retracted again, and the main beam 3 of the stepping device is driven to move forward one step relative to the auxiliary beam 4 of the stepping device, so as to realize the forward movement of the whole device.

The counterweight box 10 is fixed on the rear portion of the stepping mechanism by welding to ensure the stability of the machine in the process of stepping and installing the I-beam.

The first horizontal traversing mechanism in this embodiment includes a horizontal traversing frame 6, a horizontal traversing oil cylinder 7, a balance manipulator 8, and a transmission motor 9; the horizontal traversing frame 6 and the bottom of the stepping mechanism are embedded together through grooves to form a Overall, the cylinder body of the horizontal traversing cylinder 7 is fixed on the stepping mechanism, the piston rod is connected with the horizontal traversing frame 6, and the horizontal traversing cylinder 7 can drive the horizontal traversing frame 6 to move to one side relative to the stepping mechanism; The pair of balance manipulators 8 are installed inside the horizontal traversing frame 6 through movable supports, and the pop-up and retraction of the balance manipulator 8 can be realized through the transmission motor 9. When the balance manipulator 8 pops up, the support structure is grasped; one pair of balance manipulators 8 Installed on the left end of the horizontal traversing frame 6, another pair of balancing manipulators 8 are installed on the right end of the horizontal traversing frame 6.

The purpose and working principle of installing the first horizontal traversing mechanism in this device is: by adding the horizontal traversing mechanism, the overall left and right traversing movement of the installation machine can be realized, which greatly increases the size of the installable section of the installation machine. At the same time, the horizontal traversing mechanism can pop up the balance manipulator and grab the lock on the installed I-beam bracket to ensure the stability of the installation machine when installing the left second (right second) and left third (right third) arc segment brackets. The structure controls the overall traversing direction of the installation machine through the contraction of the horizontal traversing oil cylinder. After the horizontal traversing frame reaches the designated position, the driving motor drives the balance manipulator to eject from the horizontal traversing frame, and the balance manipulator grabs the installed work. I-shaped steel bracket, the lower part is installed with the mechanical arm. After the installation of the I-shaped steel bracket is completed, the balance manipulator is released, and the motor-driven manipulator is recovered to the inside of the horizontal traversing frame. Work.

Further, in this embodiment, the installation of the mechanical claw traversing mechanism includes a traversing frame 12, a horizontal telescopic frame 13, and a horizontal telescopic oil cylinder 14; The moving frame 6 is connected, and the horizontal telescopic frame 13 and the horizontal telescopic oil cylinder 14 are arranged in the traversing frame 12, and the horizontal telescopic oil cylinder 14 controls the horizontal telescopic frame 13 to expand and contract in the longitudinal direction; , such as chain drive or oil cylinder drive, etc., to drive the horizontal telescopic frame 13 to move in the lateral direction.

The rotating mounting disk mechanism includes: rotating mounting disk fixed disk 15 and rotating mounting disk 16 . Rotating installation fixed disk 15 and horizontal telescopic frame 13 are made as a unified whole, when horizontal telescopic frame 13 telescopic, can be with installation fixed disk 15 telescoping together, and rotation installation disk fixed disk 15 and rotation installation disk 16 back sides are connected by flange.

Installing the mechanical arm includes: installing the mechanical arm 17, telescopic oil cylinder 18, installing the mechanical arm counterweight 19, installing the middle part of the mechanical arm 17 as a flange, and connecting the rotating mounting plate 16 as a whole through a flange. Two telescopic oil cylinders 18 are embedded in the mechanical arm, and the installation manipulator 17 is welded at the end of the mechanical arm, and the rear part of the mechanical arm is filled with heavy objects as the counterweight 19 of the mechanical arm.

It should be noted that the structure of the above-mentioned grasping and locking mechanical claw 1 and stepping mechanical claw 2 is exactly the same, and the stepping mechanical claw 2 is arranged between the front and rear rows of the grasping and locking mechanical claw 1;

The monorail crane transporter includes: a fixed frame, a transport mechanism, a second horizontal traverse mechanism, and a lifting mechanism.

The fixed frame includes a locking manipulator 20 and a slide rail fixing frame 21; the sliding rail fixing frame 21 is fixed on the locking manipulator 20 by welding; the locking manipulator 20 includes multiple groups, and the multi-group locking manipulator 20 is fixed along the slide rail The length direction of frame 21 is arranged successively, and each group of grabbing manipulators 20 comprises two grabbing manipulators, and two grabbing manipulators are arranged along the width direction of slide rail;

The transportation mechanism includes: conveyor slide rail 22 and transport trolley 23; the conveyor slide rail 22 is I-shaped steel, the upper flange of the I-shaped steel is clamped and locked on the above-mentioned slide rail fixing frame 21, and the transport trolley 23 and the I-shaped steel pass through the groove Connected, the groove cooperates with the rollers of the transport trolley 23, so that the transport trolley 23 can move along the length direction of the conveyor slide rail 22;

A second horizontal traversing mechanism is installed on the bottom of the transport trolley 23, and the second horizontal traversing structure is the same as the above-mentioned first horizontal traversing structure, and will not be described in detail here; the horizontal traversing frame of the second horizontal traversing structure The top is embedded in the bottom of the transport trolley 23;

The hoisting mechanism includes the horizontal traverse frame 24 of the crane, the steel wire rope 25, and the transmission motor 26; The steel wire rope 25 is wound in forward and reverse directions, and the steel wire rope 25 is used for hoisting the I-beam bracket; the crane horizontal traversing frame 24 is embedded in the bottom of the horizontal traversing mechanism of the second horizontal traversing mechanism, and the second horizontal traversing mechanism is realized by the oil cylinder 7. move left and right;

When the mine tunnel support section is large, due to the limited telescopic length of the installation machine, it is impossible to directly install the left three (right three) arc segment brackets. Move, transport the left three (right three) arc section brackets to the installation section, and install the arc section of the I-beam bracket with manual assistance. The horizontal traversing mechanism can pop up the balance manipulator and grab the lock on the installed I-beam bracket to ensure the stability of the installation machine when transporting the left three (right three) arc segment brackets to the left and right installation surfaces. At the same time, it is different from the current traditional mine Compared with the traditional tunnel construction, the mechanized transportation of the arc section of the support is realized, which increases the efficiency of the installation and construction of the support and reduces the labor intensity of the workers. It also greatly improves the size of the supporting section of the whole system.

Embodiments of the present invention provide a method for installing the I-beam support in tunnel construction by mining method. The method uses the self-moving support structure installation system of mining method. The installation steps are (taking the full-section method as an example):

1) In the initial stage of mine tunnel construction, 6 to 8 I-steel brackets are manually erected. The bracket installation system uses the locking mechanical claw 1 on the erected I-steel brackets. Position transport to the working surface;

2) The bracket arc section is transported to the lower part of the installation manipulator 17 by manpower, the installation manipulator 17 on the rotating installation plate 16 grabs the fixed top arc section support, the manipulator returns, and the rotating installation plate 16 rotates 180 degrees;

3) Control the telescopic length of the horizontal telescopic frame 13 by controlling the shrinkage of the horizontal telescopic oil cylinder 14, and determine the installation position of the horizontal distance of the arc section of the top bracket;

4) Install the manipulator oil cylinder 18 to shrink, lift the I-beam at the top arc to the installation height, fine-tune the angle of the top arc to make the I-beam fit the tunnel excavation surface better, and manually anchor the top arc to the surrounding rock body;

5) The installer returns to its position, the three-stage telescopic oil cylinder 11 is extended, and the height of the installer drops. Stop when the installation machine reaches the installation height of the left one and the right one I-beam bracket. The installation manipulator 17 on the rotating installation disk 16 grabs the left support arc section conveyed by the monorail hanging conveyor;

6) Return the installation manipulator 17, keep the height of the installation machine unchanged, and control the traverse drive device in the traverse frame 12, so that the left arc and the top arc are on the same plane;

7) Rotate the mounting plate 16 clockwise for 135 degrees, install the telescopic oil cylinder 18 of the manipulator to extend, make the left arc segment align with the arc segment of the top bracket, and manually connect the two parts through bolts;

8) The installation manipulator 17 shrinks and rotates back to its original position, keeping the height constant, and manpower transports the bracket arc section to the lower part of the installation manipulator 17, and the installation manipulator 17 on the rotating installation plate 16 grabs the transported right bracket arc section;

9) Return the installation manipulator 17, keep the height of the installation machine unchanged, and control the traverse drive device in the traverse frame 12, so that the right arc section and the top arc section are on the same plane;

10) Rotate the mounting plate 16 to rotate 135 degrees counterclockwise, and install the telescopic oil cylinder 18 of the manipulator to extend, so that the right bracket reaches the corresponding installation position;

11) By adjusting the installation manipulator 17, the right arc segment is aligned with the arc segment of the top bracket, and the two parts are connected by bolts;

12) The installation manipulator shrinks and rotates back to its position, and the top telescopic device continues to extend. When the installation machine reaches the installation heights of the second left and the second right, the installation manipulator 17 on the rotating installation disk 16 grabs and transports the arc section of the second left bracket;

13) Keep the height of the installation machine unchanged, and the installation machine moves to the left as a whole. After reaching the left position, the balance manipulator 8 of the horizontal movement device is ejected and elongated through the control of the transmission motor 9, and grabs the installed I-beam to ensure its stability. sex.

14) Manipulate the horizontal telescopic device so that the second left arc section is on the same plane as the installed I-beam, rotate the mounting plate 16 clockwise for 45 degrees, and shrink the telescopic oil cylinder 18 of the installation manipulator, so that the second left bracket reaches the corresponding installation position, so that Align the second arc on the left with the first arc on the left, and connect the two parts with bolts;

15) The manipulator 17 is installed to contract and rotate back to its position, the balance manipulator 8 is controlled to return by the transmission motor 9, the horizontal traversing oil cylinder 7 shrinks, and the horizontal traversing frame 6 is controlled to move to the right. Move the installation machine back to the right as a whole;

16) Keep the height of the mounting machine constant, the telescopic device of the mounting machine is extended, and the mounting manipulator 17 on the rotating mounting plate 16 grabs the transported right second bracket arc section.

17) The installation machine moves to the right as a whole, and when it reaches the right position, the balance manipulator 8 inside the horizontal traversing frame 6 pops up and stretches, and grabs the installed I-beam to ensure its stability;

18) Manipulate the horizontal telescopic device so that the arc section of the second right bracket is on the same plane as the installed arc section, rotate the installation plate 16 clockwise for 45 degrees, and shrink the telescopic oil cylinder 18 of the installation manipulator, so that the second right bracket reaches the corresponding installation position, so that the right The arc section of the second bracket is aligned with the arc section of the right bracket, and the two parts are connected by bolts;

19) The installation manipulator 17 rotates back, the installation machine moves to the left, the three-stage telescopic oil cylinder 11 shrinks, and the height of the installation machine is raised back to its position;

20) The second horizontal traversing mechanism of the monorail crane conveyor moves to the left, and the transport trolley 23 continues to move to the left. Manually guide the left third arc on the conveyor to align with the installed left second arc, and bolt the two parts together. connect;

21) The second horizontal traversing mechanism moves to the right, the transport trolley 23 returns to its position, the monorail crane transports to the position of the trestle and lifts the arc section of the third right bracket to the working surface, the second horizontal traversing mechanism moves to the right, and the transport trolley 23 continues to move to the right , align the arc section of the third right bracket on the conveyor with the arc section of the second right bracket already installed by manual guidance, and connect the two parts by bolts;

22) Return the monorail crane conveyor to the position of the trestle bridge and lift the anti-bottom arc section to the working surface. Manually guide the anti-bottom arc section on the conveyor to align with the installed arc section, and connect the two parts through bolts. connect;

23) The positioning cylinder of the installation machine is stretched backward, so that the mobile installation frame moves to the last group of bracket installation working surfaces;

24) The stepping cylinder 5 of the installation machine stretches forward, and the bracket installation machine moves forward to the next group of installation working surfaces;

25) The stepping cylinder of the installation machine continues to shrink forward, driving the auxiliary beam to move forward to the next station;

26) Repeat the above steps to enter the installation of the next I-beam bracket, and so on.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A mine method self-moving support structure installation system is characterized in that, a self-moving support structure installation machine, the installation machine includes a stepping mechanism, a first horizontal traversing mechanism, a mechanical claw traversing mechanism, Rotate the installation plate mechanism and install the mechanical arm, and install the first horizontal traversing mechanism at the bottom of the stepping mechanism, and the first horizontal traversing mechanism includes a horizontal traversing frame, a horizontal traversing oil cylinder, a balance manipulator and a transmission motor; The horizontal traversing frame and the bottom of the stepping mechanism are embedded together through grooves to form a whole. The cylinder body of the horizontal traversing cylinder is fixed on the stepping mechanism, the piston rod is connected with the horizontal traversing frame, and the horizontal traversing cylinder drives the horizontal traversing The frame moves to both sides relative to the stepping mechanism; a pair of balance manipulators are installed on the left end and right end of the horizontal traversing frame, and the balance manipulator is installed inside the horizontal traversing frame through a movable support, and the balance manipulator can be realized through the transmission motor. ejection and retraction; the bottom of the first horizontal traversing mechanism is connected and installed with a mechanical claw traversing mechanism through a plurality of vertical telescopic devices. The installation manipulator is connected to each other, and the installation manipulator is arranged on the installation manipulator. 2. The self-moving support structure installation system of mine method as claimed in claim 1, wherein the installation mechanical claw traversing mechanism includes a traversing frame, a horizontal telescopic frame, and a horizontal telescopic oil cylinder; the traversing frame is arranged vertically The three-stage telescopic oil cylinder is connected with the horizontal traversing frame located above it, and the horizontal telescopic frame and the horizontal telescopic oil cylinder are arranged in the traversing frame, and the horizontal telescopic oil cylinder controls the horizontal telescopic frame to expand and contract in the longitudinal direction; There is a traversing drive device to drive the horizontal telescopic frame to move in the transverse direction. 3. The self-moving support structure installation system of mining method as claimed in claim 1, wherein the rotating mounting plate mechanism comprises a rotating mounting plate fixed plate and a rotating mounting plate; the rotating mounting fixed plate and the horizontal telescopic frame are made as a unified Integral, and the fixed plate of the rotating mounting plate is connected to the back of the rotating mounting plate through a flange. 4. The self-moving support structure installation system for mining method as claimed in claim 1, wherein the installation mechanical arm comprises an installation manipulator, a telescopic oil cylinder, an installation manipulator counterweight, an installation manipulator middle part and a rotating The installation plate is connected as a whole; two telescopic oil cylinders are embedded inside the manipulator to control the expansion and contraction of the manipulator, the installation manipulator is welded at the end of the manipulator, and the rear of the manipulator is filled with heavy objects as the counterweight for installing the manipulator. 5. The self-moving support structure installation system for mining methods according to claim 1, further comprising a monorail crane conveyor. 6. The self-moving type support structure installation system of mining method as claimed in claim 5, is characterized in that, described monorail suspension conveyor comprises fixed frame, transport mechanism, second horizontal traverse mechanism and hoisting mechanism; The transportation mechanism described above is installed under the fixed frame, and a second horizontal traversing mechanism is installed on the transportation mechanism, and a hoisting mechanism is arranged at the bottom of the second horizontal traversing mechanism. 7. The self-moving type support structure installation system of mine method as claimed in claim 6, is characterized in that, described fixed mount comprises grasping lock manipulator, slide rail fixed mount; Slide rail fixed mount is fixed on grasping lock by the mode of welding On the manipulator; the lock-grabbing manipulator includes multiple groups, and the multi-group lock-grabbing manipulators are arranged in sequence along the length direction of the slide rail fixing frame. The width direction setting. 8. The self-moving type support structure installation system of mining method as claimed in claim 7, is characterized in that, described transportation mechanism comprises transporter slide rail, transport trolley; Transporter slide rail is fixed on the described slide rail fixed mount, The transport trolley can move along the length of the conveyor slide rail. 9. The self-moving support structure installation system for mining method as claimed in claim 6, characterized in that, the second horizontal traversing mechanism, the second horizontal traversing structure is the same as the above-mentioned first horizontal traversing structure . 10. The installation method of the self-moving support structure installation system of the mining method as described in any one of claims 1-9, characterized in that, 1) Set up 6 to 8 I-steel supports in advance, the installation machine installs them on the erected I-steel supports through the stepping mechanism, and the arc section of the supports is transported from the position of the trestle to the working surface by the monorail crane transporter; 2) Transport the arc section of the bracket to the lower part of the installation manipulator, the installation manipulator on the rotating installation plate grabs the fixed top arc section bracket, the installation manipulator returns to its position, and the rotating installation plate rotates 180 degrees; 3) Control the telescopic length of the horizontal movement mechanism of the mechanical claw installed, and determine the horizontal distance installation position of the arc section of the top bracket; 4) The installation manipulator shrinks, lifts the I-beam at the top arc to the installation height, fine-tunes the angle of the top arc to make the I-beam fit the tunnel excavation surface better, and anchors the top arc to the surrounding rock mass ; 5) The installation machine returns to its position, the vertical telescopic device is extended, and the height of the installation machine drops; when the installation machine reaches the installation height of the first left and right bracket arc sections, it stops; the installation manipulator on the rotating installation plate grabs the monorail crane for transportation The arc segment of the left bracket; 6) Return the installation manipulator, keep the height of the installation machine unchanged, and control the traverse driving device of the installation mechanical claw traverse machine, so that the arc section of the left bracket and the arc section of the top are on the same plane; 7) Rotate the mounting plate clockwise by 135 degrees, and the installation arm is extended so that the arc section of the left bracket is aligned with the arc section of the top bracket, and the two parts are connected by bolts; 8) The installation manipulator shrinks and rotates back to its position, keeping the height unchanged, transports the bracket arc section to the lower part of the installation manipulator, and the installation manipulator grabs and transports the right bracket arc section; 9) Return the installation manipulator, keep the height of the installation machine unchanged, and control the traverse driving device of the installation mechanical claw traverse machine, so that the arc section of the right bracket and the arc section of the top are on the same plane; 10) Rotate the mounting plate counterclockwise by 135 degrees, and the installation arm will extend, so that the arc section of the right bracket reaches the corresponding installation position; 11) By adjusting the installation manipulator, the arc section of the right bracket is aligned with the arc section of the top bracket, and the two parts are connected by bolts; 12) The installation manipulator shrinks and rotates back to its position, and the top telescopic device continues to extend. When the installation machine reaches the installation height of the second left and the second right, the installation manipulator on the rotating installation plate grabs the arc section of the second left bracket for transportation; 13) Keep the height of the installation machine unchanged, and the first horizontal traversing mechanism moves to the left as a whole. After reaching the left position, the balance manipulator is ejected and elongated through the control of the transmission motor, and grabs the arc section of the installed bracket. 14) Manipulate and install the traverse driving device of the mechanical claw traverse machine so that the arc section of the second left bracket is on the same plane as the arc section of the installed bracket, rotate the mounting plate 45 degrees clockwise, and shrink the installation mechanical arm so that the second left bracket When the arc section reaches the corresponding installation position, align the arc section of the second left bracket with the arc section of the first left bracket, and connect the two parts; 15) Install the manipulator to shrink and rotate back to the position, the balance manipulator is controlled to return by the transmission motor, the horizontal traversing oil cylinder shrinks, and the first horizontal traversing mechanism moves to the right; 16) Keep the height of the mounting machine unchanged, the telescopic device of the mounting machine is extended, and the mounting manipulator on the rotating mounting plate grabs and transports the arc section of the second right bracket; 17) The installation machine moves to the right as a whole, and when it reaches the right position, the balance manipulator inside the first horizontal traversing mechanism pops up and stretches, and grabs the arc section of the installed bracket to ensure its stability; 18) Manipulate the horizontal telescopic device so that the arc section of the second right bracket is on the same plane as the installed arc section, rotate the installation disk 45 degrees clockwise, and shrink the installation mechanical arm, so that the arc section of the second right bracket reaches the corresponding installation position, and the second right bracket Align the arc of the bracket with the arc of the right bracket, and connect the two parts; 19) The installation manipulator rotates back to its position, the installation machine moves to the left, the vertical telescopic device shrinks, and the height of the installation machine is raised back to its position; 20) The second horizontal traversing mechanism of the monorail crane conveyor moves to the left, and the transport trolley continues to move to the left, aligning the arc section of the third left bracket on the conveyor with the arc section of the second left bracket already installed, and connecting the two parts; 21) The second horizontal traversing mechanism moves to the right, the transport trolley returns to its position, the monorail crane transports to the position of the trestle and lifts the arc section of the third right bracket to the working surface, the second horizontal traversing mechanism moves to the right, the transport trolley continues to move to the right, and the transport The arc section of the third right bracket on the top is aligned with the arc section of the installed right second bracket, and the two parts are connected by bolts; 22) Return the monorail crane conveyor to the position of the trestle bridge to lift the anti-bottom arc section to the working surface, align the anti-bottom arc section on the conveyor with the installed arc section, and connect the two parts with bolts; 23) The positioning cylinder of the installation machine is stretched backward, so that the mobile installation frame moves to the last group of bracket installation working surfaces; 24) The stepping mechanism stretches forward, and the bracket installation machine moves forward to the next set of installation working surfaces; 25) The stepping mechanism continues to shrink forward, driving the auxiliary beam to move forward to the next station; 26) Repeat the above steps to enter the installation of the next bracket, and so on.

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