• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    The present invention discloses intelligent anchoring and support equipment, belongs to the field of mechanical and electrical equipment for a fully mechanized excavation working face, and includes five portions: suspension support systems, a power system, an anchoring robot system, ground support systems and wall surface support systems. The suspension support systems are fixed to a top end of a coal mining roadway through anchor rods to provide support for the whole set of equipment. The power system is installed at a tail end of a system main beam in the suspension support system. The anchoring robot system is installed at a lower end of the system main beam in the suspension support system. The ground support systems are fixed to the system main beam in the suspension support system above an installing position of the anchoring robot system. The wall surface support systems are fixed to the system main beam in the suspension support system above an installing position of the ground support system. Further, the present invention has a compact integral structure and a high anchoring efficiency. The ground support systems and the wall surface support systems are adopted, so that the equipment is stable in operation and has good turning performance.
    公开号:NL2026313A
    申请号:NL2026313
    申请日:2020-08-20
    公开日:2021-08-30
    发明作者:Wang Shuang；Deng Haishun；Ma Tianbingi；Guo Yongcun；Su Guoyong；Hu Kun
    申请人:Univ Anhui Sci & Technology；
    IPC主号:
    专利说明:

    P100548NL00 1ANCHORING ROBOT APPLICABLE TO COMPLICATED WORKCONDITIONS OF FULLY MECHANIZED EXCAVATIONWORKING FACE
    BACKGROUND Technical Field The present invention relates to the field of mechanical and electrical equipment for a fully mechanized excavation working face, and more particularly, to an anchoring robot applicable to complicated work conditions of a fully mechanized excavation working face, and belongs to the scope of intelligent anchoring and support equipment.
    Related Art An anchoring and support process is one of commonly used support methods in a coal mine roadway. According to the anchoring and support process, an anchor rod is anchored into surrounding rock of the roadway, so that a support body and the surrounding rock jointly form a spatial structure body capable of bearing a heavy load of pressure, thereby preventing roof caving, maintaining an effective use space of a coal mining working face and ensuring the safe operation of equipment. However, a roof support work procedure of the roadway is complicated, a mechanization degree is not high, the operation consumes more working hours, and an operating rate of a tunneling machine is influenced. It has become a major obstacle of rapid tunneling of the roadway.
    In recent years, a common tunneling and anchoring integrated machine mainly installs anchoring and support equipment onto a tunneling and anchoring machine in a bilateral type, a gantry type or a folding type. In representative patents with publication numbers of 201520053096.8, 201910275708.0, 201920461381.1, etc., a tunneling device, a support device and an anchoring device are designed and installed in a modular mode, so that the equipment can adapt to turning and vertical undulation in an advancing process. However, this kind of equipment has a certain requirement on a turning radius and unevenness of a roadway floor. In a narrow and small roadway with a severe environment, an anchoring operation space is limited, so that this kind of large-size equipment is low in work efficiency, or even cannot be used.
    This research group provides an application for a patent of a monorail anchoring and support cooperation machine for a fully mechanized excavation working face. In order to facilitate advancing of equipment, anchoring equipment, support equipment and a tunneling machine are separated, and a monorail crane advancing mode is adopted, so that
    P100548NL00 2 the equipment has good maneuvering performance and is applicable to general narrow and small roadways. However, the equipment has high requirements on a roadway support environment, is low in anchoring efficiency, and has certain defects, which are specifically as follows: 1) The equipment advances in a monorail crane mode, and is not applicable to a soft rock coal mine roadway.
    In the patent, all mechanical equipment is installed on a monorail crane. The weight of the integral equipment is heavy. The requirement on hardness of a roadway rock layer of the monorail crane supported by an anchor rod is higher. However, a part of the roadway rock layer of the coal mine is loose and soft. Therefore, the equipment is only applicable to occasions with better roadway conditions.
    2) Linkage performance of a work platform of an anchoring robot of the equipment is poor.
    An anchoring operation platform provided in the patent adopts a three-section hydraulic driving folding structure. However, due to the limitation by an installing position and a stroke of a hydraulic cylinder in a folding process, the folding position precision of the platform is not high, and the anchor rod robot unstably moves on the surface of the platform at a low speed, so that the operation efficiency of an anchoring process is influenced. At the same time, its ground support hydraulic system cannot realize accurate contraction, and interference may be generated on other equipment in a transportation process.
    3) The anchoring operation platform of the equipment is poor in buffering capacity, and is unfavorable for anchoring operation.
    The anchoring operation platform provided in the patent uses two sets of ground support hydraulic cylinder groups as buffer systems of the anchoring operation. The hole drilling impact force can be absorbed and transferred to the ground in a hole drilling process, but under the condition of loose and soft roadway floor, bottom ends of the ground support hydraulic cylinder groups may downwards sink, resulting in instable anchoring operation platform, which is unfavorable for the anchoring operation.
    SUMMARY An objective of the present invention is to solve the problem of low tunneling and anchoring efficiency and provide an anchoring robot applicable to complicated work conditions of a fully mechanized excavation working face. The robot has a high automation degree, high applicability and high safety, is convenient to operate, and
    P100548NL00 3 provides a solution for the related art. Technical problems to be solved by the present invention are solved by the following technical solution: An anchoring robot applicable to complicated work conditions of a fully mechanized excavation working face includes suspension support systems, a power system, an anchoring robot system, ground support systems and wall surface support systems. The suspension support systems are fixed to a top end of a coal mining roadway through anchor rods to provide support for anchoring and support robots. The power system is installed at a tail end of a system main beam in the suspension support system. The anchoring robot system is installed at a lower end of the system main beam in the suspension support system. The ground support systems and the wall surface support systems are fixed to the system main beam in the suspension support system above an installing position of the anchoring robot system.
    The suspension support system includes the system main beam, a top beam, a support member, a rail and rectangular pins. The system main beam is installed on the rail through a load bearing trolley. Four holes configured to fix the top beam onto the top end of the coal mining roadway through anchor rods are formed in the top beam. An upper end of the support member is connected to the top beam through the rectangular pin, and a lower end is connected to the rail through the rectangular pin.
    The power system includes the load bearing trolley, a motor, a motor base, a gear transmission system and a power connecting device. The motor is installed on the motor base through screw bolts. The motor base is installed on a lower bottom surface of the load bearing trolley through screw bolts. The load bearing trolley is installed on a surface of the rail, and the load bearing trolley can slide on the surface of the rail. An input shaft in the gear transmission system is connected to the motor through a shaft coupler. An output gear is installed in fit with a rack in the rail. One end of the power connecting device is welded to the gear transmission system, and the other end is connected to the system main beam through a pin.
    The anchoring robot system includes a beam and arm hydraulic cylinder group, an anchoring robot connecting assembly, an anchor rod storage device, an anchoring robot work platform and anchoring robot bodies. The anchoring robot connecting assembly includes an upper connecting arm, a lower connecting arm and a connecting hydraulic cylinder group. An upper end of the anchoring robot connecting assembly is connected to the system main beam through a pin. A tail end of the anchoring robot connecting
    P100548NL00 4 assembly is connected to the anchoring robot work platform through a pin.
    The anchoring robot work platform includes a middle work platform, an arm and platform connecting hydraulic cylinder, a folding hydraulic cylinder, a connecting rod A, ground support hydraulic cylinders, a connecting rod B, a slide block, a connecting rod C and border work platforms.
    The anchoring robot work platform is composed of three sections, and is capable of realizing a folding function.
    A mechanism at a bottom end of the anchoring robot body and the anchoring robot work platform form a linear motor.
    The anchor rod storage device includes a support frame rotating motor and an anchor rod storage support frame.
    The anchoring robot body includes a driving mechanism, a rotary platform base, a big arm and an actuator.
    The driving mechanism can drive the rotary platform base to rotate so as to meet the requirements of different stations of the actuator.
    The big arm is connected to the rotary platform base, and can swing relative to each other.
    The big arm and the actuator form a four-bar mechanism, and a rotating angle of the actuator can be controlled.
    The actuator includes a roof bolter guide rail, a propulsion motor, a roof bolter and a chain.
    The propulsion motor is installed at a front end of the roof bolter guide rail.
    The roof bolter is installed on a sliding rod of the roof bolter guide rail through through holes formed in two sides.
    The propulsion motor drives the chain to drive the roof bolter to move in the roof bolter guide rail.
    The ground support system includes support main beams, a support platform, a rear steering rail, a steering mechanism, support devices and a front steering rail.
    The ground support systems are symmetrically arranged with respect to the system main beam in the suspension support system.
    The rear steering rail includes small rollers A, big rollers A and a slide groove mechanism A.
    The small rollers A are installed at an upper end of a groove type opening of the slide groove mechanism A.
    The steering mechanism includes small rollers C, big rollers C, a fixing groove, a steering hydraulic cylinder A, a fixing member A, a pushing hydraulic cylinder A, a support sleeve, a fixing member B, a steering hydraulic cylinder B, a pushing hydraulic cylinder B, a connecting block A and a connecting block B.
    Three groups of identical support devices are installed on one side of the ground support system.
    The support device includes a front end ground support hydraulic cylinder, a middle ground support hydraulic cylinder, a rear end ground support hydraulic cylinder and support seats.
    The front steering rail is similar to the rear steering rail, and includes small rollers B, big rollers B and a slide groove mechanism B.
    The small rollers B are installed at an upper end of a groove type opening of the slide groove mechanism B.
    The support platform is in rolling fit with the small rollers A and the big
    P100548NL00 rollers A on the rear steering rail, the small rollers C and the big rollers C on the steering mechanism, and the small rollers B and the big rollers B on the front steering rail, so that the rear steering rail, the steering mechanism and the front steering rail are capable of rolling on the support platform.
    5 The wall surface support system includes lateral side support main beams, a lateral side support platform, a propulsion hydraulic cylinder and lateral side support mechanisms. The wall surface support systems are symmetrically arranged with respect to the system main beam in the suspension support system. The lateral side support mechanism includes upper rollers, lower rollers, a fixing platform, a front end wall support hydraulic cylinder, a rear end wall support hydraulic cylinder and wall surface support seats. The upper rollers are installed at an upper end of a groove type opening of the fixing platform. The lower rollers are installed in a groove of the groove type opening of the fixing platform. The upper rollers and the lower rollers are capable of being buckled with upper and lower surfaces of the lateral side support platform to realize rolling fit. Upper ends of the front end wall support hydraulic cylinder and the rear end wall support hydraulic cylinder are fixed to the fixing platform, and lower ends are connected to the wall surface support seats through pins. Two groups of the lateral side support mechanisms are connected through the propulsion hydraulic cylinder. Two ends of the propulsion hydraulic cylinder are respectively fixed onto the fixing platform of the two groups of the lateral side support mechanisms.
    An advancing process of an anchoring robot applicable to complicated work conditions of a fully mechanized excavation working face is characterized by including the following steps: SI: installing a whole set of equipment onto a rail laid onto a roadway roof in advance; S2: when a motor works, enabling a power system to move on the rail through a gear transmission system, and pushing a system main beam connected to the power system to move so as to drive a support platform and a lateral side support platform to move together; S3: arranging a ground support system and a wall surface support system on two sides of the system main beam respectively, enabling the work process of each system on the two sides to be completely synchronous; by taking the work process on one side as an example for illustration, at the beginning of operation of the whole set of equipment, enabling a front end ground support hydraulic cylinder, a middle ground support
    P100548NL00 6 hydraulic cylinder and a rear end ground support hydraulic cylinder in a support device to support a roadway floor at the same time, enabling a front end wall support hydraulic cylinder and a rear end wall support hydraulic cylinder to support a roadway wall surface at the same time, and enabling a pushing hydraulic cylinder B and a prolusion hydraulic cylinder to be in a contraction state; during operation, contracting the front end ground support hydraulic cylinder and the front end wall support hydraulic cylinder, pushing a front steering rail connected to the front end ground support hydraulic cylinder to forwards move to a specified position along the support platform under the effect of the pushing hydraulic cylinder B, and at the same time, pushing a lateral side support mechanism connected to the front end wall support hydraulic cylinder to forwards move to a specified position along the lateral side support platform under the effect of the propulsion hydraulic cylinder; and then, extending the front end ground support hydraulic cylinder to support the roadway floor, and at the same time, extending the front end wall support hydraulic cylinder to support the roadway wall surface; S4: contracting the middle ground support hydraulic cylinder; then, contracting the pushing hydraulic cylinder B; at the same time, extending a pushing hydraulic cylinder A; through the joint effect of the pushing hydraulic cylinder B and the pushing hydraulic cylinder A, enabling a slide groove mechanism A connected to the middle ground support hydraulic cylinder to forwards move to a specified position along the lateral side support platform; and then, extending the middle ground support hydraulic cylinder to support the roadway floor; and S5: contracting the rear end ground support hydraulic cylinder and the rear end wall support hydraulic cylinder, pulling a rear steering rail connected to the rear end ground support hydraulic cylinder to forwards move to a specified position along the support platform under the effect of the pushing hydraulic cylinder A, and at the same time, pulling the rear end wall support hydraulic cylinder to forwards move to a specified position along the lateral side support mechanism under the effect of the propulsion hydraulic cylinder; and then, extending the rear end ground support hydraulic cylinder to support the roadway floor, and at the same time, enabling the rear end wall support hydraulic cylinder to support the roadway wall surface to realize advancing of the whole set of equipment for a distance. Continuous advancing of the whole set of equipment is capable of being realized by repeating the above steps.
    A turning process of an anchoring robot applicable to complicated work conditions of a fully mechanized excavation working face is characterized by including the following
    P100548NL00 7 steps: SI: in a process of realizing a turning function of a whole set of equipment, contracting a front end ground support hydraulic cylinder, so that the front end ground support hydraulic cylinder is capable of being driven to swing in a front steering rail under the telescopic effect of a steering hydraulic cylinder B, thereby realizing that the front end ground support hydraulic cylinder is not positioned on a connecting line of a middle ground support hydraulic cylinder and a rear end ground support hydraulic cylinder; and then, extending the front end ground support hydraulic cylinder to support a roadway floor; and S2: contracting the rear end ground support hydraulic cylinder, so that the rear end ground support hydraulic cylinder is capable of being driven to swing in a rear steering rail under the telescopic effect of a steering hydraulic cylinder A, thereby realizing that the rear end ground support hydraulic cylinder, the middle ground support hydraulic cylinder and the front end ground support hydraulic cylinder are in the same straight line; and then, extending the front end ground support hydraulic cylinder to support the roadway floor so as to realize a turning action.
    An anchoring process of an anchoring robot applicable to complicated work conditions of a fully mechanized excavation working face is characterized by including the following steps: S1: enabling an anchoring robot work platform in an anchoring robot system to descend a certain height under the joint effect of an anchoring robot connecting assembly, a folding hydraulic cylinder and a ground support hydraulic cylinder and to maintain a level state with the ground to complete a support action; S2: regulating poses of anchoring robot bodies and an anchor rod storage support frame at the same time, so that one anchor rod in the anchor rod storage support frame is loaded into a roof bolter to complete an anchor rod loading action; and S3: regulating different poses of two groups of the anchoring robot bodies to realize the anchoring operation of the roof bolter in different positions of roadway side surfaces and roofs so as to complete a roadway support operation.
    By comparing an existing tunneling anchoring and support integrated machine and the patent (a monorail anchoring and support cooperation machine for a fully mechanized excavation working face) mentioned herein with the prior art, the present invention has the beneficial effects: 1) The present invention realizes step type advancing, has better maneuvering
    P100548NL00 $ performance, and is applicable to a coal mine roadway with complicated work conditions.
    The present invention makes reasonable improvement on a walking support mode. Walking of the robot is guided by a monorail crane. Additionally, a load of the whole system is born by the ground support system. The stability and safety of the equipment in the moving process are improved. Additionally, the ground support system has a certain turning function, so that the equipment can stably transport and work in rock roadways with different hardness.
    2) The present invention enables the anchoring robot work platform to stably contract and extend, and realizes high control precision through a connecting rod mechanism.
    The lower end of the anchoring robot work platform of the present invention can realize the simultaneous contraction and extension of the work platforms on two sides and the ground support hydraulic cylinders thereof through a connecting rod slide block mechanism, and the position precision of the work platforms is improved, so that the anchoring robot can more stably move on the surfaces of the work platforms.
    3) The present invention adopts a plurality of support systems and provides the stable work platform for the anchoring operation.
    The wall surface support systems of the present invention prevent the equipment from leftwards and rightwards swinging in a transportation process, and bear partial weight of the equipment. At the same time, in the anchoring operation process, the system and the ground support hydraulic cylinders jointly form a buffer system. The hole drilling impact force is absorbed and transferred to the roadway surface, and the stability of the anchoring robot work platform is ensured.
    4) The present invention has a compact structure and a high space utilization rate.
    All main components of the present invention can realize extension and contraction in different work environments. The structure is compact. The space volume is small. At the same time, two sets of anchoring robot bodies are installed on the anchoring robot work platform in the present invention, and jointly perform the anchoring operation, so that the anchoring work efficiency is improved. Additionally, the present invention occupies a small roadway space volume, so that a space is provided for the operation of other equipment.
    P100548NL00 9
    BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic diagram of an overall structure of the present invention. Figure 2 is a schematic diagram of a suspension support system of the present invention. Figure 3 is a schematic diagram of a system main beam of the present invention. Figure 4 is a schematic diagram of a power system of the present invention. Figure 5 is a schematic diagram of a connecting relationship of the system main beam and an anchoring robot system of the present invention. Figure 6 is a schematic diagram of a non-working state of the anchoring robot system of the present invention. Figure 7 is a schematic diagram of a working state of the anchoring robot system of the present invention. Figure 8 is a schematic diagram of an anchoring robot work platform of the present invention. Figure 9 is a schematic diagram of a ground support system of the present invention. Figure 10 is a schematic diagram of a rear steering rail of the ground support system of the present invention. Figure 11 is a schematic diagram of a steering mechanism of the ground support system of the present invention. Figure 12 is a schematic diagram of a support platform of the ground support system of the present invention. Figure 13 is a schematic diagram of a front steering rail of the ground support system of the present invention. Figure 14 is a schematic diagram of a wall surface support system of the present invention. Figure 15 is a schematic diagram of a support mechanism of the wall surface support system of the present invention. In the figures, 1 denotes a suspension support system; 2 denotes a power system; 3 denotes an anchoring robot system; 4 denotes a ground support system; 5 denotes a wall surface support system; 1-1 denotes a top beam; 1-2 denotes a support member; 1-3 denotes a rail; 1-4 denotes a rectangular pin; 1-5 denotes a system main beam; 2-1 denotes a load bearing trolley; 2-2 denotes a motor base; 2-3 denotes a motor; 2-4 denotes a gear transmission system; 2-5 denotes a power connecting device; 3-1 denotes a beam and arm hydraulic cylinder group; 3-2 denotes an anchoring robot connecting assembly;
    P100548NL00 10 3-3 denotes an anchoring robot work platform; 3-4 denotes an anchoring robot body; 3-5 denotes an anchor rod storage device; 3-2-1 denotes an upper connecting arm; 3-2-2 denotes a lower connecting arm; 3-2-3 denotes a connecting hydraulic cylinder group; 3-3-1 denotes a middle work platform; 3-3-2 denotes an arm and platform connecting hydraulic cylinder; 3-3-3 denotes a folding hydraulic cylinder; 3-3-4 denotes a connecting rod A; 3-3-5 denotes a ground support hydraulic cylinder; 3-3-6 denotes a connecting rod B; 3-3-7 denotes a slide block; 3-3-8 denotes a connecting rod C; 3-3-9 denotes a border work platform; 3-4-1 denotes a driving mechanism; 3-4-2 denotes a rotary platform base; 3-4-3 denotes a big arm; 3-4-4 denotes an actuator; 3-4-4-1 denotes a chain; 3-4-4-2 denotes a roof bolter; 3-4-4-3 denotes a propulsion motor; 3-4-4-4 denotes a roof bolter guide rail; 3-5-1 denotes an anchor rod storage support frame; 3-5-2 denotes a support frame rotating motor; 4-1 denotes a support main beam; 4-2 denotes a support platform; 4-3 denotes a rear steering rail; 4-4 denotes a steering mechanism; 4-5 denotes a support device; 4-6 denotes a front steering rail; 4-3-1 denotes a small roller A; 4-3-2 denotes a big roller A; 4-3-3 denotes a slide groove mechanism A; 4-4-1 denotes a small roller C; 4-4-2 denotes a big roller C; 4-4-3 denotes a fixing groove; 4-4-4 denotes a steering hydraulic cylinder A; 4-4-5 denotes a connecting block A; 4-4-6 denotes a pushing hydraulic cylinder A; 4-4-7 denotes a support sleeve; 4-4-8 denotes a fixing member A; 4-4-9 denotes a fixing member B; 4-4-10 denotes a steering hydraulic cylinder B; 4-4-11 denotes a pushing hydraulic cylinder B; 4-4-12 denotes a connecting block B; 4-5-1 denotes a support seat; 4-5-2 denotes a rear end ground support hydraulic cylinder; 4-5-3 denotes a middle ground support hydraulic cylinder; 4-5-4 denotes a front end ground support hydraulic cylinder; 4-6-1 denotes a small roller B; 4-6-2 denotes a big roller B; 4-6-3 denotes a slide groove mechanism B; 5-1 denotes a lateral side support main beam; 5-2 denotes a lateral side support platform; 5-3 denotes a lateral side support mechanism; 5-4 denotes a propulsion hydraulic cylinder; 5-3-1 denotes an upper roller; 5-3-2 denotes a fixing platform; 5-3-3 denotes a wall surface support seat; 5-3-4 denotes a front end wall support hydraulic cylinder; 5-3-5 denotes a rear end wall support hydraulic cylinder; and 5-3-6 denotes a lower roller.
    DETAILED DESCRIPTION In order to make it easy to understand the technical means, creation features, achieved purpose and effectiveness of the present invention, the following is a further detailed description of the present invention with reference to the attached drawings and the specific implementation. It should be understood that the specific embodiments
    P100548NL00 11 described herein are merely used to explain the present disclosure but are not intended to limit the present disclosure.
    Referring to Figure 1, an anchoring robot applicable to complicated work conditions of a fully mechanized excavation working face includes suspension support systems 1, a power system 2, an anchoring robot system 3, ground support systems 4 and wall surface support systems 5. The suspension support systems 1 are fixed to a top end of a coal mining roadway through anchor rods to provide support for the whole set of equipment. The power system 2 is installed at a tail end of a system main beam 1-5 in the suspension support system 1. The anchoring robot system 3 is installed at a lower end of the system main beam 1-5 in the suspension support system 1. The ground support systems 4 are fixed to the system main beam 1-5 in the suspension support system 1 above an installing position of the anchoring robot system 3. The wall surface support systems 5 are fixed to the system main beam 1-5 in the suspension support system 1 above an installing position of the ground support system 4. The anchoring robot applicable to complicated work conditions of the fully mechanized excavation working face is characterized in that when the robot walks and works, the ground support systems 4 and the wall surface support systems 5 are jointly configured to support self weight of the whole device, so that the working stability and safety are greatly improved.
    Referring to Figure 2 and Figure 3, the suspension support system 1 includes a top beam 1-1, a support member 1-2, a rail 1-3, rectangular pins 1-4 and the system main beam 1-5. The system main beam 1-5 is installed on the rail 1-3 through a load bearing trolley 2-1. Four holes configured to fix the top beam onto the top end of the coal mining roadway through anchor rods are formed in the top beam 1-1. An upper end of the support member 1-2 is connected to the top beam 1-1 through the rectangular pin 1-4, and a lower end is connected to the rail 1-3 through the rectangular pin 1-4.
    Referring to Figure 4, the power system 2 includes the load bearing trolley 2-1, a motor 2-3, a motor base 2-2, a gear transmission system 2-4 and a power connecting device 2-5. The motor 2-3 is installed on the motor base 2-2 through screw bolts. The motor base 2-2 is installed on a lower bottom surface of the load bearing trolley 2-1 through screw bolts. The load bearing trolley 2-1 is installed on the rail 1-3, and the load bearing trolley 2-1 can slide on a surface of the rail 1-3. An input shaft in the gear transmission system 2-4 is connected to the motor 2-3 through a shaft coupler. An output gear in the gear transmission system 2-4 is installed in fit with a rack in the rail 1-3. One end of the power connecting device 2-5 is welded to the gear transmission system 2-4,
    P100548NL00 12 and the other end is connected to the system main beam 1-5 through a pin.
    Referring to Figure 5, Figure 6, Figure 7 and Figure 8, the anchoring robot system 3 includes a beam and arm hydraulic cylinder group 3-1, an anchoring robot connecting assembly 3-2, an anchoring robot work platform 3-3, anchoring robot bodies 3-4 and an anchor rod storage device 3-5. The anchoring robot connecting assembly 3-2 includes an upper connecting arm 3-2-1, a lower connecting arm 3-2-2 and a connecting hydraulic cylinder group 3-2-3. The upper connecting arm 3-2-1 is connected to the system main beam 1-5 through a pin. One end of the beam and arm hydraulic cylinder group 3-1 is connected to the system main beam 1-5 through a pin. The other end is connected to the upper connecting arm 3-2-1 through a pin. Additionally, two sets of beam and arm hydraulic cylinder groups 3-1 are arranged on two sides of the system main beam 1-5 respectively. The upper connecting arm 3-2-1 and the lower connecting arm 3-2-2 are connected through a pin. One end of the connecting hydraulic cylinder groups 3-2-3 is connected to the upper connecting arm 3-2-1 through a pin, and the other end is connected to the lower connecting arm 3-2-2 through a pin. The lower connecting arm 3-2-2 is connected to the anchoring robot work platform 3-3 through a pin. The anchoring robot work platform 3-3 includes a middle work platform 3-3-1, an arm and platform connecting hydraulic cylinder 3-3-2, a folding hydraulic cylinder 3-3-3, a connecting rod A 3-3-4, ground support hydraulic cylinders 3-3-5, a connecting rod B 3-3-6, a slide block 3-3-7, a connecting rod C 3-3-8 and border work platforms 3-3-9. One end of the arm and platform connecting hydraulic cylinder 3-3-2 1s connected to a middle position of a tail end of the lower connecting arm 3-2-2 through a pin, and the other end is connected to a middle position of a bottom of the middle work platform 3-3-1 through a pin. The border work platforms 3-3-9 on two sides are symmetrically arranged with respect to the middle work platform 3-3-1. One side is taken as an example for illustration hereafter. One end of the folding hydraulic cylinder 3-3-3 is connected to the middle work platform 3-3-1 through a pin, and the other end is connected to one end of the connecting rod A 3-3-4 and the connecting rod B 3-3-6 through a pin. A lower end of the border work platform 3-3-9 is connected to the connecting rod A 3-3-4 through a pin. The slide block 3-3-7 is fit with a groove type structure on a lower side of the border work platform 3-3-9 to realize translational motion. A lower end of the slide block 3-3-7 is connected to one end of the connecting rod B 3-3-6 and the connecting rod C 3-3-8 through a pin. The connecting rod C 3-3-8 is connected to the ground support hydraulic cylinder 3-3-5 through a pin. The anchoring robot work platform 3-3 and a mechanism at a bottom end
    P100548NL00 13 of the anchoring robot body 3-4 form a linear motor.
    The anchor rod storage device 3-5 includes an anchor rod storage support frame 3-5-1 and a support frame rotating motor 3-5-2. The support frame rotating motor 3-5-2 is installed on an inner side surface of the anchoring robot connecting assembly 3-2. The anchor rod storage support frame 3-5-1 is installed on an outer side surface of the anchoring robot connecting assembly 3-2. The anchoring robot body 3-4 includes a driving mechanism 3-4-1, a rotary platform base 3-4-2, a big arm 3-4-3 and an actuator 3-4-4. The driving mechanism 3-4-1 can drive the rotary platform base 3-4-2 to rotate so as to meet the requirements of different stations of the actuator 3-4-4. The big arm 3-4-3 is connected to the rotary platform base 3-4-2, and can swing relative to each other.
    The big arm 3-4-3 and the actuator 3-4-4 form a four-bar mechanism, and a rotating angle of the actuator 3-4-4 can be controlled.
    The actuator 3-4-4 includes a chain 3-4-4-1, a roof bolter 3-4-4-2, a propulsion motor 3-4-4-3 and a roof bolter guide rail 3-4-4-4. The propulsion motor 3-4-4-3 is installed at a front end of the actuator 3-4-4. The roof bolter 3-4-4-2 is installed on the roof bolter guide rail 3-4-4-4 through through holes formed in two sides.
    The propulsion motor 3-4-4-3 drives the chain
    3-4-4-1 to drive the roof bolter 3-4-4-2 to move on the roof bolter guide rail 3-4-4-4. Referring to Figure 9, Figure 10, Figure 11, Figure 12 and Figure 13, the ground support system 4 includes support main beams 4-1, a support platform 4-2, a rear steering rail 4-3, a steering mechanism 4-4, support devices 4-5 and a front steering rail 4-6. The ground support systems 4 are symmetrically arranged with respect to the system main beam 1-5 in the suspension support system 1. The ground support system 4 on one side is taken as an example for illustration hereafter.
    One end of three groups of the support main beams 4-1 on one side of the system main beam 1-5 in the suspension support system 1 is fixed onto the system main beam 1-5 in the suspension support system 1 through screw bolts, and the other end is fixed onto the support platform 4-2 through screw bolts.
    The rear steering rail 4-3 includes small rollers A 4-3-1, big rollers A 4-3-2 and a slide groove mechanism A 4-3-3. One side of the ground support system 4 includes three groups of identical support devices 4-5. The support device 4-5 includes support seats 4-5-1, a rear end ground support hydraulic cylinder 4-5-2, a middle ground support hydraulic cylinder 4-5-3 and a front end ground support hydraulic cylinder 4-5-4. A lower end of the rear end ground support hydraulic cylinder 4-5-2 is connected to the support seat 4-5-1 through a pin.
    The small rollers A 4-3-1 are installed at an upper end of a groove type opening of the slide groove mechanism A 4-3-3. The big rollers A 4-3-2 are installed in a groove of the groove type opening of the slide groove mechanism A 4-3-3. The small
    P100548NL00 14 rollers A 4-3-1 and the big rollers A 4-3-2 are capable of being buckled with upper and lower surfaces of the support platform 4-2 to realize rolling fit. The steering mechanism 4-4 includes small rollers C 4-4-1, big rollers C 4-4-2, a fixing groove 4-4-3, a steering hydraulic cylinder A 4-4-4, a fixing member A 4-4-8, a pushing hydraulic cylinder A 4-4-6, a support sleeve 4-4-7, a fixing member B 4-4-9, a steering hydraulic cylinder B 4-4-10, a pushing hydraulic cylinder B 4-4-11, a connecting block A 4-4-5 and a connecting block B 4-4-12. The small rollers C 4-4-1 are installed to an upper end of a groove type opening of the fixing groove 4-4-3. The big rollers C 4-4-2 are installed in a groove of the groove type opening of the fixing groove 4-4-3. The small rollers C 4-4-1 and the big rollers C 4-4-2 are capable of being buckled with upper and lower surfaces of the support platform 4-2 to realize rolling fit. An upper bottom end of the fixing groove 4-4-3 1s fixed to an upper end of the hydraulic cylinder. The fixing member A 4-4-8 is sleeved over the middle ground support hydraulic cylinder 4-5-3. The steering hydraulic cylinder A 4-4-4 is installed on one side of the fixing member A 4-4-8, and the pushing hydraulic cylinder A 4-4-6 is installed on the other side. One end of the connecting block A 4-4-5 is sleeved over the pushing hydraulic cylinder A 4-4-6, and the other end is connected to one end of the steering hydraulic cylinder A 4-4-4. The fixing member B 4-4-9 is sleeved over the middle ground support hydraulic cylinder 4-5-3 on the lower side of the fixing member A 4-4-8. The steering hydraulic cylinder B 4-4-10 is installed on one side of the fixing member B 4-4-9, and the pushing hydraulic cylinder B 4-4-11 is installed on the other side. One end of the connecting block B 4-4-12 1s sleeved over the pushing hydraulic cylinder B 4-4-11, and the other end is connected to one end of the steering hydraulic cylinder B 4-4-10. The support sleeve 4-4-7 is installed on the middle ground support hydraulic cylinder 4-5-3 on the lower side of the fixing member A 4-4-8.
    Two support legs of the support sleeve 4-4-7 are respectively fixed onto the fixing member A 4-4-8 and the fixing member B 4-4-9. The front steering rail 4-6 is similar to the rear steering rail 4-3, and includes small rollers B 4-6-1, big rollers B 4-6-2 and a slide groove mechanism B 4-6-3. The small rollers B 4-0-1 are installed at an upper end of a groove type opening of the slide groove mechanism B 4-6-3. The big rollers B 4-6-2 are installed in a groove of the groove type opening of the slide groove mechanism B 4-6-3. The small rollers B 4-6-1 and the big rollers B 4-6-2 are capable of being buckled with upper and lower surfaces of the support platform 4-2 to realize rolling fit. The pushing hydraulic cylinder A 4-4-6 is connected to the rear end ground support hydraulic cylinder 4-5-2 at a rear end of the support device 4-5 through a pin. The pushing hydraulic
    P100548NL00 15 cylinder B 4-4-11 is connected to the front end ground support hydraulic cylinder 4-5-4 at a front end of the support device 4-5 through a pin. The support platform 4-2 is in rolling fit with the small rollers A 4-3-1 and the big rollers A 4-3-2 on the rear steering rail 4-3, the small rollers C 4-4-1 and the big rollers C 4-4-2 on the steering mechanism 4-4, and the small rollers B 4-6-1 and the big rollers B 4-6-2 on the front steering rail 4-6, so that the rear steering rail 4-3, the steering mechanism 4-4 and the front steering rail 4-6 are capable of rolling on the support platform 4-2.
    Referring to Figure 14 and Figure 15, the wall surface support system 5 includes lateral side support main beams 5-1, a lateral side support platform 5-2, a propulsion hydraulic cylinder 5-4 and lateral side support mechanisms 5-3. The wall surface support systems 5 are symmetrically arranged with respect to the system main beam 1-5 in the suspension support system 1. The wall surface support system 5 on one side is taken as an example for illustration hereafter. One end of two groups of the lateral side support main beams 5-1 on one side of the system main beam 1-5 of the suspension support system 1 is fixed onto the system main beam 1-5 in the suspension system 1 through screw bolts, and the other end is fixed onto the lateral side support platform 5-2 through screw bolts. The lateral side support mechanism 5-3 includes upper rollers 5-3-1, lower rollers 5-3-6, a fixing platform 5-3-2, wall surface support seats 5-3-3, a front end wall support hydraulic cylinder 5-3-4 and a rear end wall support hydraulic cylinder 5-3-5. The upper rollers 5-3-1 are installed at an upper end of a groove type opening of the fixing platform 5-3-2. The lower rollers 5-3-6 are installed in a groove of the groove type opening of the fixing platform 5-3-2. The upper rollers 5-3-1 and the lower rollers 5-3-6 are capable of being buckled with upper and lower surfaces of the lateral side support platform 5-2 to realize rolling fit. Upper ends of the front end wall support hydraulic cylinder 5-3-4 and the rear end wall support hydraulic cylinder 5-3-5 are respectively fixed to the fixing platform 5-3-2, and lower ends are respectively connected to the wall surface support seats 5-3-3 through pins. Two groups of the lateral side support mechanisms 5-3 are connected through the propulsion hydraulic cylinder 5-4. Two ends of the propulsion hydraulic cylinder 5-4 are respectively fixed onto the fixing platform 5-3-2 of the two groups of the lateral side support mechanisms 5-3. The wall surface support system 5 is characterized in that the propulsion hydraulic cylinder 5-4 can realize alternate rolling of the two lateral side support mechanisms 5-3 on the lateral side support platform 5-2. An advancing process of an anchoring robot applicable to complicated work conditions of a fully mechanized excavation working face is characterized by including
    P100548NL00 16 the following steps: S1: A whole set of equipment is installed onto a completely laid suspension support system 1. S2: When a motor 2-3 works, a power system 2 is enabled to move on a rail 1-3 through a gear transmission system 2-4. A system main beam 1-5 connected to the power system is pushed to move so as to drive a support platform 4-2 and a lateral side support platform 5-2 to move together.
    S3: A ground support system 4 and a wall surface support system 5 are arranged on two sides of the system main beam 1-5 respectively.
    The work process of each system on the two sides is completely synchronous.
    By taking the work process on one side as an example for illustration, at the beginning of operation of the whole set of equipment, a front end ground support hydraulic cylinder 4-5-4, a middle ground support hydraulic cylinder 4-5-3 and a rear end ground support hydraulic cylinder 4-5-2 in a support device 4-5 support a roadway floor at the same time.
    A front end wall support hydraulic cylinder 5-3-4 and a rear end wall support hydraulic cylinder 5-3-5 support a roadway wall surface at the same time.
    A pushing hydraulic cylinder B 4-4-11 and a prolusion hydraulic cylinder 5-4 are in a contraction state.
    During operation, the front end ground support hydraulic cylinder 4-5-4 and the front end wall support hydraulic cylinder 5-3-4 contract.
    Under the effect of the pushing hydraulic cylinder B 4-4-11, a front steering rail 4-6 connected to the front end ground support hydraulic cylinder 4-5-4 is pushed to forwards move to a specified position along the support platform 4-2. At the same time, under the effect of the propulsion hydraulic cylinder 5-4, a lateral side support mechanism 5-3 connected to the front end wall support hydraulic cylinder 5-3-4 is pushed to forwards move to a specified position along the lateral side support platform 5-2. Then, the front end ground support hydraulic cylinder 4-5-4 extends to support the roadway floor.
    At the same time, the front end wall support hydraulic cylinder 5-3-4 extends to support the roadway wall surface.
    S4: The middle ground support hydraulic cylinder 4-5-3 contracts.
    Then, the pushing hydraulic cylinder B 4-4-11 contracts.
    At the same time, a pushing hydraulic cylinder A 4-4-6 extends.
    Through the joint effect of the pushing hydraulic cylinder B and the pushing hydraulic cylinder A, a slide groove mechanism A 4-3-3 connected to the middle ground support hydraulic cylinder 4-5-3 forwards move to a specified position along the lateral side support platform 5-2. Then, the middle ground support hydraulic cylinder 4-5-3 extends to support the roadway floor.
    P100548NL00 17 S5: The rear end ground support hydraulic cylinder 4-5-2 and the rear end wall support hydraulic cylinder 5-3-5 contracts. Under the effect of the pushing hydraulic cylinder A 4-4-6, a rear steering rail 4-3 connected to the rear end ground support hydraulic cylinder 4-5-2 is pulled to forwards move to a specified position along the support platform 4-2. At the same time, under the effect of the propulsion hydraulic cylinder 5-4, the rear end wall support hydraulic cylinder 5-3-5 is pulled to forwards move to a specified position along the lateral side support mechanism 5-3. Then, the rear end ground support hydraulic cylinder 4-5-2 extends to support the roadway floor. At the same time, the rear end wall support hydraulic cylinder 5-3-5 supports the roadway wall surface to realize advancing of the whole set of equipment for a distance. Continuous advancing of the whole set of equipment is capable of being realized by repeating the above steps.
    A turning process of an anchoring robot applicable to complicated work conditions of a fully mechanized excavation working face is characterized by including the following steps: S1: In a process of realizing a turning function of a whole set of equipment, a front end ground support hydraulic cylinder 4-5-4 contracts, so that the front end ground support hydraulic cylinder 4-5-4 is capable of being driven to swing in a front steering rail 4-6 under the telescopic effect of a steering hydraulic cylinder B 4-4-10, thereby realizing that the front end ground support hydraulic cylinder 4-5-4 is not positioned on a connecting line of a middle ground support hydraulic cylinder 4-5-3 and a rear end ground support hydraulic cylinder 4-5-2. Then, the front end ground support hydraulic cylinder 4-5-4 extends to support a roadway floor.
    S2: The rear end ground support hydraulic cylinder 4-5-2 contracts, so that the rear end ground support hydraulic cylinder 4-5-2 is capable of being driven to swing in a rear steering rail 4-3 under the telescopic effect of a steering hydraulic cylinder A 4-4-4, thereby realizing that the rear end ground support hydraulic cylinder 4-5-2, the middle ground support hydraulic cylinder 4-5-3 and the front end ground support hydraulic cylinder 4-5-4 are in the same straight line. Then, the front end ground support hydraulic cylinder 4-5-4 extends to support the roadway floor so as to realize a turning action.
    An anchoring process of an anchoring robot applicable to complicated work conditions of a fully mechanized excavation working face is characterized by including the following steps: S1: An anchoring robot work platform 3-3 in an anchoring robot system 3 is enabled
    P100548NL00 18 to descend a certain height under the joint effect of an anchoring robot connecting assembly 3-2, a folding hydraulic cylinder 3-3-3 and a ground support hydraulic cylinder 3-3-5 and to maintain a level state with the ground to complete a support action. S2: Poses of anchoring robot bodies 3-4 and an anchor rod storage support frame 3-5-1 are regulated at the same time, so that one anchor rod in an anchor rod storage support frame 3-5-1 is loaded into a roof bolter 3-4-4-2 to complete an anchor rod loading action.
    S3: Different poses of two groups of the anchoring robot bodies 3-4 are regulated to realize the anchoring operation of the roof bolter 3-4-4-2 in different positions of roadway side surfaces and roofs so as to complete a roadway support operation.
    Finally, it should be noted that the foregoing specific implementations are merely intended for describing the technical solutions of the present invention but not for limiting the present invention. Although the present invention is described in detail with reference to the exemplary embodiments, a person of ordinary skill in the art should understand that they may still make modifications or equivalent replacements to the technical solutions described in the present invention without departing from the spirit and scope of the technical solutions of the embodiments of the present invention, which should all be covered in the claims of the present invention.
    权利要求:
    Claims (9)
    [1]
    1. Anchoring robot suitable for complex working conditions of a fully mechanized working plane, which is characterized in that it includes a suspension support system, a driving system, an anchoring robot system, a ground support system and a wall support system, and the anchor rod suspension support system is fixed at the top of the coal mine road to support the anchoring robot. supporting and the drive system is installed at the end of the system main beam in the suspension support system and the anchoring robot system is installed at the bottom of the system main beam in the suspension support system and the ground support system and the wall support system are both fixed on the system main beam in the suspension support system above the installation position of the anchoring robot system .
    [2]
    An anchoring robot suitable for complex working conditions of a fully mechanized work surface according to claim 1, characterized in that the anchoring robot system comprises a hydraulic cylinder group with beam arm, an anchoring robot connection assembly, an anchor rod storage device, an anchoring robot working platform and an anchoring robot and the anchoring robot connection assembly comprises an upper connecting arm, a lower connecting arm and comprises a connecting hydraulic cylinder group and the upper end of the anchoring robot connecting assembly is connected to the system main beam by means of pins and the end of the anchoring robot connecting assembly is connected to the anchoring robot working platform by means of pins and the anchoring robot working platform comprises an intermediate working platform, a hydraulic cylinder which has the arm and the work platform, a folding hydraulic cylinder, a connecting rod A, a ground-supporting hydraulic aulic cylinder, a connecting rod B, a slide, a connecting rod C and a boundary working platform, and the anchoring robot working platform is composed of three sections to realize the folding function.
    [3]
    An anchoring robot suitable for complex working conditions of a fully mechanized work surface according to claim 1, characterized in that the ground support system comprises a main support beam, a support platform, a rear steering guide, a steering mechanism, a support device and a front steering guide, and the ground support system symmetrically arranged 1s relative to the system mainbar in
    P100548NL00 the suspension support system and the rear steering guide include a small roller A, a large roller A and a chute mechanism A, the small roller A is installed at the upper end of the slot opening of the chute mechanism A and the steering mechanism a small roller C, a large roller C, a fixed groove, a steering hydraulic cylinder A, a fixing element A, a pushing hydraulic cylinder A, a support sleeve, a fixing element B, a steering hydraulic cylinder B, a pushing hydraulic cylinder B, a connecting block A and a connecting block B and three sets of the same support devices are installed on one side of the ground support system.
    [4]
    An anchoring robot suitable for complex working conditions of a fully mechanized work surface according to claim 3, characterized in that the support device comprises a front ground support hydraulic cylinder, a middle ground support hydraulic cylinder and a rear ground support hydraulic cylinder and a support seat, and the front steering guide, similar to the rear steering guide, includes a small roller B, a large roller B and a chute mechanism B, and the small roller B is installed at the upper end of the slot opening of the chute mechanism B and the support platform in rolling cooperation with the small roller A and the large roller A on the rear steering guide, the small roller C and the large roller C on the steering mechanism and the small roller B and the large roller B on the front steering guide so that the rear steering guide, the steering mechanism and the the front steering guide can roll onto the support platform.
    [5]
    An anchoring robot suitable for complex working conditions of a fully mechanized work surface according to claim 1, characterized in that the wall support system comprises a side support main beam, a side support platform, a pushing hydraulic cylinder and a side support mechanism, and the wall support system is arranged symmetrically with respect to the system main beam in the suspension support system.
    [6]
    An anchoring robot suitable for complex working conditions of a fully mechanized work surface according to claim 5, characterized in that the side support mechanism comprises an upper roller, a lower roller, a fixed table, a front wall supporting hydraulic cylinder, a rear wall supporting hydraulic cylinder and a wall supporting seat, and the upper roller is installed on the upper end of the slot opening of the fixed platform and the lower roller is installed in the slot opening of the fixed platform and the upper roller and lower roller can kink, with the upper and lower surfaces of the side support platform to form a rolling fit too
    P100548NL00 21 and the front wall supporting hydraulic cylinder and the rear wall supporting hydraulic cylinder on the top are fixed with the fixing platform and the lower end is connected with the wall supporting seat by pins and the two sets of side supporting mechanisms are connected by the pushing hydraulic cylinder and the two ends of the pushing hydraulic cylinder are respectively fixed on the mounting platforms of the two sets of side support mechanisms.
    [7]
    7. Anchoring robot suitable for complex working conditions of a fully mechanized working plane, characterized in that the characteristics of the travel process include the following steps: Step 1: Install the whole set of equipment in advance on the guides which is on the roof of the tunnel laid; Step 2: When the motor is working, moving the power system through the gear transmission system over the guide to push the main beam of the system coupled thereto to drive the support platform and the side support platform to move together; Step 3: Installing the ground support system and the wall support system on both sides of the system main beam, and fully synchronizing the work processes of the systems on both sides, and taking the work process on one side as an example for description, and at the beginning of the operation of the whole set of equipment relies on the front ground support hydraulic cylinder, the center ground support hydraulic cylinder and the rear ground support hydraulic cylinder in the support device simultaneously on the floor of the roadway, and the front wall support hydraulic cylinder and the rear wall support hydraulic cylinder support simultaneously on the wall surface of the carriageway and the pushing hydraulic cylinder B and the pushing hydraulic cylinder are in contracted state, and during operation the front ground supporting hydraulic cylinder and the front wall supporting hydraulic cylinder contract and the front steering guide, which i s connected to the front ground support hydraulic cylinder, is pushed forward along the support platform to a designated position under the action of the pushing hydraulic cylinder B, and at the same time the side support mechanism, which is connected to the front wall support hydraulic cylinder, is pushed forward along the side support platform to the designated position under the influence of the pushing hydraulic cylinder, and then the
    P100548EN00 22 front ground support hydraulic cylinder extends and supports it on the floor of the roadway and at the same time the front wall support hydraulic cylinder extends and supports it on the wall surface of the roadway; Step 4: contracting the center ground-supporting hydraulic cylinder and then pushing the hydraulic cylinder B to contract and simultaneously pushing the hydraulic cylinder A to extend and make the two cooperate with the chute mechanism A, which connected to the center ground support hydraulic cylinder for moving forward along the side support platform to the designated position and extending the center ground support hydraulic cylinder for supporting on the floor of the roadway; Step 5: Contracting the rear ground support hydraulic cylinder and the rear wall support hydraulic cylinder to contract the rear steering guide connected to the rear ground support hydraulic cylinder under the influence of the pushing hydraulic cylinder A to move forward along the support platform to the designated position and contracting at the same time about the rear steering guide connected to the rear wall support hydraulic cylinder under the action of the pushing hydraulic cylinder to move forward along the side support platform to the designated position, and then extend the rear ground support hydraulic cylinder for supporting it on the floor of the roadway and at the same time supporting the rear wall supporting hydraulic cylinder on the wall surface of the roadway so that the whole set of equipment travels a certain distance to be realized and repeating the above steps to realize continuous progress of the whole set of equipment.
    [8]
    8. Anchoring robot suitable for complex working conditions of a fully mechanized working plane, characterized in that the characteristics of the turning process include the following steps: Step 1: When the turning function of the whole set of equipment is realized, contracting the front ground supporting hydraulic cylinder and driving the front ground supporting hydraulic cylinder to swing around the front steering guide under the telescopic action of the steering hydraulic cylinder B, so that the front ground supporting hydraulic cylinder is not on the connecting line between the middle ground supporting hydraulic cylinder and the rear ground supporting hydraulic cylinder and then extending the front ground-supporting hydraulic
    P100548EN00 23 cylinder and supporting it on the floor of the roadway; Step 2: contracting the rear ground supporting hydraulic cylinder and driving the rear ground supporting hydraulic cylinder to swing around the rear steering guide under the telescopic action of the steering hydraulic cylinder A, so that the rear ground supporting hydraulic cylinder, the middle ground supporting hydraulic cylinder cylinder and the front ground supporting hydraulic cylinder are on the same straight line, and then extending the front ground supporting hydraulic cylinder and supporting it on the floor of the roadway to realize the turning movement.
    [9]
    9. Anchoring robot suitable for complex working conditions of a fully mechanized working plane, characterized in that the characteristics of the anchoring process include the following steps: Step 1: lowering the anchoring robot working platform into the anchoring robot system to a certain height under the joint action of the anchoring robot connection assembly, the folding hydraulic cylinder and the ground supporting hydraulic cylinder and keeping it parallel to the ground to complete the supporting action; Step 2: adjusting the attitude of the anchoring robot and the anchor rod storage bracket at the same time, so that an anchor rod in the anchor rod storage bracket is loaded into the anchor rod drill to complete the loading action of the anchor rod; Step 3: Adjusting the postures of two sets of anchoring robots differently, realizing the anchoring of the anchor rod at different positions on the side and roof of the roadway to complete the supporting action of the roadway.
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    同族专利:
    公开号 | 公开日
    CN111119960A|2020-05-08|
    AU2020220120A1|2021-07-29|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN106894836A|2017-04-24|2017-06-27|北京双泰气动设备有限公司|The comprehensive support integrated device of pick of pneumatic transportation|
    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|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    CN202010040881.5A|CN111119960A|2020-01-13|2020-01-13|Anchoring robot suitable for complex working condition of fully mechanized excavation working face|
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