AU2021311338A1 - Intelligent roadway grooving robot - Google Patents
Intelligent roadway grooving robot Download PDFInfo
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- AU2021311338A1 AU2021311338A1 AU2021311338A AU2021311338A AU2021311338A1 AU 2021311338 A1 AU2021311338 A1 AU 2021311338A1 AU 2021311338 A AU2021311338 A AU 2021311338A AU 2021311338 A AU2021311338 A AU 2021311338A AU 2021311338 A1 AU2021311338 A1 AU 2021311338A1
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- 238000003801 milling Methods 0.000 claims abstract description 80
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 36
- 238000011105 stabilization Methods 0.000 claims description 11
- 230000006641 stabilisation Effects 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 abstract 1
- 230000003044 adaptive effect Effects 0.000 description 5
- 239000003245 coal Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009423 ventilation Methods 0.000 description 3
- 101100491152 Caenorhabditis elegans lem-4 gene Proteins 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 101100074807 Mus musculus Lhx3 gene Proteins 0.000 description 1
- 101100454869 Rattus norvegicus Lhx5 gene Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/02—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
Abstract
An intelligent roadway grooving robot. The robot comprises a main rack (1), a traveling portion (2), a cutting portion (3), a cab (4), a power assembly (5) used for providing power for the intelligent roadway grooving robot, and a stable supporting system (6) used for stabilizing a machine body in a grooving process, wherein the cutting portion (3), the cab (4) and the power assembly (5) are arranged on the main rack (1) to form the machine body; and the cutting portion (3) comprises a base (3.1), a large arm (3.2), a middle arm (3.3), a small arm (3.4), a milling and excavating head (3.5), a first large arm connecting rod I (3.6), a second large arm connecting rod II (3.7), a first milling and excavating head connecting rod I (3.8), a second milling and excavating head connecting rod II (3.9), a large arm oil cylinder (3.10), a middle arm oil cylinder (3.11), a small arm oil cylinder (3.12), a milling and excavating head oil cylinder (3.13) and a rotary drive (3.14). According to the intelligent roadway grooving robot, a mechanical arm mechanism is used in a multi-arm hinged manner, such that the whole machine carrying out 360° grooving during one positioning is achieved; and since the whole machine is provided with an intelligent cutting control system, the milling and excavating head (3.5) can be controlled to automatically work in a horizontal direction and a vertical direction, and an operator only needs to complete corresponding direction switching at a corner of a roadway.
Description
[0001] The present disclosure belongs to the technical field of underground coal mining equipment, and specifically provides an intelligent roadway grooving robot.
[0002] In the construction of an underground coal mine roadway, based on ventilation or safety requirements, it is necessary to install a ventilation door in the roadway or close the roadway. Both of the two operating procedures require grooving around the roadway firstly. At present, grooving mainly relies on manual use of a breaking hammer for construction, which not only is inefficient, but has great potential safety hazards. Some mines use mechanized grooving equipment, in which the equipment, namely, the patent "Underground Coal Mine Grooving Machine (201710990248.0)" has the disadvantages that a robotic arm mechanism is complicated to manipulate and it is impossible to perform grooving under the equipment after one-time positioning. The equipment, namely, the patent "Coal Mine Roadway Grooving Machine (201510818526.5)" needs to be telescopic with load during the operation of manipulating a robotic arm, resulting in serious wear. Due to the structure of an existing grooving machine, a working range of an operating arm is small, the adaptability to roadways is poor, it is impossible to make all grooves (a top groove, side grooves, a bottom groove) by one-time positioning, and the whole machine needs to be moved frequently in the grooving process to fit different section requirements of the roadway. In addition, the roadway grooving process still mainly relies on manual operation, with high labor intensity and low grooving accuracy. In conclusion, there is no truly effective grooving equipment on the market at present.
[0003] Aiming at the deficiencies of existing equipment, the present disclosure provides an intelligent roadway grooving robot with simple structure, wide adaptability to roadways and capability of performing full grooving around the roadway after one-time positioning.
[0004] To achieve the above objective, the present disclosure provides an intelligent roadway grooving robot, including a main frame, a walking part, a cutting part, a cab, a powertrain configured to provide power for the intelligent roadway grooving robot and a stabilization support system configured to stabilize a robot body in a grooving process, where the cutting part, the cab and the powertrain are installed on the main frame to form the robot body; the cutting part includes a base, a large arm, a middle arm, a small arm, a milling and digging head, large arm connecting rods I, large arm connecting rods II, milling and digging head connecting rods I, a milling and digging head connecting rod II, large arm cylinders, a middle arm cylinder, a small arm cylinder, a milling and digging head cylinder and a rotary drive; the base is hinged to the main frame, and a hinge axis thereof is perpendicular to the ground; the large arm is hinged to the base, and a hinge axis thereof is parallel to the ground; the middle arm is hinged to the large arm, and a hinge axis thereof is parallel to the ground; the small arm is hinged to the middle arm, and a hinge axis thereof is parallel to the ground; the milling and digging head is hinged to the small arm, and a hinge axis thereof is parallel to the ground; one end of each of the large arm connecting rods I is hinged to the base, one end of each of the large arm connecting rods II is hinged to the large arm, the large arm connecting rods I and the large arm connecting rods II are hinged, and the base, the large arm, the large arm connecting rods I and the large arm connecting rods II form a double rocker mechanism; each of the milling and digging head connecting rods I is hinged to the small arm, the milling and digging head connecting rod II is hinged to the milling and digging head, the milling and digging head connecting rods I and the milling and digging head connecting rod II are hinged, and the small arm, the milling and digging head, the milling and digging head connecting rods I and the milling and digging head connecting rod II form a double rocker mechanism; two ends of each of the large arm cylinders are respectively hinged to the base and the corresponding large arm connecting rod I; two ends of the middle arm cylinder are respectively hinged to the large arm and the middle arm; two ends of the small arm cylinder are respectively hinged to the middle arm and the small arm; the milling and digging head cylinder has one end hinged to the small arm and the other end hinged to hinges of the milling and digging head connecting rods I and the milling and digging head connecting rod II; and the rotary drive is fixed on the main frame, and drives the base to rotate by 900 relative to the main frame by a gear pair.
[0005] Further, two large arm connecting rods I, two large arm connecting rods II and two large arm cylinders are respectively arranged on two sides of the large arm; and two milling and digging head connecting rods I are respectively arranged on two sides of the small arm.
[0006] Further, the stabilization support system includes four identical support leg assemblies, respectively installed at four corners of the main frame; each of the support leg assemblies comprises a support leg, a support leg base, a support cylinder and an extension cylinder; the support legs are hinged to the support leg bases, and hinge axes thereof are parallel to the ground; the support leg bases are hinged to the main frame, and hinge axes thereof are perpendicular to the ground; two ends of each of the support cylinders are respectively hinged to the corresponding support leg base and the corresponding support leg; and two ends of each of the extension cylinders are respectively hinged to the main frame and the corresponding support leg base.
[0007] Further, the main frame includes a front frame, a middle frame and a rear frame that are connected by bolts; the cutting part is arranged on the front frame; the cab is arranged on the middle frame; and the powertrain is arranged on the rear frame.
[0008] Further, the powertrain includes an explosion-proof engine system and a hydraulic system; the explosion-proof engine system is configured to output power, drive a hydraulic pump and provide power for the hydraulic system; and the hydraulic system is configured to drive the walking part to walk through a motor and a speed reducer, provide walking power for the whole robot to walk and provide a hydraulic oil source for the cylinders of the cutting part and the stabilization support system.
[0009] Further, the intelligent roadway grooving robot further includes an intelligent cutting control system, an angular displacement sensor I, an angular displacement sensor II, an angular displacement sensor III, an angular displacement sensor IV, a distance sensor I, a distance sensor II, a distance sensor III and a distance sensor IV, wherein the angular displacement sensor I is configured to acquire an angle between the large arm and the base; the angular displacement sensor II is configured to acquire an angle between the middle arm and the large arm; the angular displacement sensor III is configured to acquire an angle between the small arm and the middle arm; the angular displacement sensor IV is configured to acquire an angle between the milling and digging head and the small arm; the distance sensor I is configured to acquire an extension of the large arm cylinders; the distance sensor II is configured to acquire an extension of the middle arm cylinder; the distance sensor III is configured to acquire an extension of the small arm cylinder; the distance sensor IV is configured to acquire an extension of the milling and digging head cylinder; the intelligent cutting control system is configured to receive initial values 010, 020, 030 and 040 of the angular displacement sensor I, the angular displacement sensor II, the angular displacement sensor III and the angular displacement sensor IV after manual tool setting, calculate initial position coordinates (X, YO) of the milling and digging head relative to a coordinate system of the robot body according to a formula, read the extensions of the large arm cylinders, the middle arm cylinder, the small arm cylinder and the milling and digging head cylinder by looking up a table and control automatic extension and retraction of the cylinders according to upward, downward, leftward and rightward cutting instructions, so as to achieve automatic grooving;
(X. =L x cos0, - L2 x cos(, +0,)+ L, x cos(6O, +0, +0,)- L, x cos( 0, +0, + 0, +
) Y, =, x sin ,,0 - L2 x cos(6, + 20 )+ L, x cos( 0 , +0,, + 0,) - L, x cos(O0, +60, +0, + )+ H
in the formula: L, is the length of the large arm;
L 2 is the length of the middle arm;
L3 is the length of the small arm;
L 4 is the length of the milling and digging head;
H is the height from a hinge point of the large arm and the base to a bottom surface of the robot;
Xo and Yo are rounded to non-negative integers;
Cylinder extension data table
Left +- -- Right 0 1 2 3 4 5M Up n L,-O-n L-1-n L-2-n L -3-n L,-4-n L,-5-n . L.-m-n
5 L-0-5 L,-1-5 L-2-5 Lj3-5 L,-4-5 L-5-5 L m-5 4 L,-0-4 L,-1-4 L,-2-4 L,-3-4 L,-4-4 L,-5-4 L,-m-4 3 L,-0-3 L,-l1-3 L,-2-3 t,-3-3 L 4-3 L,-5-3 L,-m-3 2 L-0-2 L -1-2 L-2-2 L,-3-2 L-4-2 L -5-2 L -m-2 Dou i to-1 L-1 L-2-1 L3-1 L 4-1 L-5-1 L-m-1 0 L-o- L,-l-O L,-2-0 L-3-0 L,-4-0 L,-5-0 . L-m-O
in the table, m is 1/2 of the maximum roadway width adapted by the intelligent roadway grooving robot, with the same unit as Xo;
n is the maximum roadway section height adapted by the intelligent roadway grooving robot, with the same unit as Yo; and
p is equal to 1, 2, 3 or 4, when p is equal to 1, it is the extension of the large arm cylinders, when p is equal to 2, it is the extension of the middle arm cylinder, when p is equal to 3, it is the extension of the small arm cylinder, when p is equal to 4, it is the extension of the milling and digging head cylinder, and actual data represented by Lp-m-n in the table is inherent characteristics of the intelligent roadway grooving robot, and is pre-stored in a control system by a designer.
[0010] Further, the intelligent cutting control system is integrated in a telecontrol transmitter.
[0011] The present disclosure has the following beneficial effects:
1. A robotic arm mechanism in the form of multi-arm hinging is used, and a working range covers all roadways with a width of 4.0-6.0 m and a height of 3.0-5 m, thereby realizing 360 full grooving by the whole robot through one-time positioning.
2. Only one operator is needed for a piece of equipment, and the minimum grooving efficiency is about 5 m3/h, which is about 30 times that of manual grooving.
3. The whole robot is equipped with the intelligent cutting control system, which may control automatic operation of the milling and digging head in the horizontal and vertical directions. Therefore, the operator only needs to change the corresponding direction at the corner of the roadway.
[0012] FIG.1 is a three-dimensional diagram of an intelligent roadway grooving robot;
FIG. 2 is an assembly diagram of a main frame and a stabilization support system;
FIG. 3 is a front view of the intelligent roadway grooving robot;
FIG. 4 is a side view of the intelligent roadway grooving robot; and
FIG. 5 is a schematic diagram of a telecontrol transmitter.
[0013] Where, names corresponding to drawing symbols are as follows:
1-main frame; 1.1-front frame; 1.2-middle frame; 1.3-rear frame; 2-walking part; 3-cutting part; 3.1-base; 3.2-large arm; 3.3-middle arm; 3.4-small Arm; 3.5-milling and digging head; 3.6-large arm connecting rod I; 3.7-large arm connecting rod II; 3.8-milling and digging head connecting rod I; 3.9-milling and digging head connecting rod II; 3.10-large arm cylinder; 3.11-middle arm cylinder; 3.12-small arm cylinder; 3.13-milling and digging head cylinder; 3.14-rotary drive; 3.15-gear pair; 4-cab; 5-powertrain; 6-stabilization support system; 6.1-support leg; 6.2-support leg base; 6.3-support cylinder; 6.4-extension cylinder; and 7-telecontrol transmitter.
[0014] A technical solution of the present disclosure is clearly and completely described below with reference to the accompanying drawings. Apparently, a described embodiment is merely a part rather than all of embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.
[0015] The embodiment provides an intelligent roadway grooving robot, including a main frame 1, a walking part 2, a cutting part 3, a cab 4, a powertrain 5 configured to provide power for the intelligent roadway grooving robot and a stabilization support system 6 configured to stabilize a robot body in a grooving process, where the cutting part 3, the cab 4 and the powertrain 5 are installed on the main frame 1 to form the robot body.
[0016] The main frame includes a front frame 1.1, a middle frame 1.2 and a rear frame 1.3 that are connected by bolts; the cutting part 3 is arranged on the front frame 1.1; the cab 4 is arranged on the middle frame 1.2; and the powertrain 5 is arranged on the rear frame 1.3.
[0017] The walking part 2 is in the form of a crawler belt.
[0018] The cutting part 3 includes a base 3.1, a large arm 3.2, a middle arm 3.3, a small arm 3.4, a milling and digging head 3.5, large arm connecting rods I3.6, large arm connecting rods II 3.7, milling and digging head connecting rods I3.8, a milling and digging head connecting rod II3.9, large arm cylinders 3.10, a middle arm cylinder 3.11, a small arm cylinder 3.12, a milling and digging head cylinder 3.13 and a rotary drive 3.14; the base 3.1 is hinged to the main frame 1.1, and a hinge axis thereof is perpendicular to the ground; the large arm 3.2 is hinged to the base 3.1, and a hinge axis thereof is parallel to the ground; the middle arm 3.3 is hinged to the large arm 3.2, and a hinge axis thereof is parallel to the ground; the small arm 3.4 is hinged to the middle arm 3.3, and a hinge axis thereof is parallel to the ground; the milling and digging head 3.5 is hinged to the small arm 3.4, and a hinge axis thereof is parallel to the ground; one end of each of the large arm connecting rods I3.6 is hinged to the base 3.1, one end of each of the large arm connecting rods II3.7 is hinged to the large arm 3.2, the large arm connecting rods I3.6 and the large arm connecting rods II3.7 are hinged, and the base 3.1, the large arm 3.2, the large arm connecting rods I3.6 and the large arm connecting rods II3.7 form a double rocker mechanism, so that the cutting part 3 has a larger folding-unfolding ratio, a working range in a grooving process is wider, and the robot body has a smaller outline when the robot is dropped; each of the milling and digging head connecting rods I3.8 is hinged to the small arm 3.4, the milling and digging head connecting rod II 3.9 is hinged to the milling and digging head 3.5, the milling and digging head connecting rods I3.8 and the milling and digging head connecting rod II3.9 are hinged, and the small arm 3.4, the milling and digging head 3.5, the milling and digging head connecting rods I3.8 and the milling and digging head connecting rod II3.9 form a double rocker mechanism; two ends of each of the large arm cylinders 3.10 are respectively hinged to the base 3.1 and the corresponding large arm connecting rod I3.8; two ends of the middle arm cylinder 3.11 are respectively hinged to the large arm 3.2 and the middle arm 3.3; two ends of the small arm cylinder 3.12 are respectively hinged to the middle arm 3.3 and the small arm 3.4; the milling and digging head cylinder 3.13 has one end hinged to the small arm 3.4 and the other end hinged to hinges of the milling and digging head connecting rods I3.8 and the milling and digging head connecting rod II3.9; and the rotary drive 3.14 is connected with the front frame 1.1 by bolts, and drives the base 3.1 to rotate by 90 relative to the front frame 1.1 by a gear pair 3.15. Through the above structure, the intelligent roadway grooving robot has the wider working range, and may make all grooves (a top groove, side grooves, a bottom groove) by one-time positioning; and the whole robot has the smaller outline when dropped.
[0019] Further, two large arm connecting rods I3.6, two large arm connecting rods II3.7 and two large arm cylinders 3.10 are respectively arranged on two sides of the large arm 3.2; and two milling and digging head connecting rods I 3.8 are respectively arranged on two sides of the small arm 3.4.
[0020] Further, the powertrain 5 includes an explosion-proof engine system and a hydraulic system; the explosion-proof engine system is configured to output power, drive a hydraulic pump and provide power for the hydraulic system; and the hydraulic system is configured to drive the walking part to walk through a motor and a speed reducer, provide walking power for the whole robot to walk and provide a hydraulic oil source for the cylinders of the cutting part 3 and the stabilization support system 6.
[0021] Further, the stabilization support system 6 includes four identical support leg assemblies, respectively installed at four corners of the main frame 1; each of the support leg assemblies comprises a support leg 6.1, a support leg base 6.2, a support cylinder 6.3 and an extension cylinder 6.4; the support legs 6.1 are hinged to the support leg bases 6.2, and hinge axes thereof are parallel to the ground; the support leg bases 6.2 are hinged to the main frame 1, and hinge axes thereof are perpendicular to the ground; two ends of each of the support cylinders 6.3 are respectively hinged to the corresponding support leg base 6.2 and the corresponding support leg 6.1; and two ends of each of the extension cylinders 6.4 are respectively hinged to the main frame 1 and the corresponding support leg base 6.2. The extension cylinders 6.4 drive the support leg bases 6.2 to rotate relative to the main frame 1, thereby pushing the support legs 6.1 to be unfolded relative to the main frame 1; and then the whole robot is supported by the support cylinders 6.3 to ensure that the whole robot remains stable in the grooving process.
[0022] Further, the intelligent roadway grooving robot further includes an intelligent cutting control system, an angular displacement sensor I, an angular displacement sensor II, an angular displacement sensor III, an angular displacement sensor IV, a distance sensor I, a distance sensor II, a distance sensor III and a distance sensor IV, where the angular displacement sensor I is configured to acquire an angle between the large arm 3.2 and the base 3.1; the angular displacement sensor II is configured to acquire an angle between the middle arm 3.3 and the large arm 3.2; the angular displacement sensor III is configured to acquire an angle between the small arm 3.4 and the middle arm 3.3; the angular displacement sensor IV is configured to acquire an angle between the milling and digging head 3.5 and the small arm 3.4; the distance sensor I is configured to acquire an extension of the large arm cylinders 3.10; the distance sensor II is configured to acquire an extension of the middle arm cylinder 3.11; the distance sensor III is configured to acquire an extension of the small arm cylinder 3.12 the distance sensor IV is configured to acquire an extension of the milling and digging head cylinder 3.13; the intelligent cutting control system is configured to receive initial values010, 20, 03o and040 of the angular displacement sensor I, the angular displacement sensor II, the angular displacement sensor III and the angular displacement sensor IV after manual tool setting, calculate initial position coordinates (Xo, Yo) of the milling and digging head 3.5 relative to a coordinate system (with a hinge point of the large arm 3.2 and the base 3.1 in FIG. 3 as an origin, a horizontal rightward direction as a positive direction of an X axis, and a vertical upward direction as a positive direction of a Y axis) of the robot body according to a formula, read the extension of the large arm cylinders 3.10, the extension of the middle arm cylinder 3.11, the extension of the small arm cylinder 3.12 and the extension of the milling and digging head cylinder 3.13 by looking up a table 1, a table 2, a table 3 and a table 4 and control automatic extension and retraction of the cylinders according to upward, downward, leftward and rightward cutting instructions, so as to achieve automatic grooving;
X, =L, x cos 0,, - L2 x cos(,, +0,)+L, x cos(O,, +60, +,) - L, x cos(6,, +6, +0, +0') Y,= , x sin 0 , - L, x cos(,,+0 ,)+ L, x cos(,+60,+0,)-L, x cos(,0++ 03+O)+ H in the formula: L, is the length of the large arm;
L 2 is the length of the middle arm;
L3 is the length of the small arm;
L4 is the length of the milling and digging head;
H is the height from a hinge point of the large arm and the base to a bottom surface of the robot;
Xo and Yo are rounded to non-negative integers;
[00231
Table ILarge arm cyfmder extension data table
Left p - Right
0 1 2 3 4 5 m Up n L1-O-n L-1-n L 1-2-n L 1-3-n Li-4-n LL-5-n Lem-n
5 L-0-5 L-1-5 Le-2-5 Le-3-5 L-4-5 L-5-5 .. Lem-5 4 L,-0-4 L-1-4 L 2-2-4 L,-3-4 L,-4-4 L,5-4 ... Lem-4 3 L,-O-3 L-1-3 L,-2-3 L 1-3-3 L 1-4-3 Li-5-3 ... Lim-3 2 Le0-2 L1-2 Le-2-2 L -3-2 Li-4-2 L-5-2 ... Li-m-2 5 Down 1 LrO-1 Li1-1 Lc2-1 L-3-1 L-4-1 Lc -1 ... LIm- I 0 L,-O-O L31-0 L1-2-0 LI-3-0 L,-4-0 L,-5-0 ... L,-m-0 ..................... ..... ..... ...... .... ...... ..................... ........ . . ...... ........ . ... ..........................
Table 2 Middle arm cylinder extension data table
::_- _ Left - o~ Right ___
0 1 2 3 4 5 ... M Up n L(o-n Lz-ln Lr2-n L 3-n L 2-4-n L5-n .. L.-m-n
5 L-0-5 L, 1-5 L'2-5 L-3-5 L-4-5 L,5-5 ... L-m-5 4 L-0-4 L,- 1 4 Lz-2-4 L,-3-4 L-4-4 Lz-5-4 ... Lem-4 3 L2-0-3 L:-1-3 L22-3 L 2-3-3 L,-4-3 L 2-5-3 ... L2-m-3 2 L-0-2 L 1-2 L 2-2 L3-2 L:-4-2 L.5-2 ... LIm-2 Down 1 L-0-1 L:-1-1 L-2-1 L2-3-1 Lz4-1 LZ-5-1 ... L-I 0 Lr-0O L--0 L2-0 L-3-0 L-4-0 L5-0 ... L2m-O
Table 3 Small arm cyli der extension data table
Lef +-- -- Right
Up n LV0-n L3-1-n L 4n Le5-n Lm-n
5 L-0-5 L,1-5 L2-5 Le3-5 L4-5 L5-5 .. L-m-5 4 L-0-4 L-1-4 L-2-4 La-3-4 L3-4-4 L3-5-4 ... L-m-4 3 L 3 0-3 L3-3 L3-2-3 L-3-3 L-4-3 L-5-3 ... L-m-3 2 L 3 0-2 L 3 -12 L3 2-2 L3-32 L 3 4-2 L 3 5-2 ... L 3 m-2 Down 1 Lr0-1 L-1i L 3 2-1 Le3-1 L 3 4-1 Le5-1 ... Le-m 0 Le-OO L,1-0 Le2-0 L3-30 L34-0 L35-0 ... L3 -0O
Table 4 Milling and digging head cylinder extension data table
Lef+- -- Right 70 0 1 2 3 4 5 ... m Up n L4-O-n L 4-1-n L-2-n L,3-n L 4 4-n L 4-5-n ... L.-m-n
5 L40-5 Le 1-5 L-2-5 L-3-5 L4-4-5 L.5-5 ... Lcm-5 4 L 4 0-4 L4 1-4 L 4 2-4 Le3-4 L4-4-4 L.5-4 ... L 4 m-4 3 L 4 0-3 L 4 1-3 L-2-3 L 4 3-3 L4-4-3 L 4 5-3 ... L 4 m-3 2 L-0-2 Le-i-2 L-2-2 L,-3-2 L4-4-2 L,-5-2 ... Lm-2 Down 1 L-O-1 L4 -1-1 L 4-2-1 L-3-1 L4-4-1 L4-5-1 ... L-m-1 0 L4 0-0 L-0 L-2-0 L.3-0 L4-4-0 L4 5-0 ... L4 m-0
in the tables, m is 1/2 of the maximum roadway width adapted by the intelligent roadway grooving robot, with the same unit as Xo;
n is the maximum roadway section height adapted by the intelligent roadway grooving robot, with the same unit as YO; and
for example, Xo that is equal to 3 and Yo that is equal to 3 are calculated by the formula, during leftward cutting, the large arm cylinders automatically extend and retract according to corresponding actual data in LI-3-3, L1 -2-3, LI- 1 -3 and LI-0-3 in sequence, during rightward cutting, the large arm cylinders automatically extend and retract according to corresponding actual data in L-3-3, LI-4-3, LI-5-3 .... in sequence, during upward cutting, the large arm
cylinders automatically extend and retract according to corresponding actual data in L-3-3, LI-3-4, LI-3-5 . . . . . in sequence, during downward cutting, the large arm cylinders
automatically extend and retract according to corresponding actual data in L-3-3, L-3-2, LI-3-1 and LI-3-0 in sequence, and the middle arm cylinder, the small arm cylinder and the
milling and digging head cylinder act in the same way.
[0024] Further, the intelligent cutting control system is integrated in a telecontrol transmitter 7.
[0025] Some parameters of the intelligent roadway grooving robot are as follows:
(1) total weight (kg): 20000
(2) installed power (kW): 90 kw
(3) cutting power (kW): 45
(4) cutting hardness: 4
(5) adaptive roadway height (mm): 3000-5000
(6) adaptive roadway width (mm): 4000-6000
(7) maximum adaptive slope: 12
(8) ground clearance: 250 mm.
[0026] The intelligent roadway grooving robot is special grooving equipment developed and designed for closing a roadway or installing a ventilation door. The adaptive roadway width is 4.0-6.0 m, the adaptive roadway height is 3.0-5.0 m, 360° grooving can be conducted along the section of the roadway, the grooving efficiency is not lower than 5 m3/h, which is about 30 times that of manual grooving, and automatic operation in the horizontal and vertical directions may be realized.
[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure, but not to limit it; although the present disclosure has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: they still may modify technical solutions described in the above-mentioned embodiments, or equivalently replace some or all of technical features in the technical solutions; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.
Claims (7)
1. An intelligent roadway grooving robot, comprising a main frame, a walking part, a cutting part, a cab, a powertrain configured to provide power for the intelligent roadway grooving robot and a stabilization support system configured to stabilize a robot body in a grooving process, wherein
the cutting part, the cab and the powertrain are installed on the main frame to form the robot body;
the cutting part comprises a base, a large arm, a middle arm, a small arm, a milling and digging head, large arm connecting rods I, large arm connecting rods II, milling and digging head connecting rods I, a milling and digging head connecting rod II, large arm cylinders, a middle arm cylinder, a small arm cylinder, a milling and digging head cylinder and a rotary drive;
the base is hinged to the main frame, and a hinge axis thereof is perpendicular to the ground;
the large arm is hinged to the base, and a hinge axis thereof is parallel to the ground;
the middle arm is hinged to the large arm, and a hinge axis thereof is parallel to the ground;
the small arm is hinged to the middle arm, and a hinge axis thereof is parallel to the ground;
the milling and digging head is hinged to the small arm, and a hinge axis thereof is parallel to the ground;
one end of each of the large arm connecting rods I is hinged to the base, one end of each of the large arm connecting rods II is hinged to the large arm, the large arm connecting rods I and the large arm connecting rods II are hinged, and the base, the large arm, the large arm connecting rods I and the large arm connecting rods II form a double rocker mechanism;
each of the milling and digging head connecting rods I is hinged to the small arm, the milling and digging head connecting rod II is hinged to the milling and digging head, the milling and digging head connecting rods I and the milling and digging head connecting rod II are hinged, and the small arm, the milling and digging head, the milling and digging head connecting rods I and the milling and digging head connecting rod II form a double rocker mechanism; two ends of each of the large arm cylinders are respectively hinged to the base and the corresponding large arm connecting rod I; two ends of the middle arm cylinder are respectively hinged to the large arm and the middle arm; two ends of the small arm cylinder are respectively hinged to the middle arm and the small arm; the milling and digging head cylinder has one end hinged to the small arm and the other end hinged to hinges of the milling and digging head connecting rods I and the milling and digging head connecting rod II; and the rotary drive is fixed on the main frame, and drives the base to rotate by 90 relative to the main frame by a gear pair.
2. The intelligent roadway grooving robot according to claim 1, wherein two large arm connecting rods I, two large arm connecting rods II and two large arm cylinders are respectively arranged on two sides of the large arm; and
two milling and digging head connecting rods I are respectively arranged on two sides of the small arm.
3. The intelligent roadway grooving robot according to claim 2, wherein the stabilization support system comprises four identical support leg assemblies, respectively installed at four corners of the main frame;
each of the support leg assemblies comprises a support leg, a support leg base, a support cylinder and an extension cylinder;
the support legs are hinged to the support leg bases, and hinge axes thereof are parallel to the ground;
the support leg bases are hinged to the main frame, and hinge axes thereof are perpendicular to the ground;
two ends of each of the support cylinders are respectively hinged to the corresponding support leg base and the corresponding support leg; and
two ends of each of the extension cylinders are respectively hinged to the main frame and the corresponding support leg base.
4. The intelligent roadway grooving robot according to claim 3, wherein the main frame comprises a front frame, a middle frame and a rear frame connected by bolts; the cutting part is arranged on the front frame; the cab is arranged on the middle frame; and the powertrain is arranged on the rear frame.
5. The intelligent roadway grooving robot according to claim 4, wherein the powertrain comprises an explosion-proof engine system and a hydraulic system;
the explosion-proof engine system is configured to output power, drive a hydraulic pump and provide power for the hydraulic system; and
the hydraulic system is configured to drive the walking part to walk through a motor and a speed reducer, provide walking power for the whole robot to walk and provide a hydraulic oil source for the cylinders of the cutting part and the stabilization support system.
6. The intelligent roadway grooving robot according to claim 5, further comprising an intelligent cutting control system, an angular displacement sensor I, an angular displacement sensor II, an angular displacement sensor III, an angular displacement sensor IV, a distance sensor I, a distance sensor II, a distance sensor III and a distance sensor IV, wherein
the angular displacement sensor I is configured to acquire an angle between the large arm and the base;
the angular displacement sensor II is configured to acquire an angle between the middle arm and the large arm;
the angular displacement sensor III is configured to acquire an angle between the small arm and the middle arm;
the angular displacement sensor IV is configured to acquire an angle between the milling and digging head and the small arm;
the distance sensor I is configured to acquire an extension of the large arm cylinders;
the distance sensor II is configured to acquire an extension of the middle arm cylinder;
the distance sensor III is configured to acquire an extension of the small arm cylinder;
the distance sensor IV is configured to acquire an extension of the milling and digging head cylinder;
the intelligent cutting control system is configured to receive initial values010,020, 030 and
040 of the angular displacement sensor I, the angular displacement sensor II, the angular displacement sensor III and the angular displacement sensor IV after manual tool setting, calculate initial position coordinates (Xo, Yo) of the milling and digging head relative to a coordinate system of the robot body according to a formula, read the extensions of the large arm cylinders, the middle arm cylinder, the small arm cylinder and the milling and digging head cylinder by looking up a table and control automatic extension and retraction of the cylinders according to upward, downward, leftward and rightward cutting instructions, so as to achieve automatic grooving;
(X, Y =L x cos0, - L2 x cos(, +0,)+ L, x cos( 0, +0, +)- = L. x sin0, - L2 x cos( 0, +0,)+ L3 x cos( L, x cos( 0 + 20
L, x cos(, +0, +0,+ +0 + 0") 0,)+ H 0 W+ 0 + 0 3)-
in the formula: L, is the length of the large arm;
L 2 is the length of the middle arm;
L3 is the length of the small arm;
L 4 is the length of the milling and digging head;
H is the height from a hinge point of the large arm and the base to a bottom surface of the robot;
Xo and Yo are rounded to non-negative integers;
Cylinder extension data table
Left +--- - Right 0 1 2 3 4 5 ... M Up n L,-O-n Ltl--n L,-2-n L,-3-n L,-4-n L,-5-n ... L,-m-n
5 L,-O-5 L-1-5 L-2-5 L,-3-5 L-4-5 L,-5-5 ... L,-m-5 4 L-0-4 L-1-4 Lr2-4 Lr3-4 L-4-4 L,-5-4 ... L,-m-4 3 L,0-3 L,-1-3 L-2-3 L,-3-3 L-4-3 L,-5-3 ... L,-m-3 2 L-0-2 L,-1-2 L-2-2 L-3-2 L,-4-2 L,-5-2 ... L-m-2 Down 1 L0-1 L,-11 Lr2-1 Lr3-1 L-4-1 L,5-1 ... L-m-1 0 LI-0-0 L-1-0 L:2-0 Lr3-0 L 0- L-5-0 ... L,-m-O
in the table, m is 1/2 of the maximum roadway width adapted by the intelligent roadway grooving robot, with the same unit as Xo;
n is the maximum roadway section height adapted by the intelligent roadway grooving robot, with the same unit as Yo; and p is equal to 1, 2, 3 or 4, when p is equal to 1, it is the extension of the large arm cylinders, when p is equal to 2, it is the extension of the middle arm cylinder, when p is equal to 3, it is the extension of the small arm cylinder, and when p is equal to 4, it is the extension of the milling and digging head cylinder.
7. The intelligent roadway grooving robot according to claim 6, wherein the intelligent cutting control system is integrated in a telecontrol transmitter.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010715413.3A CN111810146B (en) | 2020-07-23 | 2020-07-23 | Intelligent tunnel slotting robot |
| CN202010715413.3 | 2020-07-23 | ||
| PCT/CN2021/099374 WO2022017048A1 (en) | 2020-07-23 | 2021-06-10 | Intelligent roadway grooving robot |
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| AU2021311338A1 true AU2021311338A1 (en) | 2022-06-16 |
| AU2021311338B2 AU2021311338B2 (en) | 2023-09-28 |
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| CN111810146B (en) * | 2020-07-23 | 2021-12-21 | 中国煤炭科工集团太原研究院有限公司 | Intelligent tunnel slotting robot |
| CN112922594B (en) * | 2021-02-01 | 2022-11-22 | 重庆工程职业技术学院 | Mining robot under complicated operating mode |
| CN118110419B (en) * | 2024-02-27 | 2024-10-22 | 山东大学 | Full-space drilling and injecting integrated device |
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| AU2021311338B2 (en) | 2023-09-28 |
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