• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention discloses an electromechanical equipment with integrated anchoring and support functions comprising a suspended support system, a motor system, a pre-support system, an auxiliary transport system and an anchoring robot system. Said suspended support system is fixed by anchor rods to the ceiling of the coal extraction gallery, and provides support for the integrated equipment; said motor system is arranged at the terminal end of the main beam of the system in said suspended support system; said pre-support system is arranged at the front end of the main beam of the system in said suspended support system; said auxiliary transport system is arranged on the main beam of the system in said support system suspended from the rear side of said pre-support system; said anchor robot system is arranged on the main beam of the system in said suspended support system between said motor system and said auxiliary transport system. Further, the present invention has excellent performance in turning and inclination variation. Besides, said anchoring robot work platform has buffer function, anchoring is stable and operational yields are high.
    公开号:BE1027935B1
    申请号:E20205641
    申请日:2020-09-15
    公开日:2022-01-11
    发明作者:Kun Hu；Guoyong Su；Tianbing Ma；Haishun Deng；Shuang Wang；Yongcun Guo
    申请人:Univ Anhui Sci & Technology；
    IPC主号:
    专利说明:

    A coordinated anchoring and support monorail device for an excavation face falls under the category of integrated anchoring and support devices.
    STATE OF THE ART In recent years, the research and development of coal mining equipment and techniques have made great progress in China, while requiring a small staff or even no staff, the coal mining sector has revised its requirements upwards in terms of speed. In order to solve the problem of non-coordination of extraction of coal mining processes, the research and development of excavators has invested considerable human and material resources and achieved great progress. Currently, the main obstacle to improving extraction and production capacities is the slowness of anchoring and retaining operations, the yields of which are relatively low.
    Since the works of excavation, anchoring and support of galleries are in close chronological order, and the coordination and combination of these three aspects decides the speed of excavation of galleries, part of the products systems incorporate excavation, anchoring and retaining equipment. In typical patents such as patent numbers 201721694586.1, 201711089051.6, 201711288542 3 and
    201910109402.8, concretely, the all-in-one devices combine the anchoring mechanisms and the temporary support mechanisms on the excavator in a simple way. Although this type of all-in-one device enjoys multiple technical operational functions, the techniques cannot operate simultaneously, the problem of coordinated operations of excavation, anchoring and support is not fundamentally solved. .
    The patent applications presented by these research groups propose equipment with integrated coordinated operational functions of support and anchoring, using a walking mode with suspended monorail, and separating the equipment for anchoring, support and excavation, from a global point of view coordinated operations of excavation, anchoring and retaining with high efficiency can be achieved, however the complete dimensions of the equipment and the stability in the moving processes still have the following shortcomings: 1) The dimensions of the equipment are large, the extent of their use is restricted.
    The anchoring, retaining devices and the excavator of these patents are separated, the overall dimensions of the equipment are greatly reduced compared to conventional devices combining excavation, anchoring and retaining, and they are suitable for the galleries of ordinary mines, however, the structure of their auxiliary transport mechanisms is complex, cumbersome and heavy, which impairs the transport of equipment, and their range of use undergoes a certain restriction.
    2) The cornering maneuverability of the equipment is relatively poor, which affects the transportation.
    Said patents use a suspended monorail for transporting equipment, the motor system is simple in structure, however the transport is affected relatively significantly by the ceiling of the gallery. Especially when the gallery has a bend or a slope, the requirements for the performance of the suspended monorail's motor system are extremely high, however its system is only dependent on a motor driving a motor train driven by a reduction gear, the bend performance and the anti-slip performance of all the equipment progressing on its course is relatively poor.
    3) The equipment anchoring platform is unstable, which interferes with anchoring operations.
    The anchoring operations of said patents are carried out by the anchoring robot installed on the working platform of the anchoring robot, the working platform of the anchoring robot is riveted to the terminal end of the main beam of the anchor robot system. During the drilling process, the anchor rod drill rig generates large shock force and operates directly from the working platform, however the platform does not have buffer function, so the robot working platform anchor cannot provide a stable working environment for the anchor rod rig, which affects anchoring operations.
    In order to solve the aforementioned problems, it is necessary to propose an improvement plan for the current equipment, and to improve in depth the "anchoring and support" performance.
    Content of the invention The object of the present invention is to overcome the shortcomings of the prior art by providing a new structure with the functions of anchoring and supporting operations, reducing the volume of equipment, improving motor performance equipment, and to carry out high-efficiency anchoring and retaining operations of the galleries to finally compose a technique and integrated anchoring and retaining equipment coordinated for the excavation face.
    In order to solve the technical problems, the present invention uses the following technical plan: A coordinated anchoring and retaining monorail apparatus for excavation face, comprising a suspended support system, a motor system, a pre-supporting system, an auxiliary transport system and an anchor robot system; said suspended support system is fixed by anchor rods to the ceiling of the coal extraction gallery, and provides support for the integrated equipment; said motor system is arranged at the terminal end of the main beam of the system in said suspended support system; said pre-support system is arranged at the front end of the main beam of the system in said suspended support system; said auxiliary transport system is arranged on the main beam of the system in said support system suspended from the rear side of said pre-support system; said anchor robot system is arranged on the main beam of the system in said suspended support system between said motor system and said auxiliary transport system.
    Said suspended support system comprises a main beam of the system, an upper beam, a support element, a trajectory and a rectangular key; a structural element intended for installation is welded to the upper end of said trajectory, a rack is welded to both sides of the lower end; said main beam of the system is arranged on said trajectory via the carrying train; four holes are arranged on said upper beam, and fix it to the upper end of the coal extraction gallery using anchor rods; the upper end of said support element is connected to said upper beam using said rectangular key, the lower end is connected to said trajectory using said rectangular key.
    Said engine system includes a carrier train, an engine, an engine base and a gear transmission system; said engine is arranged using rivets on [ade SCH engine base; said engine base is arranged using rivets on the underside of said undercarriage, said undercarriage, is arranged on the surface of said trajectory, and slides on the surface of said trajectory; said gear transmission system includes a servo spur gear A, a servo worm A, a worm shaft A, a large bevel gear A, a small bevel gear A, a differential, a bevel gear A, a servo spur gear B, a servo worm B, a worm shaft B, a large bevel gear B, a small bevel gear B, and a bevel gear B; in order to facilitate the progress of the equipment, said motor has an integrated inverter.
    Said pre-retaining system comprises a main pre-retaining beam, a retaining screen support, a retaining screen and a telescopic hydraulic retaining screen system; one end of said main pre-retaining beam is connected to said main beam of the system by rivets, the other end is connected to the retaining screen support by rivets; one end of said telescopic hydraulic retaining screen system is arranged on said main pre-retaining beam, the other end is arranged on said retaining screen support; said retaining screen is arranged on said retaining screen support; said telescopic hydraulic support screen system can adjust the size of said support screen according to the condition of the equipment to be protected and the support conditions and thus realize high-efficiency support.
    Said auxiliary transport system comprises an auxiliary transport system support module A, an auxiliary transport system support module B, a support cross beam, a support column A, a support column B, a transport device sprocket and chain, a drive device and a handling manipulator; the support module A of said auxiliary transport system and the support module B of said auxiliary transport system both comprise an upper suspension beam, a cylinder and a lower suspension beam; said upper suspension beam is connected to said main beam of the system by rivets; said sprocket and chain transport device comprises a sprocket, a chain, a movable stop block, a movable deflector and an I-shaped lever; said pinion drives the movement of said chain by gear; said drive device comprises a bevel gear AA, a bevel gear BB, a servomotor AA and a motor base; said handling manipulator comprises a mechanical gripper A, a mechanical gripper B,
    a front end maneuvering lever, an articulation A, an articulation B: 5420/5841 articulation C, a servomotor A, a servomotor B, a servomotor C, said mechanical gripper A and said mechanical gripper B being respectively welded on the left and right sides of the terminal end of said front end operating lever.
    5 Said anchor robot system includes an anchor robot cylinder group, an anchor robot connection module, an anchor rod storage device, an anchor robot work platform and a anchor robot; said anchor robot connection module includes a foldable arm A, an anchor rod frame motor, a foldable arm B and an anchor robot connection module element cylinder group; one end of said folding arm A is connected to said main beam of the system by rivets, the other end is connected to said folding arm B by rivets; said anchor robot work platform includes an intermediate motor stator, a left motor stator, a group of ground support cylinders, a connection block, a right motor stator, a motor rotor, a cylinder folding arm connector, a folding arm cylinder A and a folding arm cylinder B; said group of ground support cylinders is respectively arranged at the lower surface below the left motor stator and at the lower surface below the right motor stator; said anchor robot includes an anchor rod drill trajectory, a propulsion motor, a rotating platform, a large anchor arm, an A-motor, a B-motor, a C-motor, a plinth box, a rotating platform, a mechanical arm base, a tie rod A, a tie rod B, anchor rod drill drive chain and anchor rod drill; said anchor rod drill is arranged via the side installation holes on the sliding bar of said anchor rod drill trajectory; said propulsion motor drives said anchor rod driller to move along said anchor rod drill path via said anchor rod drill drive chain.
    An excavation face coordinated anchoring and retaining monorail device, the working process of which includes the following steps: S1: workers first lay a section of trajectory on the ceiling of the gallery and install the device on the trajectory ; S2: When the motor is running, the motor system moves on the trajectory through the gear transmission system, propelling the main beam of the system connected to it, realizing the movement of the whole equipment; S3: all the equipment is brought to the designated working position, the hydraulic telescopic retaining screen system of the pre-supporting system rent 79841 triggers the extension of the supporting screen support, thus causing the deployment of the retaining screen; then, the auxiliary transport system support module A and the auxiliary transport system support module B of the auxiliary transport system operate synchronously so that the sprocket and chain transport device is placed at the designated height. Simultaneously, the anchor robot connection module of the anchor robot system oscillates at a certain angle under the coordinated action of the group of cylinders of anchor robot connection module elements and said connection cylinder of foldable arm, so that the work platform of the anchor robot lowers to a certain height and remains parallel to the ground, then, the work platform of the anchor robot deploys under the action of the foldable cylinder A and of the foldable cylinder B, the group of ground support cylinders lengthens in order to carry out the ground support action, their effect being: to absorb and transmit to the ground the impact force produced during the drilling process of the anchor rod drill, thus strengthening the stability of the platform.
    S4: The sprocket and chain transport device of the auxiliary transport system brings the necessary material to the processes on the designated positions; the handling manipulator grabs the upper beam to take it to a specific position in the gallery; the anchor robot and the anchor rod storage device simultaneously adjust their positions so that one of the anchor rods present in the anchor rod storage device is loaded onto the rod drill anchor and performs the anchor rod loading action; SS: The anchoring robot adjusts its various movements to realize the anchoring actions on different positions to the two sides and the ceiling of the gallery by the anchor rod drill, and anchors the upper beam to the ceiling, providing support for all equipment; S6: the handling manipulator grabs the material necessary for the construction of the suspended support system, and installs it on the upper beam; the handling manipulator grabs the trajectory, connects its upper end to the hanging support system, and connects its terminal end to the front end of the previous trajectory section, thus realizing the laying of the trajectory; S7: the hydraulic systems for morphological adjustment of the pre-support system, the auxiliary transport system and the anchoring robot system retract, the motor drives the movement of all the equipment forward,
    the previous steps are continued in order to reiterate the actions of anchoring and SEA support.
    As compared to prior art, including prior apparatus combining excavation, anchoring and support as well as the patents referenced herein (equipment with integrated functions of coordinated support and anchoring), the beneficial effects of the present invention are : 1) The auxiliary transport system of the present invention is compact in structure and small in volume.
    The auxiliary transport system of the present invention makes full use of the space between the pre-support systems and the anchor robot system, the use of the chain and sprocket transport method not only makes it possible to reduce the dimensions of the device auxiliary transport but to increase the categories and quantities of material to be handled, the volume of all the equipment is lower. The present invention is particularly suitable for use in small narrow galleries such as those of the "Yellow River and Huai River Basins".
    2) The rack and pinion and differential structure used by the transmission system of the present invention, providing good maneuverability to the equipment.
    Since the rack of the present invention is welded on both sides of the lower end of the trajectory and the electric motor drives the operation of the reducer meshed on the rack, the equipment has excellent tilt variation capabilities. At the same time, the reducer has a differential, the progress speed of the equipment on the inner and outer sides at the time of a turn varies, thus a small degree of curvature turn is achieved. Therefore, the maneuverability of the present invention is good, it is able to progress stably in a relatively difficult gallery environment.
    3) The working platform of the anchor robot of the present invention has a buffer function, the anchoring process is stable.
    A solenoid drive is arranged between the upper end anchoring robot of the anchoring robot working platform and the platform of the present invention, the movement and control precision is higher, which benefits the drilling location accuracy by the anchor rod drill; the lower end of the platform and the hydraulic system are connected. When the anchor rod drill is running, the lower end of the hydraulic system is pressed to the SOL 5641 so the impact force produced during the drilling process by the anchor rod drill is absorbed and transmitted to the ground, which strengthens the stability of the platform and provides excellent working conditions for the anchor rod drill.
    Description of the appended figures Figure 1 represents the overall structural diagram of the present invention (in operational state); Figure 2 shows the overall structural diagram of the present invention (in non-operational state); Figure 3 shows the structural diagram of the main beam of the system of the present invention; Figure 4 shows the diagram of the suspended support system of the present invention; Figure 5 shows the structural diagram of the trajectory of the present invention; Figure 6 shows the structural diagram of the motor system of the present invention; Figure 7 shows the structural diagram of the transmission module of the engine system of the present invention; Figure 8 shows the partial structural diagram of the transmission module of the engine system of the present invention; Figure 9 shows the structural diagram of the pre-support system of the present invention (in operational condition); Figure 10 shows the structural diagram of the pre-support system of the present invention (in a non-operational state); Figure 11 shows the structural diagram of the external support of the auxiliary transport system of the present invention; Figure 12 shows the partial structural diagram of the auxiliary transport system of the present invention; Figure 13 shows the structural diagram of the support module of the auxiliary transport system of the present invention; Figure 14 shows the structural diagram of the sprocket and chain conveyor device of the auxiliary transport system of the present invention; Figure 15 shows the structural diagram of the pinion of the auxiliary transport system of the present invention; BE2020/5841 Figure 16 shows the structural diagram of the driving device of the auxiliary transport system of the present invention; Figure 17 shows the structural diagram of the handling manipulator of the auxiliary transport system of the present invention; Figure 18 shows the connection link diagram between the main beam of the system and the anchor robot system of the present invention; Figure 19 shows the structural diagram of the anchor robot system of the present invention (in non-operational state); Figure 20 shows the structural diagram of the anchor robot system of the present invention (in operational state); Figure 21 shows the structural diagram of the anchor robot platform of the present invention; Figure 22 shows the structural diagram of the anchor robot of the present invention.
    Meaning of the numbers mentioned in the figures: 1. Hanging support system; 2. Engine system; 3. Pre-support system; 4. Auxiliary transport system; 5. Anchor robot system; 1-1. Main beam of the system; 1-2. Upper beam; 1-3. support element; 1-4. Trajectory; 1-5. Rectangular key: 2-1.
    Undercarriage; 2-2. motor base; 2-3. Motor ; 2-4. Gear transmission system; 2-4-1. Spur gear slaved to ; 2-4-2. Servo worm A; 2-4-3. Worm shaft A; 2-4-4. Large bevel gear wheel AT; 2-4-5. Small bevel gear wheel A; Differential; 2-4-7. Drive bevel gear wheel A; 2-4-8. Bevel gear B; 2-4-9. Small bevel gear B; 2-4-10. Large bevel gear wheel B; 2-4-11. Worm shaft B; 2-4-12. Servo worm B; 2-4-13. Servo spur gear B; 3-2. Retaining screen support; 3-3. Retaining screen; 3-4. Telescopic hydraulic retaining screen system; 4-1. Auxiliary Transport System Support Module A; 4-2. Cross support beam; 4-3. Support column A; 4-4. Support column B; 4-5. Auxiliary transport system support module B; 4-5-1. Lower suspension beam; 4-5-2. Cylinders; 4-5-3. Upper suspension beam; 4-6. Sprocket and chain transport device; 4-6-1. Chain ; 4-6-2. Movable stop block; 4-6-3. I-shaped lever; 4-6-4. Movable deflector; 4-6-5. Pinion; 4-7. Training device; 4-7-1. AA bevel gear wheel; 4-7-2. Bevel Gear BB; 4-7-3. AA servo motor; 4-7-4. Engine base; 4-8. Handling manipulator; 4-8-1. C-servo; 4-8-2. Clamp 0/56 Mechanical To; 4-8-3. Mechanical gripper B; 4-8-4. Front end operating lever; 4-8-5. Servo motor A; 4-8-6. A-joint; 4-8-7. Servomotor B; 4-8-8. B-joint; 4-8-9. C-joint; 5-1. Group of anchor robot cylinders; 5-2.
    Anchor robot connection module; 5-2-1. Foldable arm A; 5-2-2. Anchor rods frame motor; 5-2-3. Foldable arm B; 5-2-4. Anchor robot connection module element cylinder group; 5-3. Anchor robot work platform; 5-3-1. Folding cylinder AT; 5-3-2. Foldable cylinder B; 5-3-3. Intermediate motor stator; 5-3-4. Left engine stator; 5-3-5. Group of ground support jacks; 5-3-6. Connection block; 5-3-7. Right motor stator; 5-3-8. motor rotor; 5-3-9. Foldable arm connection cylinder; 5-4. Anchor robot; 5-4-1. Anchor rod drill trajectory; 5-4-2. Propulsion engine; 5-4-3. Pivoting platform; 5-4-4. Large motor anchor arm; 5-4-5. C-engine; 5-4-6. Motor B; 5-4-7. Motor A; 5-4-8. Base box; 5-4-9. Rotating platform; 5-4-10. Mechanical arm base; 5-4-11. To connection bar; 5-4-12. Connection bar B; 5-4-13. Anchor rod drill drive chain; 5-4-14. Anchor rod drill; 5-5. Anchor rod storage device.
    Embodiments In order to facilitate the understanding of the technical methods, the creative characteristics, the achievement of the objects and the effects of the present invention, a detailed and thorough description of the present invention combined with the appended Figures is given below. Of course, it should be understood that the embodiments described are only intended to explain the present invention and do not constitute a limit thereof.
    With reference to Figures 1 and 2, a coordinated anchoring and support monorail device for an excavation face, comprising a suspended support system 1, a motor system 2, a pre-support system 3, an auxiliary transport system 4 and an anchor robot system S; said suspended support system 1 is fixed by anchoring to the ceiling of the coal extraction gallery, and provides support for the integrated equipment; said motor system 2 is arranged at the terminal end of the main beam of system 1-1 in said suspended support system 1; said pre-support system 3 is arranged at the front end of the main beam of system 1-1 in said suspended support system 1; said auxiliary transport system 4 is arranged on the main beam of system 1-1 in said suspended support system 1 at the rear side of said pre-support system 3; said anchor robot system 5 is ARE 564 on the main beam of system 1-1 in said suspended support system 1 between said motor system 2 and said auxiliary transport system 4; said monorail coordinated anchoring and support apparatus for excavation face is characterized in that in non-operational state, said pre-support system 3, said auxiliary transport system 4 and said anchoring robot system 5 are all retracted, which makes it possible to significantly reduce the volume of space occupied by all the equipment, and facilitates its transport.
    With reference to Figures 3, 4 and 5, said suspended support system 1 comprises a main beam of the system 1-1, an upper beam 1-2, a support element 1-3, a trajectory 1-4 and a rectangular key 1-5; a structural element intended for installation is welded to the upper end of said trajectory 1-4, a rack is welded to both sides of the lower end; said main beam of the system 1-1 is arranged on said trajectory 1-4 via the undercarriage 2-1; four holes are arranged on said upper beam 1-2, , and fix it to the upper end of the coal extraction gallery using anchor rods; the upper end of said support member 1-3 is connected to said upper beam 1-2 by means of said rectangular key 1-5, the lower end is connected to said trajectory 1-4 by means of said rectangular key 1-5. Referring to Figures 6, 7 and 8, said motor system 2 comprises a carrier train 2-1, a motor base 2-2, a motor 2-3 and a gear transmission system 2-4; said 2-3 motor is arranged by means of rivets on said 2-2 motor base; said motor base 2-2 is arranged by means of rivets at the underside of said undercarriage 2-1, said undercarriage 2-1 is arranged on the surface of said trajectory 1-4, and slides on the surface of said trajectory 1-4; said 2-4 gear transmission system includes an A 2-4-1 servo spur gear, an A 2-4-2 servo worm, an A 2-4-3 worm shaft, a large wheel bevel gear A 2-4-4, small bevel gear A 2-4-5, differential 2-4-6, drive bevel gear A 2-4-7, bevel gear B 2- 4-8, small bevel gear B 2-4-9, large bevel gear B 2-4-10, worm shaft B 2-4-11, servo worm B 2-4 -12 and a slave spur gear B 2-4-13; the output shaft of said motor 2-3 is coupler-connected to said drive bevel gear A 2-4-7; said drive bevel gear A 2-4-7 and said bevel gear B 2-4-8 are gear-coupled; said conical toothed wheel B 2-4-8 and said differential 2-4-6 are on the same axis; said differential 2-4-6 transmits the movement per axis respectively to said small conical 6A wheel A 2-4-5 and to said small conical toothed wheel B 2-4-9; said small 2-4-5 bevel gear and said large 2-4-4 bevel gear are coupled by gear; said large conical toothed wheel A 2-4-4 and said worm shaft A 2-4-3 are on the same axis; said A 2-4-3 worm shaft and said A 2-4-2 servo worm are gear-coupled; said slaved worm screw À 2-4-2 and said slaved spur gear À 2-4-1 are on the same axis; said slaved spur gear 2-4-1 and the rack on one side of said trajectory 1-4 are arranged in gear coupling; said small bevel gear B 2-4-9 and said large bevel gear B 2-4-10 are coupled by gear; said large conical toothed wheel B 2-4-10 and said worm shaft B 2-4-11 are on the same axis; said B 2-4-11 worm shaft and said B 2-4-12 servo worm are gear-coupled; said slaved worm B 2-4-12 and said slaved spur gear B 2-4-13 are on the same axis; said slaved spur gear B 2-4-13 and the rack on one side of said trajectory 1-4 are arranged in gear coupling; said slave spur gear A 2-4-1 and said slave spur gear B 2-4-13 are respectively arranged in gear coupling with the rack on both sides of said trajectory 1-4; characterized in that, it ensures that the system has excellent inclination variation capabilities; said 2-4-6 differential is characterized in that when the equipment makes a turn, the speeds of rotation of said slaved spur gear wheel A 2-4-1 and of said slaved spur gear wheel B 2-4-13 are different , the implements have the stable turn characteristic; in order to facilitate the progress control of the equipment, said motor 2-3 has an integrated inverter.
    Referring to Figures 9 and 10, said pre-retaining system 3 comprises a main pre-retaining beam 3-1, a retaining screen support 3-2, a retaining screen 3-3 and a support system. 3-4 telescopic hydraulic retaining screen; one end of said main pre-retaining beam 3-1 is connected to said main beam of system 1-1 by rivets, the other end is connected to the retaining screen support 3-2 by rivets; one end of said 3-4 telescopic hydraulic retaining screen system is arranged on said main pre-retaining beam 3-1, the other end is arranged on said 3-2 retaining screen support; said 3-3 retaining screen is arranged on said 3-2 retaining screen support; said hydraulic telescopic 3-4 retaining screen system can adjust the size of said 3-3 retaining screen according to the condition of the equipments to be protected and the supporting conditions and thus realize high-efficient supporting.
    PE2020/5641 With reference to Figures 11, 12, 13, 14, 15, 16 and 17, said auxiliary transport system 4 comprises an auxiliary transport system support module At 4-1, an auxiliary transport system support module auxiliary B 4-5, a supporting cross beam 4-2, a supporting column A 4-3, a supporting column B 4-4, a sprocket and chain transport device 4-6, a driving device 4-7 and a 4-8 handling manipulator; the support module A 4-1 of said auxiliary transport system and the support module B 4-5 of said auxiliary transport system both comprise an upper suspension beam 4-5-3, a cylinder 4-5-2 and a lower suspension beam 4-5-1; said upper suspension beam 4-5-3 is connected to said main beam 1-1 of the system by rivets; said lower suspension beam 4-5-1 is shaft-connected to said transverse support beam 4-2; one end of said 4-5-2 cylinder is arranged on said upper suspension beam 4-5-3, the other end is arranged on said lower suspension beam 4-5-1; said support column A 4-3 and said support column B 4-4 are riveted by one of their ends on each side of said main beam of the system 1-1, the other end is riveted on the terminal end of the transverse support beam 4-2; said 4-6 chain and sprocket conveyor includes a 4-6-1 chain, a 4-6-2 movable stop block, a 4-6-3 I-shaped lever, a movable stop plate 4-6-4 and a 4-6-5 sprocket; said pinion 4-6-5 drives the movement of said chain 4-6-1 by gear; said movable stop block 4-6-2 and said movable stop plate 4-6-4 are connected by welding to said chain 4-6-1, characterized in that, different types of material can be stored; one end of said I-shaped lever 4-6-3 is connected to said movable stop block 4-6-2 by rivet, the other end is embedded in the sliding groove of said movable stop plate 4-6- 4; said 4-7 drive device comprises an AA 4-7-1 bevel gear, a BB 4-7-2 bevel gear, an AA 4-7-3 servomotor and a 4-7-4 motor base; said 4-6-5 pinion is shaft-connected to said AA 4-7-1 bevel gear via said 4-7 driver, said AA 4-7-3 servomotor is connected via a coupler to said bevel gear BB 4-7-2, said bevel gear BB 4-7-2 and said bevel gear AA 4-7-1 transmit the driving force by gear, i.e. said servomotor AA 4-7- 3 drives the rotation of said 4-6-1 chain, in order to carry out material transport, said AA 4-7-3 servo motor is arranged by welding to said 4-7-4 motor base on one side of said transverse beam of bracket 4-2; said 4-8 handling manipulator comprises a 4-8-2 mechanical gripper A, a 4-8-3 mechanical gripper B, a 4-8-4 front end operating lever, a 4-8-2 joint 6, a B 4252709667 joint, a C 4-8-9 joint, an A 4-8-5 booster, a B 4-8-7 booster and a C 4-8-1 booster; said mechanical gripper A 4-8-2 and said mechanical gripper B 4-8-3 are respectively welded to the left and right sides of the terminal end of said front end operating lever 4-8-4; said 4-8-4 front end operating lever is connected to said 4-8-6 joint via said 4-8-5 servomotor and its reducer; said A 4-8-6 joint is connected to said B 4-8-8 joint via said B 4-8-7 servomotor and its reducer; said B 4-8-8 joint is connected to said C 4-8-9 joint via said C 4-8-1 servomotor and its reducer; the lower part of said 4-8-9 C joint is welded to the front end of said main beam of the 1-1 system.
    With reference to Figures 18, 19, 20, 21, and 22, said anchoring robot system 5 comprises a group of anchoring robot cylinders 5-1, an anchoring robot connection module 5-2, an anchor robot work platform 5-3, an anchor robot 5-4 and an anchor rod storage device 5-5; said anchor robot connection module 5-2 comprises a foldable arm A 5-2-1, an anchor rod frame motor 5-2-2, a foldable arm B 5-2-3 and a group 5-2-4 anchor robot connection module element jacks; one end of said folding arm A 5-2-1 is connected to said main beam of the 1-1 system by rivets, the other end is connected to said folding arm B 5-2-3 by rivets; said group of anchor robot cylinders 5-1 is symmetrically distributed on both sides of said main beam of system 1-1, one end of said group of anchor robot cylinders 5-1 is connected by rivet to said main beam of the 1-1 system, the other end is connected by rivet to said folding arm À 5-2-1; said anchor robot connection module element cylinder group 5-2-4 is a two series cylinder system, one end is arranged with said foldable arm A 5-2-1, the other end is arranged to said folding arm B 5-2-3; said 5-2-2 anchor rod frame motor is bolted to the inner surface of said 5-2-1 foldable arm; the output shaft of said anchor rod frame motor 5-2-2 is connected to said anchor rod storage device 5-5 and controls its rotation; said 5-3 anchor robot work platform includes a 5-3-3 intermediate motor stator, a 5-3-4 left motor stator, a 5-3-5 ground support cylinder group, a 5-3-6 connecting block, a 5-3-7 straight motor stator, a 5-3-8 motor rotor, a 5-3-9 folding arm connecting ram, a 5-3-9 folding arm ram 5-3-1 and a folding arm cylinder B 5-3-2; one end of said folding arm connecting cylinder 5-3-9 is connected by rivet to said folding arm B 5-
    2-3, the other end is connected by rivet to said intermediate motor stator 5 3E$ 0720/9681 said left motor stator 5-3-4, said intermediate motor stator 5-3-3 and said right motor stator 5-3-7 are interconnected via said 5-3-6 connection block; one end of said folding arm cylinder 5-3-1 is fitted to said left motor stator 5-3-4, the other end is fitted to said intermediate motor stator 5-3-3; one end of said folding arm cylinder B 5-3-2 is fitted to said right motor stator 5-3-7, the other end is fitted to said intermediate motor stator 5-3-3; said group of ground support cylinders 5-3-5 is respectively arranged at the lower face below the left motor stator 5-3-4 and at the lower face below the right motor stator 5-3-7 ; said motor rotor 5-3-8 is embedded in the groove bordering said left motor stator 5-3-4, said intermediate motor stator 5-3-3 and said right motor stator 5-3-7, characterized in that, under electric voltage, said motor rotor 5-3-8 can move in the groove bordering said left motor stator 5-3-4, said intermediate motor stator 5-3-3 and said right motor stator 5 -3-7; said 5-4 anchor robot includes 5-4-1 anchor rod drill trajectory, 5-4-2 propulsion motor, 5-4-3 swing platform, 5 large anchor arm -4-4, 5-4-5 C-Motor, 5-4-6 B-Motor, 5-4-7 A-Motor, 5-4-8 Pedestal Box, 5-4-9 Rotary Platform , a 5-4-10 mechanical arm base, a 5-4-11 connecting bar A, a 5-4-12 connecting bar B, 5-4-13 anchor rod drill drive chain and a 5-4-14 anchor rod drill; said 5-4 anchor robot is bolted to said 5-3-8 motor rotor; said base box 5-4-8 at the lower end of said anchoring robot 5-4 is fixed by bolt on said motor A 5-4-7; said motor A 5-4-7 drives the rotation of said rotating platform 5-4-9 via the worm screw and the worm wheel arranged in said base box 5-4-8; said 5-4-10 mechanical arm base is bolted to said 5-4-9 rotating platform; said large 5-4-4 anchor arm is rollingly coupled to said 5-4-10 mechanical arm base; said motor B 5-4-6 is fixed by bolts on a side face of said mechanical arm base 5-4-10; the output shaft of said motor B 5-4-6 is coupled to the bearing arranged on said mechanical arm base 5-4-10 and is connected to said large anchor arm 5-4-4; said C 5-4-5 motor is bolted to the inner side of said large 5-4-4 anchor arm; the output shaft of said C 5-4-5 motor is coupled to a bearing and is arranged on the inner side surface of said large anchor arm 5-4-4; the output shaft of said 5-4-5 C motor is connected by bearing to said 5-4-10 mechanical arm base; the terminal end of said C 5-4-5 motor is fixed to said A 5-4-11 connection bar; one end of said 5-4-12 connecting bar B is connected by bearing to the protruding shaft of the terminal end of said 5-4-11 connecting bar, the bearing end ee SEA is fixed by bolts on said connecting bar B 5-4-12, the other end is connected by bearing to the protruding shaft of the terminal end of said rotating platform 5-4-3, the bearing end cover is fixed by bolts on said connection bar B 5-4-12; said 5-4-2 propulsion motor is arranged on the lower side of said 5-4-1 anchor rod drill path; said 5-4-14 anchor rod drill is arranged via the side installation holes on the sliding bar of said 5-4-1 anchor rod drill trajectory; said 5-4-2 propulsion motor drives said 5-4-14 anchor rod drill along said 5-4-1 anchor rod drill path via said rod drill drive chain anchor 5-4-13.
    An excavation face coordinated anchoring and supporting monorail device, the working process of which includes the following steps: S1: workers first lay a section of trajectory 1-4 on the ceiling of the gallery and install the device on trajectory 1-4; S2: When the 2-3 motor is running, the 2 motor system moves along the 1-4 trajectory through the 2-4 gear transmission system, propelling the main beam of the 1-1 system connected to it, realizing movement of all equipment; S3: once all the equipment has been brought to the designated working position, the hydraulic telescopic retaining screen system 3-4 of the pre-supporting system 3 triggers the extension of the retaining screen support 3-2 , thus causing the deployment of the retaining screen 3-3; then, the auxiliary transport system support module A 4-1 and the auxiliary transport system support module B 4-5 of the auxiliary transport system 4 operate synchronously so that the sprocket and chain transport device 4 -6 is placed at the designated height. Simultaneously, the anchor robot connection module 5-2 of the anchor robot system 5 oscillates at a certain angle under the coordinated action of the cylinder group of anchor robot connection module elements 5- 2-4 and said foldable arm connecting cylinder 5-3-9, so that the working platform of the anchoring robot 5-3 lowers to a certain height and remains parallel to the ground, then, the work of the anchor robot 5-3 is deployed under the action of the folding jack A 5-3-1 and the folding jack B 5-3-2, the group of ground support jacks 5-3-5 s elongates in order to achieve the action of supporting the ground, their effect being: to absorb and transmit to the ground the impact force produced during the drilling process of the anchor rod drill 5-4- 14, thus strengthening the stability 49205841 the platform.
    S4: the sprocket and chain transport device 4-6 of the auxiliary transport system 4 brings the material necessary for the processes to the designated positions; the handling manipulator 4-8 grabs the upper beam 1-2 to take it to a specific position of the gallery; the anchor robot 5-4 and the anchor rod storage device 5-5 simultaneously adjust their positions, so that one of the anchor rods present in the anchor rod storage device 5- 5 is loaded on the anchor rod drill 5-4-14 and performs the anchor rod loading action; SS: 5-4 anchoring robot adjusts its different movements to realize the anchoring actions on different positions at both sidewalls and gallery ceiling by 5-4-14 anchor rod drill, and fixed by anchoring the upper beam 1-2 to the ceiling, providing support for all the equipment; S6: the handling manipulator 4-8 grabs the material necessary for the construction of the suspended support system 1, and installs it on the upper beam 1-2; the handling manipulator 4-8 picks up the 1-4 trajectory, connects its upper end to the hanging support system 1, and connects its terminal end to the front end of the previous 1-4 trajectory section, thus realizing the laying of the trajectory; S7: the hydraulic systems for morphological adjustment of the prestressing system 3, the auxiliary transport system 4 and the anchoring robot system 5 retract, the motor 2-3 drives the movement of all the equipment towards the front, the previous steps are continued in order to reiterate the anchoring and retaining actions.
    Finally, it should be noted that the aforementioned embodiments are only intended to explain the technical plan of the present invention and do not constitute a limit thereof, although a detailed description of the present invention has been given with reference to a mode preferred embodiment, those skilled in the art should understand that any equivalent modification or substitution of the technical scheme of the present invention, without departing from the spirit and scope of the technical scheme of the present invention, is covered by the scope of the claims of the present invention.
    权利要求:
    Claims (9)
    [1]
    1. A coordinated anchoring and support monorail apparatus for an excavation face, characterized in that it comprises a suspended support system, a motor system, a pre-support system, an auxiliary transport system and a system anchor robot; said suspended support system is fixed by anchor rods to the ceiling of the coal extraction gallery, and provides support for the integrated equipment; said motor system is arranged at the terminal end of the main beam of the system in said suspended support system; said pre-support system is arranged at the front end of the main beam of the system in said suspended support system; said auxiliary transport system is arranged on the main beam of the system in said support system suspended from the rear side of said pre-support system; said anchor robot system is arranged on the main beam of the system in said suspended support system between said motor system and said auxiliary transport system.
    [2]
    2. An excavation front coordinated anchoring and retaining monorail apparatus according to claim 1, characterized in that, said suspended support system comprises a main beam of the system, an upper beam, a support element, a trajectory and a rectangular key; a structural element intended for installation is welded to the upper end of said trajectory, a rack is welded to both sides of the lower end; said main beam of the system is arranged on said trajectory via the carrying train; four holes are arranged on said upper beam, and fix it to the upper end of the coal extraction gallery using anchor rods; the upper end of said support element is connected to said upper beam using said rectangular key, the lower end is connected to said trajectory using said rectangular key.
    [3]
    3. A monorail coordinated anchoring and retaining apparatus for excavation face according to claim 1, characterized in that, said motor system comprises a carrier train, a motor, a motor base and a gear transmission system; said motor is arranged by means of rivets on said motor base; said engine base is arranged using rivets on the underside of said undercarriage, said undercarriage, is arranged on the surface of said trajectory, and slides on the surface of said trajectory; said gear transmission system includes a servo spur gear λ, a servo worm λ, a worm shaft λ, a large bevel sprocket λ, a small bevel sprocket λ, a differential, a bevel sprocket drive A, a servo spur gear B, a servo worm B, a worm shaft B, a large bevel gear B, a small bevel gear B and a bevel gear B; in order to facilitate the progress of the equipment, said motor has an integrated inverter.
    [4]
    4. A coordinated anchoring and retaining monorail apparatus for the excavation face according to claim 1, characterized in that said pre-retaining system comprises a main pre-retaining beam, a retaining screen support, a retaining screen and a hydraulic telescopic retaining screen system; one end of said main pre-retaining beam is connected to said main beam of the system by rivets, the other end is connected to the retaining screen support by rivets; one end of said hydraulic telescopic retaining screen system is arranged on said main pre-retaining beam, the other end is arranged on said retaining screen support; said retaining screen is arranged on said retaining screen support; said hydraulic telescopic support screen system can adjust the size of said support screen according to the state of the equipments to be protected and the support conditions and thus realize high-efficiency support.
    [5]
    5. An excavation face coordinated anchoring and retaining monorail apparatus according to claim 1, characterized in that, said auxiliary transport system comprises an auxiliary transport system support module λ, an auxiliary transport system support module auxiliary transport B, a cross support beam, a support column A, a support column B, a sprocket and chain transport device, a driving device and a handling manipulator; the support module A of said auxiliary transport system and the support module B of said auxiliary transport system both comprise an upper suspension beam, a jack and a lower suspension beam; said upper suspension beam is connected to said main beam of the system by rivets.
    [6]
    6. A coordinated excavation face anchoring and retaining monorail apparatus according to claim 5, characterized in that, said sprocket and chain transport device comprises a sprocket, a chain, a movable stop block, a movable deflector and an I-shaped lever; said pinion drives the movement of said chain by gear; said drive device comprises a bevel gear AA, a bevel gear BB, a servomotor AA and a motor base; said handling manipulator comprises a mechanical clamp A, a mechanical clamp B, a front end operating lever, a joint A, a joint B, a joint C,
    a servo motor A, a servo motor B, a servo motor C, said mechanical gripper A and [aio SSH mechanical gripper B being respectively welded to the left and right sides of the terminal end of said front end operating lever.
    [7]
    7. A coordinated monorail anchoring and support apparatus for excavation face according to claim 1, characterized in that, said anchoring robot system comprises a group of anchoring robot cylinders, a connection module of anchor robot, an anchor rod storage device, an anchor robot work platform and an anchor robot; said anchor robot connection module includes a foldable arm A, an anchor rod frame motor, a foldable arm B and an anchor robot connection module element cylinder group; one end of said folding arm A is connected to said main beam of the system by rivets, the other end is connected to said folding arm B by rivets.
    [8]
    8. An excavation face coordinated anchoring and support monorail apparatus according to claim 7, characterized in that, = said anchoring robot work platform comprises an intermediate motor stator, a left motor stator, a group of ground support cylinders, a connecting block, a right motor stator, a motor rotor, a folding arm connecting cylinder, a folding arm cylinder A and a folding arm cylinder B; said group of ground support cylinders is respectively arranged at the lower surface below the left motor stator and at the lower surface below the right motor stator; said anchor robot includes an anchor rod drill trajectory, a propulsion motor, a rotating platform, a large anchor arm, an A motor, a B motor, a C motor, a plinth box, a rotating platform, a mechanical arm base, a connecting bar A, a connecting bar B, anchor rod drill drive chain and anchor rod drill; said anchor rod drill is arranged via the side — installation holes on the sliding bar of said anchor rod drill trajectory; said propulsion motor drives said anchor rod drill in said anchor rod path via said anchor rod drill chain.
    [9]
    9. A coordinated anchoring and retaining monorail device for excavation front — characterized in that, its work process includes the following steps: S1: the workers first lay a section of trajectory on the ceiling of the gallery and install the device on the trajectory; S2: When the motor is running, the motor system moves on the trajectory through the gear transmission system, propelling the main beam of the system connected to it, realizing the movement of the whole equipment; PE2020/5641 S3: all the equipment is brought to the designated working position, the hydraulic telescopic retaining screen system of the pre-supporting system triggers the extension of the retaining screen support, thus causing the deployment the retaining screen; then, the auxiliary transport system support module A and the auxiliary transport system support module B of the auxiliary transport system operate synchronously so that the sprocket and chain transport device is placed at the designated height, Simultaneously , the anchor robot connection module of the anchor robot system oscillates at a certain angle under the coordinated action of the group of cylinders of anchor robot connection module elements and said arm connection cylinder foldable, so that the work platform of the anchor robot lowers to a certain height and remains parallel to the ground, then, the work platform of the anchor robot deploys under the action of the foldable cylinder A and the collapsible jack B, the group of ground support jacks lengthen in order to carry out the action of ground support, their effect being: to absorb and transmit to the ground the impact force produced during the process drilling rig tig e anchor, thus reinforcing the stability of the platform; S4: The sprocket and chain transport device of the auxiliary transport system brings the necessary material to the processes on the designated positions; the handling manipulator grabs the upper beam to take it to a specific position in the gallery; the anchor robot and the anchor rod storage device simultaneously adjust their positions, so that one of the anchor rods in the anchor rod storage device is loaded onto the anchor rod drill anchor and performs the anchor rod loading action; SS: The anchoring robot adjusts its various movements to realize the anchoring actions on different positions to the two sides and the ceiling of the gallery by the anchor rod drill, and anchors the upper beam to the ceiling, providing support for all equipment; S6: the handling manipulator grabs the material necessary for the construction of the suspended support system, and installs it on the upper beam; the handling manipulator grabs the trajectory, connects its upper end to the hanging support system, and connects its terminal end to the front end of the previous trajectory section, thus realizing the laying of the trajectory; S7: the hydraulic systems for morphological adjustment of the pre-
    support system, the auxiliary transport system and the anchoring robot system 39-9981 retract, the motor drives the movement of all the equipment forward, the previous steps are continued in order to repeat the anchoring actions and of support.
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    同族专利:
    公开号 | 公开日
    US20210215043A1|2021-07-15|
    CN111058843A|2020-04-24|
    BE1027935A1|2021-07-27|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN202510038U|2012-03-02|2012-10-31|重庆宝爵机械设备有限公司|Drilling cramp of drilling rig|
    CN208416455U|2018-06-29|2019-01-22|四川新筑智能工程装备制造有限公司|A kind of rock drilling robot for tunnel support construction equipment|
    CN110630301A|2019-10-25|2019-12-31|江西蓝翔重工有限公司|Suspension rail wing type anchor rod drill carriage|
    GB2589441A|2020-05-21|2021-06-02|Univ Anhui Sci & Technology|Integrated equipment with support and anchor collaboration function|
    CN111594207A|2020-05-21|2020-08-28|安徽理工大学|Integrated equipment with anchor protecting and cooperative operation functions|
    CN112081611B|2020-10-10|2021-07-30|安徽理工大学|Walking robot with anchor, support and protection functions|
    法律状态:
    2022-02-09| FG| Patent granted|Effective date: 20220111 |
    优先权:
    申请号 | 申请日 | 专利标题
    CN202010039720.4A|CN111058843A|2020-01-13|2020-01-13|Combine and dig working face monorail formula anchor support cooperative machine|
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