CN103216251A - Support moving mechanical arm for roadway - Google Patents

Support moving mechanical arm for roadway Download PDF

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Publication number
CN103216251A
CN103216251A CN2013101622464A CN201310162246A CN103216251A CN 103216251 A CN103216251 A CN 103216251A CN 2013101622464 A CN2013101622464 A CN 2013101622464A CN 201310162246 A CN201310162246 A CN 201310162246A CN 103216251 A CN103216251 A CN 103216251A
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China
Prior art keywords
lifting
cantilever
mechanical arm
rotation seat
hinged
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Application number
CN2013101622464A
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Chinese (zh)
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CN103216251B (en
Inventor
曹树祥
曹伟
邱洋
杨宏光
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Shenyang Tian'an special robot Co.,Ltd.
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LIAONING TIAN'AN MINING TECHNOLOGY Co Ltd
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Priority to CN201310162246.4A priority Critical patent/CN103216251B/en
Publication of CN103216251A publication Critical patent/CN103216251A/en
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Abstract

The invention discloses a support moving mechanical arm for a roadway. The support moving mechanical arm for the roadway solves the problems that in the prior art, roadway roofs are repeatedly supported, the support moving speed is low, operations are complex and operational efficiency is low. The support moving mechanical arm for the roadway comprises a fixed foundation base, a transmission mechanism, a rotating base and a lifting mechanism, wherein the fixed foundation base is arranged at the bottom of the mechanical arm and the lifting mechanism is arranged on the rotating base. According to the technical scheme, the lifting mechanism arranged on the rotating base is composed of a lifting guiding sleeve, lifting hydraulic cylinders and lifting guide rods, a cantilever extensible mechanism composed of cantilever guiding rods, cantilever hydraulic cylinders and cantilever extensible sleeves is perpendicularly fixed at the upper portion of the lifting guide rods, roof supporting hydraulic stand columns with a roof supporting base hinged at the tops are fixed on the rotating base, the rotating base is driven through a rotation driving device and the transmission mechanism to rotate around the center of a rotating shaft. The support moving mechanical arm for the roadway is reasonable in structural design, stable in moving, convenient to operate, safe to use, capable of reducing influences on coal mining production by forepoling operation and beneficial to further improvement of yield per unit of a coal face.

Description

The tunnel is with moving the frame mechanical arm
Technical field
The present invention relates to a kind of auxiliary support moving device that is used for the operation of fully-mechanized mining working tunnel safety, particularly a kind of when being used for operate as normal face mining operations, in roadway workface, carry out the tunnel of Aided Machine formula reach of advance support rack with moving the frame mechanical arm with the propelling of working face mining.Belong to mining machinery manufacturing and application.
Background technology
The safety support in fully-mechanized mining working tunnel mainly adopts U shaped steel, i iron metallic support, the mode of anchor pole, anchor net and other combined supportings, along with the continuous propelling of coal-face, tunnel leading section pressure reach is so need add strong supporting in the leading section of work plane outlet.Widely used coal-face lame advanced supporting rack, mostly be the support pattern of hydraulic prop complexed metal articulated roof beam or long girder steel, it moves installing of frame and removes post slow, is difficult to realize that significantly speed promotes, and has restricted the fltting speed of work plane; Supporting efficient is low, complex procedures, and manual steps is more, and operating personnel's labour intensity is big, and to the work plane of roof cracking, prop drawing and recovery girder steel are all very difficult, have increased many potential safety hazards.
The problem that the applicant once existed at prior art, in first to file notification number be " lame advanced supporting rack " of CN200985799Y, the patents such as " tunnel ahead support stents " that notification number is CN201386567Y.The forepoling hydraulic support of above-mentioned these patent records is the frame of taking a step to move that carries out support by manual operation hydraulic control valve group mostly, realizes the mechanization of coal-face lame advanced supporting, finishes the innovation of coal-face advance support form.But, because this dependence moves the moving manner of the advance support rack that the push-and-pull of frame hydraulic cylinder moves, for tunnel, softer coal top, particularly grow tunnel apart from advance support for need, the track of walking is difficult to guarantee, so be prone to phenomenons such as support tilt and holding.All need each group advance support rack is fallen frame, reach successively, rises frame one time because of move frame at every turn, so exist top board is supported repeatedly, advancing velocity is slow, complex operation, the low deficiency that waits of operating efficiency, therefore, the moving manner of existing advance support rack lacks applicability.
Summary of the invention
The purpose of this invention is to provide a kind of tunnel with moving the frame mechanical arm, solved that prior art exists to back support repeatedly, advancing velocity slowly, problem such as complex operation, operating efficiency be low, its reasonable in design, move stable, easy to operate, safe in utilization, significantly reduce and move the influence that the frame operation is mined and produced work plane, help further promoting the applicability of moving manner.
The technical solution adopted in the present invention is: this tunnel comprises fixed pedestal with moving the frame mechanical arm, rotation seat and be arranged on elevating mechanism on the rotation seat, its technical essential is: described fixed pedestal is provided with by the lifting fairlead by the rotation seat that rotating shaft connects, lifting hydraulic cylinder, the elevating mechanism that lifting guide pillar is formed, the lifting guide pillar upper vertical is fixed with by the cantilever guide peg, the cantilever telescoping mechanism that boom cylinder and cantilever telescopic constitute, the support hydraulic vertical prop that the top is hinged with the support seat is fixed on the rotation seat, and the rotating driving device that is assembled on the fixed pedestal drives rotation seat center rotation around the shaft by transmission mechanism.
The lifting fairlead bottom of described elevating mechanism is fixed on the rotation seat, and inside is provided with the lifting guide pillar bottom of lifting hydraulic cylinder and inserts in the lifting fairlead lifting guide pillar top and cantilever guide peg vertical fixing; The lower end of lifting hydraulic cylinder is hinged on the bottom of lifting fairlead, and the upper end of lifting hydraulic cylinder is hinged on the inwall of lifting guide pillar, and moves back and forth along lifting fairlead inner chamber by lifting hydraulic cylinder driving lifting guide pillar.
The cantilever telescopic of described cantilever telescoping mechanism is sleeved on the outside of cantilever guide peg, one end of boom cylinder is hinged on the cantilever guide peg root with the lifting guide pillar vertical fixing, the other end is hinged on cantilever telescopic front portion, and boom cylinder driving cantilever telescopic moves back and forth along the length direction of cantilever guide peg.
Described transmission mechanism is made of intermeshing large and small gear, gear wheel is assembled in the bottom of rotation seat, pinion is assembled on the output shaft of rotating driving device, and the bottom and the fixed pedestal of rotating driving device fit together, and rotation seat is connected with fixed pedestal by rotating shaft; By the rotating driving device drive transmission device, thereby drive the center rotation around the shaft of whole rotation seat.
Advantage and good effect that the present invention has are: because the frame mechanical arm that moves of the present invention adopts the elevating mechanism that is provided with on fixed pedestal, transmission mechanism, rotation seat and the rotation seat and the structure of cantilever telescoping mechanism, cooperate the advance support rack that laterally is arranged in juxtaposition is moved frame with transport vehicle, so its reasonable in design, move stable, simple to operation, safe and reliable, avoid support repeatedly to top board.In addition, the volume that moves the frame mechanical arm of this design uniqueness is less, weight is lighter, can adapt to on-the-spot actual use needs, significantly reduce and move the influence that the frame operation is mined and produced work plane, help further promoting the applicability of moving manner, meet the equipment mounting, commissioning and maintenance condition of fully-mechanized mining working.Under guaranteeing the narrow tunnel condition in down-hole in the required safe pedestrian space, realize mechanization advance support that top board is supported continuously helping safe, the highly efficient and productive production of coal-face according to different geological conditionss and drift section shape.Therefore, the invention solves prior art for tunnel, softer coal top, long tunnel apart from advance support exist to back support repeatedly, advancing velocity slowly, problem such as complex operation, operating efficiency be low.
Description of drawings
Fig. 1 is a kind of concrete structure schematic diagram of the present invention;
Fig. 2 is the sectional view of Fig. 1 along the A-A line;
Fig. 3 is a kind of user mode schematic diagram that is used for mobile lame advanced supporting rack of the present invention;
Fig. 4 is the hydraulic vertical prop of Fig. 3 removal lame advanced supporting rack and the vertical view of back timber;
Fig. 5 is the sectional view of Fig. 3 along the B-B line.
Sequence number explanation among the figure: 1 rotation seat, 2 lifting fairleads, 3 lifting guide pillars, 4 support seats, 5 cantilever telescopics, 6 cantilever guide pegs, 7 fixed pedestals, 8 rotating driving devices, 9 transmission mechanisms, 10 lifting hydraulic cylinders, 11 support hydraulic vertical props, 12 boom cylinders, 13 back timbers, 14 hydraulic vertical props, 15 protect top board, 16 telescopic hydraulic cylinders, 17 move frame mechanical arm, 18 fastening frames, 19 bases, 20 transport vehicles.
The specific embodiment
Describe concrete structure of the present invention in detail according to Fig. 1～5.This tunnel comprises fixed pedestal 7, transmission mechanism 9, the rotation seat 1 of bottom and is arranged on parts such as elevating mechanism on the rotation seat 1 with moving frame mechanical arm 17.The elevating mechanism that wherein is arranged on the rotation seat 1 is made up of lifting fairlead 2, lifting hydraulic cylinder 10, lifting guide pillar 3, lifting guide pillar 3 upper vertical are fixed with the cantilever telescoping mechanism that cantilever guide peg 6, boom cylinder 12 and cantilever telescopic 5 constitute, the support hydraulic vertical prop 11 that the top is hinged with support seat 4 is fixed on the rotation seat 1, drives rotation seat 1 center rotation around the shaft by rotating driving device 8 and transmission mechanism 9.
Transmission mechanism 9 is made of intermeshing large and small gear, and gear wheel is assembled in the bottom of rotation seat 1, and pinion is assembled on the output shaft of rotating driving device 8.The bottom of rotating driving device 8 and fixed pedestal 7 fit together.Rotation seat 1 is connected with fixed pedestal 7 by rotating shaft; By rotating driving device 8 drive transmission devices 9, thereby drive the center rotation around the shaft of whole rotation seat 1.
Lifting fairlead 2 bottoms of elevating mechanism are fixed on the rotation seat 1, and inside is provided with lifting guide pillar 3 bottoms of lifting hydraulic cylinder 10 and inserts in the lifting fairlead 2 lifting guide pillar 3 tops and cantilever guide peg 6 vertical fixing.The lower end of lifting hydraulic cylinder 10 is hinged on the bottom of lifting fairlead 2, the upper end of lifting hydraulic cylinder 10 is hinged on the inwall of lifting guide pillar 3, and drive lifting guide pillars 3 by lifting hydraulic cylinder 10 and move back and forth along lifting fairlead 2 inner chambers, realize the lifting that moves frame mechanical arm 5.
The cantilever telescopic 5 of cantilever telescoping mechanism is sleeved on the outside of cantilever guide peg 6, and an end of boom cylinder 12 is hinged on cantilever guide peg 6 roots with lifting guide pillar 3 vertical fixing, and the other end is hinged on cantilever telescopic 5 front portions.Boom cylinder 12 drives cantilever telescopics 5 length directions along cantilever guide peg 6 and moves back and forth, and realizes moving the stretching out and regain of cantilever telescopic 5 of frame mechanical arm 5.Support hydraulic vertical prop 11 bottoms are fixed on the rotation seat 1, and the top that is hinged with support seat 4 is fixed on the sidewall of lifting fairlead 2.
The advance support rack that moves in the present embodiment comprises parts such as back timber 13, base 19, hydraulic vertical prop 14.The bottom that wherein is hinged on two hydraulic vertical props 14 on the base 19 is fixed together by fastening frame 18; Back timber 13 sides that are hinged on hydraulic vertical prop 14 tops utilize telescopic hydraulic cylinder 16 to be hinged with and protect top board 15.
The zone that needs to carry out supporting in the tunnel is provided with some groups of two advance support racks that laterally are arranged in juxtaposition, the acquiescence original state is that hydraulic vertical prop 14 rises, support advance support rack, the supporting that the back timber 13 by hydraulic vertical prop 14 tops forms back.Near on one group of advance support rack of work plane end, telescopic hydraulic cylinder 16 is for stretching out state, and the top board 15 that protects that is hinged on back timber 13 ends reaches the supporting position; And the telescopic hydraulic cylinder 16 on all the other group advance support rack back timbers all is in retracted state, and the top board 15 that protects that is hinged on back timber 13 ends is regained.The lifting hydraulic cylinder 10, support hydraulic vertical prop 11, the boom cylinder 12 that move on the frame mechanical arm 17 all are in retracted state.
This tunnel is with moving 17 pairs of above-mentioned advance support racks of frame mechanical arm when frame is moved away from the stope end in the front portion, tunnel, and the concrete operations step is as follows:
Step 1, driving transport vehicle 20 drives and moves frame mechanical arm 17 and move to the rear portion, tunnel and close on stope one end and need move forward between two advance support racks of one group, the support hydraulic vertical prop 11 that moves frame mechanical arm 17 rises, the support seat 4 of its upper articulation is contacted with back form and support, guarantee whole stability of moving in the frame mechanical arm course of action.Stretch out the boom cylinder 12 that moves frame mechanical arm 17, drive cantilever telescopic 5 and stretch out.The hydraulic vertical prop 14 of an advance support rack of the need of cantilever telescopic 5 one sides reach is regained, when making back timber 13 declines of this advance support rack, the telescopic hydraulic cylinder 16 that drives this regain back timbers 13 ends hinged protect top board 15, and stretch out the anterior adjacent support frame of advance support rack therewith immediately protect top board 15, with supporting because of falling the top board of the interim exposure of frame.When back timber 13 drops to and moves the cantilever telescopic 5 contacted positions of frame mechanical arm 17, stop to descend, stretch out the lifting hydraulic cylinder 10 that moves frame mechanical arm 17 this moment, rise together with cantilever guide peg 6, cantilever telescopic 5 thereby drive lifting guide pillar 3, the advance support rack that falls frame is risen.Drive boom cylinder 12, regain cantilever telescopic 5, advance support rack is moved, to rotation seat 1 direction after advance support rack moves to rotation seat 1 top, drive lifting hydraulic cylinder 10 again, the advance support rack of regaining on the lifting guide pillar 3 drive cantilever telescopics 5 is fallen on the rotation seat 1.Regain support hydraulic vertical prop 11, the support seat 4 of its upper articulation is separated with back.
Step 2 drives transport vehicle 20 drives and moves frame mechanical arm 17 together with the advance support rack that is recovered on its rotation seat 1, moves away from the stope end to the front portion, tunnel.When moving to the appropriate location in anterior need supporting zone, tunnel, rise the support hydraulic vertical prop 11 that moves frame mechanical arm 17 earlier, the support seat 4 of its upper articulation is contacted with back form and support, stretch out lifting hydraulic cylinder 10 again, drive lifting guide pillar 3 together with cantilever telescopic 5, advance support rack is lifted, leave rotation seat 1.Drive boom cylinder 12, stretch out cantilever telescopic 5, advance support rack is reached top, supporting position, regain lifting hydraulic cylinder 10 this moment, advance support rack on the cantilever telescopic 5 is dropped on the roadway floor, hydraulic vertical prop 14 with the advance support rack that moves into place rises then, the back timber 13 of this advance support rack is risen and contacts with back, forms effectively and supports.Drive boom cylinder 12, regain cantilever telescopic 5, regain support hydraulic vertical prop 11 simultaneously, the support seat 4 of its upper articulation is separated with back.Drive rotating driving device 8 and transmission mechanism 9, make the rotation seat 1 center Rotate 180 degree around the shaft that moves frame mechanical arm 17, prepare for moving an other advance support rack that is arranged in juxtaposition.
Step 3,20 drives of driving transport vehicle move frame mechanical arm 17 and move to the rear portion, tunnel, repeat the operation of above-mentioned steps one, step 2, to move to anterior corresponding position, tunnel with the other advance support rack that the advance support rack that is moved before is arranged in juxtaposition, finish the reach with the working face mining propelling of one group of advance support rack.
Exploitation propelling along with work plane, according to the above-mentioned steps cycling, can utilize auxiliary moving mechanism, the advance support rack of respectively organizing that constantly will be arranged in the rear portion, tunnel moves to the front portion, tunnel, realizes the continuous effective supporting to the leading section in tunnel in normal mining operations tunnel.

Claims (4)

1. a tunnel is with moving the frame mechanical arm, comprise fixed pedestal, rotation seat and be arranged on elevating mechanism on the rotation seat, it is characterized in that: described fixed pedestal is provided with by the lifting fairlead by the rotation seat that rotating shaft connects, lifting hydraulic cylinder, the elevating mechanism that lifting guide pillar is formed, the lifting guide pillar upper vertical is fixed with by the cantilever guide peg, the cantilever telescoping mechanism that boom cylinder and cantilever telescopic constitute, the support hydraulic vertical prop that the top is hinged with the support seat is fixed on the rotation seat, and the rotating driving device that is assembled on the fixed pedestal drives rotation seat center rotation around the shaft by transmission mechanism.
2. tunnel according to claim 1 is with moving the frame mechanical arm, it is characterized in that: the lifting fairlead bottom of described elevating mechanism is fixed on the rotation seat, inside is provided with the lifting guide pillar bottom of lifting hydraulic cylinder and inserts in the lifting fairlead lifting guide pillar top and cantilever guide peg vertical fixing; The lower end of lifting hydraulic cylinder is hinged on the bottom of lifting fairlead, and the upper end of lifting hydraulic cylinder is hinged on the inwall of lifting guide pillar, and moves back and forth along lifting fairlead inner chamber by lifting hydraulic cylinder driving lifting guide pillar.
3. tunnel according to claim 1 is with moving the frame mechanical arm, it is characterized in that: the cantilever telescopic of described cantilever telescoping mechanism is sleeved on the outside of cantilever guide peg, one end of boom cylinder is hinged on the cantilever guide peg root with the lifting guide pillar vertical fixing, the other end is hinged on cantilever telescopic front portion, and boom cylinder driving cantilever telescopic moves back and forth along the length direction of cantilever guide peg.
4. tunnel according to claim 1 is with moving the frame mechanical arm, it is characterized in that: described transmission mechanism is made of intermeshing large and small gear, gear wheel is assembled in the bottom of rotation seat, pinion is assembled on the output shaft of rotating driving device, the bottom and the fixed pedestal of rotating driving device fit together, and rotation seat is connected with fixed pedestal by rotating shaft; By the rotating driving device drive transmission device, thereby drive the center rotation around the shaft of whole rotation seat.
CN201310162246.4A 2013-05-06 2013-05-06 Support moving mechanical arm for roadway Active CN103216251B (en)

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113236331A (en) * 2021-06-02 2021-08-10 中国矿业大学(北京) Frame moving device of door type support

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1415188A (en) * 1971-12-10 1975-11-26 Alacchi G Advanceable roof-supporting device for mining galleries
CN201221373Y (en) * 2008-07-09 2009-04-15 山西东华机械有限公司 Beam lifting apparatus for coal mine laneway hydraulic support
CN202215272U (en) * 2011-08-04 2012-05-09 郑州四维机电设备制造有限公司 Support beam assembly used for circulating self-moving forepoling hydraulic support
CN202745906U (en) * 2012-07-18 2013-02-20 沈阳天安矿山机械科技有限公司 Circulatory advancing forepoling
CN203223238U (en) * 2013-05-06 2013-10-02 辽宁天安矿山科技有限公司 Mechanical arm for moving racks in roadway

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1415188A (en) * 1971-12-10 1975-11-26 Alacchi G Advanceable roof-supporting device for mining galleries
CN201221373Y (en) * 2008-07-09 2009-04-15 山西东华机械有限公司 Beam lifting apparatus for coal mine laneway hydraulic support
CN202215272U (en) * 2011-08-04 2012-05-09 郑州四维机电设备制造有限公司 Support beam assembly used for circulating self-moving forepoling hydraulic support
CN202745906U (en) * 2012-07-18 2013-02-20 沈阳天安矿山机械科技有限公司 Circulatory advancing forepoling
CN203223238U (en) * 2013-05-06 2013-10-02 辽宁天安矿山科技有限公司 Mechanical arm for moving racks in roadway

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113236331A (en) * 2021-06-02 2021-08-10 中国矿业大学(北京) Frame moving device of door type support

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Address after: 113122 Liaoning Province, Fushun City Binhe Road Economic Development Zone No. 15

Applicant after: Liaoning Tian'an Technology Co., Ltd.

Address before: 113122 Liaoning Province, Fushun City Binhe Road Economic Development Zone No. 15

Applicant before: Liaoning Tian'an Mining Technology Co., Ltd.

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Free format text: CORRECT: APPLICANT; FROM: LIAONING TIAN'AN MINING TECHNOLOGY CO., LTD. TO: LIAONING TIAN'AN TECHNOLOGY CO., LTD.

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Effective date of registration: 20201120

Address after: No.15 Binhe Road, Shenfu New District, Shenyang, Liaoning Province 110000

Patentee after: Shenyang Tian'an special robot Co.,Ltd.

Address before: 113122 Binhe Road, Fushun Economic Development Zone, Liaoning 15, China

Patentee before: LIAONING TIANAN TECHNOLOGY Co.,Ltd.

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