CN109838276A - A kind of coal mine underground tunneling roadway is taken a step transportation robot in the air - Google Patents
A kind of coal mine underground tunneling roadway is taken a step transportation robot in the air Download PDFInfo
- Publication number
- CN109838276A CN109838276A CN201910234047.7A CN201910234047A CN109838276A CN 109838276 A CN109838276 A CN 109838276A CN 201910234047 A CN201910234047 A CN 201910234047A CN 109838276 A CN109838276 A CN 109838276A
- Authority
- CN
- China
- Prior art keywords
- walking device
- hydraulic
- walking
- coal mine
- air
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000003245 coal Substances 0.000 title claims abstract description 35
- 230000005641 tunneling Effects 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000001681 protective effect Effects 0.000 claims abstract description 13
- 239000000463 material Substances 0.000 claims abstract description 12
- 238000011161 development Methods 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000003287 optical effect Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 15
- 239000007789 gas Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000004880 explosion Methods 0.000 description 3
- 230000006386 memory function Effects 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 241000592274 Polypodium vulgare Species 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000246 remedial effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Abstract
It takes a step in the air transportation robot the present invention relates to a kind of coal mine underground tunneling roadway, belong to coal mine machinery equipment technology field of transport, coal mine underground tunneling roadway of the invention transportation robot of taking a step in the air includes material storing box, telescoping mechanism, it holds court from behind a screen protective device, detection system, framework platform, walking device I, walking device II, walking device III, walking device IV, walking device V, walking device VI, vertical gyroscope system, mobile device, control system, hydraulic system and remote controler, control system is interlocked with remote controler simultaneously, realize long-distance remote control operation, pass through optical cable, realize ground remote control.The present invention realizes unattended or few man on duty, meets national security requirement and safety policy；Realization takes a step to walk in the air, occupies little space, equipment external form is small, flexibility is good, work efficiency is high.
Description
Technical field
The present invention relates to coal mine machinery equipment technology field of transport, aerial more particularly to a kind of coal mine underground tunneling roadway
It takes a step transportation robot.
Background technique
National Coal Mine Safety Supervision Bureau bulletin (2019 No. 1), specifies in " coal mine robot emphasis researches and develops catalogue "
The R&D direction of underground tunneling roadway transportation robot, underworkings Transport Machinery, intelligence, it is unmanned be that Future Development becomes
The factors such as the increase of gesture, especially cost of labor, the requirement of safety of coal mines, to intelligent, the requirement of mechanization transportation is also more next
It is higher；Security risk, unattended or few man on duty are how reduced, is coal mine technical problem urgently to be solved；Due to by it is explosion-proof,
The limitation of the factors such as light, dust, surface condition, the robot being successfully applied in coal mine underground tunneling roadway is seldom,
In conceptual phase.
Legged type robot both at home and abroad currently used drive form mainly have it is electronic and hydraulic, due to hydraulic-driven have it is negative
Loading capability is strong, power density is high, electrodeless variable-speed, to bear greater impact, the rigidity of system high and the advantages that response is fast, becomes high
The primary selection of the outdoor heavily loaded quadruped robot of performance." BigDog " quadruped robot of boston, U.S.A utility companies development,
" HYQ " quadruped robot that Italian Technology research institute develops, " SCalf " quadruped robot etc. that domestic Shandong University develops,
All using hydraulic driving mode, each joint realizes legged type robot articulation using hydraulic cylinder linear drives, however,
Linear hydraulic cylinder drives articulation, and installation is big with space demand, and corresponding joint rotational angle is small, is not able to satisfy sufficient formula
The special occasions movenent performance requirement of the big moving corner of joint of robot；Secondly, joint motions revolving speed and linear hydraulic cylinder are mobile
The speed ratio of speed is different and different with movement position, and similarly linear hydraulic cylinder power output is also different with movement position difference, this
Speed and the unbalanced disadvantage of power are unfavorable for legged type robot movement so that the power of joint motions and speed control difficulty increase
It realizes, also counteracts hydraulic-driven legged type robot joint designs thinking；In addition, traditional asymmetric linear type hydraulic cylinder, liquid
It presses actuated-control model relative complex, increases difficulty to control algolithm；This robot is not suitable for underground coal mine driving lane
Environment in road.
Bionic machine man-based development is the advanced stage of robot development, and the design of the imitative biological nature used not only makes
The movement of robot is more flexible, control is more accurate, and its specific structure can better meet certain special work and want
It asks.Currently, bio-robot is all being puted forth effort to study by the scientific research institutions of many countries in the world, bio-robot oneself be gradually applied to
Rescue and relief work, scientific research such as explore at the fields, especially the mankind be difficult to reach or the operating environment of danger close under work.Bionic machine
Man-based development experienced original exploration, bionical imitative type, electromechanics and merge three phases with biosystem.It is quick with modern science and technology
Development, bio-robot are just being marched toward direction that is more intelligent, being more in line with biological structure characteristic.But nowadays bio-robot
There is also many problems, comprising: structural model is relatively easy, insufficient, driving method capacity usage ratio is disclosed to biomechanism compared with
Low, control is unable to reach accurate etc. enough, and existing transportation robot heavy, volume are big, and can only flat transportation, many fields
Conjunction cannot apply, the environment being less suitable in coal mine underground tunneling roadway.
Current main traffic program are as follows:
1) boring head a distance, about 30000mm are most of to use hand haulage at present: near boring head, pick
Into machine width degree about 3000mm to 3800mm, 8000mm is about to 10000mm；Belt conveyer maximum shape width about 1500mm,
It is about 10000mm, and span length about 4000mm to 5000mm；In tunnel, development machine and belt conveyer two sides are reserved
Narrow space, haulage vehicle are difficult to pass through, although monorail crane can pass through from the side of belt conveyer (inclined side), be difficult from
Development machine side passes through, and there is still a need for hand haulages for this section of distance of development machine length direction.
2) utility model patent " a kind of quadruped robot " of Patent No. 201721426485.6, authorized announcement date 2018
On May 11, in；The utility model patent of Patent No. 201810675697.0 " a kind of novel bionic polypody transportation robot and makes
With method ", application publication number CN108995732A, data of publication of application on December 14th, 2018；This two patents are primarily present not
Foot: 1. four-footed freedom degree is more, high failure rate；2. bearing capacity is small；3. structure is complicated, and is not suitable for grabbing anchor pole in the air and take a step；④
The problems such as explosion-proof, dust-proof, light, detection, is not studied.
Mining construction the more digs the more deep due to mineral at present, and opposite production safety is also more and more important, especially underground coal mine,
The gas contained in coal is inevitably mixed with the oxygen that construction personnel breathes, and gas density is high, is easy to happen explosion,
In the presence of very big security risk；Due to the presence of coal mine gas, to underground equipment, electric elements, control system, power supply,
Electric spark etc. has stringent requirement of explosion proof, but existing disclosed pit robot, does not refer to, also without counter-measure, no
Has practicability；Also frequent occurrence for the infiltration of heavy duty service, landslide phenomenon, the life security of grave danger construction personnel,
Manual operation is replaced using robot under dangerous environment, is a development trend.
Since by coal mine gas, light, power supply, explosion-proof, dust-proof, waterproof, ground is rough and uneven in surface, environment is changeable not
The influence of the factors such as rule, pit robot are studied seldom, are current domestic and international problems, and robot architecture and function is simple
Change, solves the problems, such as that some is single, small investment, failure rate are low, safe and reliable, and being that those skilled in the art are urgently to be resolved asks
Topic.
Summary of the invention
It is an object of the invention to it is aerial to disclose a kind of coal mine underground tunneling roadway in place of overcome the deficiencies in the prior art
It takes a step transportation robot.
To achieve the above object, the invention provides the following technical scheme:
A kind of coal mine underground tunneling roadway is taken a step transportation robot, including material storing box, telescoping mechanism, protection dress of holding court from behind a screen in the air
It sets, detection system, framework platform, walking device I, walking device II, walking device III, walking device IV, walking device V, walking device VI, hang down
Straight gyroscope system, mobile device, control system, hydraulic system and remote controler, the telescoping mechanism include flexible Multi-stage cylinder cylinder
Body, flexible multistage cylinder piston rod and magnechuck, before the upper end of the flexible Multi-stage cylinder cylinder body of telescoping mechanism is mounted on framework platform
The lower end of middle side part under both ends afterwards, the flexible multistage cylinder piston rod of telescoping mechanism is connect with magnechuck, the electromagnetism of telescoping mechanism
Sucker lower end is connect with material storing box, and the protective device of holding court from behind a screen is mounted on the downside border of framework platform, the detection system
It is mounted in the middle part of the upper surface of framework platform, detection system includes infrared ray apart from detector, laser scanner, TOF camera, positioning
System, infrared ray apart from detector be used to detect the specific location of anchor pole in order to walking device I, walking device II, walking device III,
Walking device IV, walking device V, walking device VI realize fine tuning, and laser scanner and TOF camera have record and memory function, and can
With path optimizing, for the anchor pole position under the same terms, movement can be settled at one go, high-efficient；The vertical gyroscope system
System is mounted on the middle part of framework platform, and vertical gyroscope system is used for the levelness of detection framework platform, when the volume for being more than setting
When determining deviation, start oil cylinder, adjust automatically guarantees the levelness of framework platform；The mobile device is uniformly mounted on frame for totally 6
The upper surface of body panel, mobile device include fixing seat, lead screw, nut seat and hydraulic motor, and hydraulic system controls mobile dress respectively
The hydraulic motor set realizes that nut seat is mobile, the walking device I, walking device II, walking device III, walking device IV, V and of walking device
VI lower end of walking device is connect by flexible short circuit with nut seat, and the control system is interlocked with remote controler simultaneously, is realized remote
Remote control operation realizes ground remote control by optical cable, reduces personnel in the pit, accomplishes nobody or few man on duty, meet national security and want
Summation safety policy.
Preferably, protective device of holding court from behind a screen includes auto take-up and flexible vertical line, and detection system detects that robot is pre-
By equipment height, the auto take-up of protective device of holding court from behind a screen automatically adjusts the height of flexible vertical line, apart from equipment
200mm, and require to forbid the people that stands within the scope of the flexible vertical line for protective device of holding court from behind a screen, play the role of prompting and protection, meets
Forbid the regulation of people from station below the object of the suspension of national security code requirement or movement.
Preferably, the walking device I includes flexible short circuit, oil cylinder, universal joint, spring, hydraulic efficiency manipulator clamper and pressure
Force snesor, the lower end that flexibility is shorted are connect with nut seat, and the cylinder base flange of the flexible upper end being shorted and oil cylinder connects
It connecing, the piston rod part of the oil cylinder installs a guide sleeve, and guide sleeve is mounted on the cylinder body of oil cylinder, guiding role is played,
So that oil cylinder is born certain radial force, extend the service performance of oil cylinder, improves the reliability of product；The piston rod part of oil cylinder with
The connection of universal joint lower end, the upper end of universal joint connect with the lower end of hydraulic efficiency manipulator clamper, the lower end flanges of the spring and
The piston rod part of oil cylinder connects, and the upper flanges of spring are connect with the lower end of hydraulic efficiency manipulator clamper, the hydraulic machinery
Hand clamper includes interior half cone watt, tapered sleeve, hydraulic package and pressure sensor I, the interior half cone watt of hydraulic efficiency manipulator clamper
Inner hole is greater than bolt diameter 3mm, and the upper end of the interior half cone watt of hydraulic efficiency manipulator clamper is provided with 55 degree of taper holes, pressure sensor
It is mounted in 55 degree of taper holes of half cone watt in hydraulic efficiency manipulator clamper, the pressure sensor I of hydraulic efficiency manipulator clamper is installed
On interior half cone watt inner hole wall.
Preferably, the structure of the walking device II, walking device III, walking device IV, walking device V and walking device VI with it is described
The structure of walking device I is identical.
Preferably, hydraulic system includes hydraulic power unit, motor, vane pump, electrical contact proportioning valve and pipe-line system, hydraulic pressure system
System is mounted on the upper surface of framework platform.
Preferably, the hydraulic system is placed on development machine, synchronous with development machine forward.
The beneficial effects of the present invention are:
(1) domestic initiation meets national policy, meets the requirement of national safety of coal mines, underground tunneling roadway is using aerial
It takes a step transportation robot, realizes long-distance remote control operation, by optical cable, realize ground remote control, realize unattended or few people's value
It keeps, reduces security risk.
(2) it realizes and takes a step to walk in the air, occupy little space, equipment external form is small, flexibility is good, work efficiency is high.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Attached drawing 1 is that a kind of coal mine underground tunneling roadway of the present invention is taken a step the main view of transportation robot in the air.
Attached drawing 2 is that a kind of coal mine underground tunneling roadway of the present invention is taken a step walking device I in transportation robot in the air
Main view.
Attached drawing 3 is that a kind of coal mine underground tunneling roadway of the present invention is taken a step mobile device in transportation robot in the air
Main view.
Attached drawing 4 is that a kind of coal mine underground tunneling roadway of the present invention position of taking a step to take a step in transportation robot in the air shows
It is intended to.
In figure: 01-material storing box, 02-telescoping mechanism, 03-holds court from behind a screen protective device, 04-detection system, and 05-frame is flat
Platform, 06-walking device I, 07-walking device II, 08-walking device III, 09-walking device IV, 10-walking devices V, 11-walking devices
VI, 12-vertical gyroscope systems, 13-mobile devices, 14-control systems, 15-hydraulic systems, 16-remote controlers,
0601-flexible short circuit, 0602-oil cylinder, 0603-universal joint, 0604-spring, 0605-hydraulic efficiency manipulator clamper,
0606-pressure sensor, 1301-fixing seats, 1302-lead screws, 1303-nut seats, 1304-hydraulic motors.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only some embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the coal mine underground tunneling roadway provided in this specific embodiment takes a step to transport in the air
Defeated robot includes material storing box 01, telescoping mechanism 02, protective device 03 of holding court from behind a screen, detection system 04, framework platform 05, walking device I
06, walking device II 07, walking device III 08, walking device IV 09, walking device V 10, walking device VI 11, vertical gyroscope system 12, shifting
Dynamic device 13, control system 14, hydraulic system 15 and remote controler 16, walking device II 07, walking device III 08, walking device IV 09, row
The structure for walking device V 10 and walking device VI 11 is identical as the structure of the walking device I 06.
Telescoping mechanism 02 includes flexible Multi-stage cylinder cylinder body, stretch multistage cylinder piston rod and magnechuck, telescoping mechanism 02
The upper end of flexible Multi-stage cylinder cylinder body is mounted on middle side part under 05 rear and front end of framework platform, and the flexible Multi-stage cylinder of telescoping mechanism 02 is living
The lower end of stopper rod is connect with magnechuck, and the magnechuck lower end of telescoping mechanism 02 is connect with material storing box 01, the protection of holding court from behind a screen
Device 03 is mounted on the downside border of framework platform 05, and the detection system 04 is mounted in the middle part of the upper surface of framework platform 05,
Detection system 04 includes infrared ray apart from detector, laser scanner, TOF camera, positioning system, and infrared ray is used apart from detector
In detection anchor pole specific location in order to walking device I 06, walking device II 07, walking device III 08, walking device IV 09, walking device
V 10, walking device VI 11 realizes fine tuning, and laser scanner and TOF camera have record and a memory function, and can with path optimizing,
For the anchor pole position under the same terms, movement can be settled at one go, high-efficient；The vertical gyroscope system 12 is mounted on frame
The middle part of body panel 05, vertical gyroscope system 12 are used for the levelness of detection framework platform 05, when specified inclined more than setting
When poor, start oil cylinder 0602, adjust automatically guarantees the levelness of framework platform 05；The mobile device 13 totally 6 uniformly installations
In the upper surface of framework platform 05, mobile device 13 includes fixing seat 1301, lead screw 1302, nut seat 1303 and hydraulic motor
1304, the hydraulic motor 1304 that hydraulic system 15 controls mobile device 13 respectively realizes that nut seat 1303 is mobile, the walking device I
06, walking device II 07, walking device III 08, walking device IV 09, walking device V 10 and VI 11 lower end of walking device are shorted by flexible
0601 connect with nut seat 1303, and 14 similar machine people's intelligence brain of control system is accurately calculated, firmly grasps, positioned, independent
Realize the control of whole process, it is necessary to assure front-seat at least two walking device, the hydraulic efficiency manipulator folder of heel row at least two walking device
Holder 0605 catches anchor pole, and reaches on pre-set specified grasp and pulling capacity, can carry out next movement,
Guarantee is provided for safe operation.
Protective device 03 of holding court from behind a screen includes auto take-up and flexible vertical line, and detection system 04 detects that robot is pre-pass
Equipment height, the auto take-up of protective device 03 of holding court from behind a screen automatically adjusts the height of flexible vertical line, apart from equipment
200mm, and require to forbid the people that stands within the scope of the flexible vertical line for holding court from behind a screen protective device 03, play the role of prompting and protection, accords with
Close the regulation for the people that forbids to stand below the object of the suspension of national security code requirement or movement.
Walking device I 06 includes that flexible 0601, oil cylinder 0602, universal joint 0603, spring 0604, the hydraulic efficiency manipulator of being shorted clamps
Device 0605 and pressure sensor 0606, the lower end that flexibility is shorted 0601 are connect with nut seat 1303, the flexible short circuit 0601
The cylinder base flanged joint of upper end and oil cylinder 0602, the piston rod part of the oil cylinder 0602 install a guide sleeve, guiding
Set is mounted on the cylinder body of oil cylinder 0602, plays guiding role, and oil cylinder 0602 is made to bear certain radial force, extends oil cylinder 0602
Service performance, improve the reliability of product；The piston rod part of oil cylinder 0602 is connect with 0603 lower end of universal joint, universal joint
0603 upper end is connect with the lower end of hydraulic efficiency manipulator clamper 0605, lower end flanges and the oil cylinder 0602 of the spring 0604
Piston rod part connection, the upper flanges of spring 0604 are connect with the lower end of hydraulic efficiency manipulator clamper 0605, the hydraulic press
Tool hand clamper 0605 includes interior half cone watt, tapered sleeve, hydraulic package and pressure sensor I, hydraulic efficiency manipulator clamper 0605
The inner hole of interior half cone watt is greater than bolt diameter 3mm, and the upper end of the interior half cone watt of hydraulic efficiency manipulator clamper 0605 is provided with 55 degree
Taper hole, pressure sensor 0606 are mounted in 55 degree of taper holes of half cone watt in hydraulic efficiency manipulator clamper 0605, hydraulic efficiency manipulator
The pressure sensor I of clamper 0605 is mounted on interior half cone watt inner hole wall.Walking device II 07, walking device III 08, walking device IV
09, the structure of walking device V 10 and walking device VI 11 is identical as the structure of the walking device I 06, and details are not described herein again.
Anchor rod drawing power design data is consulted to record: the anchor pole of diameter 20mm, about 15 tons of pulling capacity when material Q335, material
About 21 tons of pulling capacity when Q500；The anchor pole of diameter 22mm, about 19 tons of pulling capacity when material Q335, pulling capacity about 23 when material Q500
Ton；After fixing agent for anchor poles 30 seconds, reach the 80% of nominal strength.About 1 ton of the robot total weight, any one anchor rod strength
Enough, and it is temporarily to borrow, auxiliary anchor pole is had no need to install, using installed anchor pole.
Between the top anchor pole that parallel distance between two mobile devices 13 is anchor pole spacing L, L to be designed for designing institute away from
From a kind of scheme of parallel distance between two mobile devices 13 is to fix certain value, and another scheme is the mobile device 13 of two sides
On the slide rail, the mobile device 13 of two sides and intermediate mobile device 13 realize that spacing is automatic by oil cylinder adjusting spacing for installation
It adjusts.
Hydraulic system 15 includes hydraulic power unit, motor, vane pump, electrical contact proportioning valve and pipe-line system, hydraulic system 15
It is mounted on the upper surface of framework platform 05, another embodiment is that hydraulic system 15 is placed on development machine, before synchronous with development machine
Row.
Coal mine underground tunneling roadway of the invention takes a step transportation robot using hydraulic system in the air, can also use pneumatic
Or hydraulic pressure system, all electric elements and control system etc. in the present invention have stringent requirement of explosion proof.
Coal mine underground tunneling roadway of the invention take a step in the air the power supply in transportation robot using directly connect power supply line or
Included battery.
It adopts take a step in the air lead screw and piston rod leakage part in transportation robot of coal mine underground tunneling roadway of the invention
It is protected with folding set, whole appearance face carries out secondary protection, prevents dust, extends the service life of complete machine.
As shown in figure 4, walking device I 06, walking device II 07, walking device III 08, walking device IV 09, walking device V 10 and walking
Device VI 11, after moving forward L, tracing point 06A, 07A, 08A, 09A, 10A, 11A；Walking device I 06, walking device III 08, walking
Device IV 09, VI 11 movement law of walking device be using " horse " walking rule, i.e., after left front-right-it is left back-right before, move forward
After L, tracing point 06A, 08A, 09A, 11A；Vertical gyroscope system 12 predominantly detects the levelness of framework platform 05, when being more than
When the specified deviation of setting, start oil cylinder 0602, adjust automatically ensure that the levelness of framework platform 05；Walking device II 07, row
Walking V 10 movement law of device is to move forward simultaneously, finds anchor pole position and promptly anchor pole, improves the speed of service, moves forward L
Afterwards, tracing point 07A, 10A allows one of them to fail to grip with anchor pole, waits below the anchor pole that do not catch；Detection system 14
Laser scanner and TOF camera have record and memory function, and can be with path optimizing, for the anchor pole position under the same terms
It sets, movement can settle at one go, high-efficient.
The upper end of the interior half cone watt of hydraulic efficiency manipulator clamper 0605 is 55 degree of taper holes, and pressure sensor 0606 is mounted on liquid
In press mechanical pressing hand clamper 0605 in 55 degree of taper holes of half cone watt, it is conveniently adjusted anchor pole spacing, anchor pole is allowed to have certain spacing
Error, -20mm to+20mm, when pressure sensor 0606 detects front end stress, the mobile fine tuning of I 06 forward end of walking device, detection
When to rear end stress, the mobile fine tuning to the back-end of walking device I 06；The main function of spring 0604 is in its natural state, to allow universal
Vertically upward, when inclined because of anchor pole position, universal joint 0603 has certain adjusting range to section 0603, in addition flexible to be shorted 0601
There is certain adjustable range, guarantee accurately catches anchor pole, really because anchor pole position deviation is too big, when can not catch, robot
Program also has certain remedial measure.The grasp that the pressure sensor I of hydraulic efficiency manipulator clamper 0605 will test is transmitted to
Control system 14 allows next movement in the case where meeting specified grasp, guarantees a hundred percent secure grip anchor pole,
Subsequent processing is carried out, realizes the safety of aerial mobile.
Control system 14 is interlocked with remote controler 16 simultaneously, realizes long-distance remote control operation, by optical cable, realizes that ground is distant
Control reduces personnel in the pit, accomplishes nobody or few man on duty, meet national security requirement and safety policy.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (6)
- The transportation robot 1. a kind of coal mine underground tunneling roadway is taken a step in the air, it is characterized in that: including material storing box (01), telescoping mechanism (02), hold court from behind a screen protective device (03), detection system (04), framework platform (05), walking device I (06), walking device II (07), walking Device III (08), walking device IV (09), walking device V (10), walking device VI (11), vertical gyroscope system (12), mobile device (13), control system (14), hydraulic system (15) and remote controler (16), the telescoping mechanism (02) include flexible Multi-stage cylinder cylinder Body, flexible multistage cylinder piston rod and magnechuck, it is flat that the upper end of the flexible Multi-stage cylinder cylinder body of telescoping mechanism (02) is mounted on frame The lower end of middle side part under platform (05) rear and front end, the flexible multistage cylinder piston rod of telescoping mechanism (02) is connect with magnechuck, is stretched The magnechuck lower end of contracting mechanism (02) is connect with material storing box (01), and the protective device of holding court from behind a screen (03) is mounted on framework platform (05) downside border, the detection system (04) are mounted in the middle part of the upper surface of framework platform (05), detection system (04) packet Infrared ray is included apart from detector, laser scanner, TOF camera and positioning system, infrared ray is apart from detector for detecting anchor pole Specific location in order to walking device I (06), walking device II (07), walking device III (08), walking device IV (09), walking device V (10) and walking device VI (11) realizes fine tuning, and the vertical gyroscope system (12) is mounted on the middle part of framework platform (05), hangs down Straight gyroscope system (12) is used for the levelness of detection framework platform (05), the mobile device (13) is uniformly mounted on for 6 totally The upper surface of framework platform (05), mobile device (13) include fixing seat (1301), lead screw (1302), nut seat (1303) and hydraulic Motor (1304), the hydraulic motor (1304) that hydraulic system (15) controls mobile device (13) realize that nut seat (1303) are mobile, The walking device I (06), walking device II (07), walking device III (08), walking device IV (09), walking device V (10) and walking device VI (11) lower end is connect by flexible be shorted (0601) with nut seat (1303), the control system (14) and meanwhile with remote controler (16) Long-distance remote control operation is realized in interlocking.
- The transportation robot 2. coal mine underground tunneling roadway according to claim 1 is taken a step in the air, it is characterized in that: described hold court from behind a screen Protective device (03) includes auto take-up and flexible vertical line, and the auto take-up can be detected according to detection system (04) Data automatically adjust the height of flexible vertical line.
- The transportation robot 3. coal mine underground tunneling roadway according to claim 1 is taken a step in the air, it is characterized in that: the walking Device I (06) includes flexible short circuit (0601), oil cylinder (0602), universal joint (0603), spring (0604), hydraulic efficiency manipulator clamper (0605) it is connect with pressure sensor (0606), the flexible lower end for being shorted (0601) with the nut seat (1303), flexibility It is shorted the upper end of (0601) and the cylinder base flanged joint of oil cylinder (0602), the piston rod part installation of the oil cylinder (0602) One guide sleeve, guide sleeve are mounted on the cylinder body of oil cylinder (0602), the piston rod part and universal joint of the oil cylinder (0602) (0603) lower end connects, and the upper end of universal joint (0603) is connect with the lower end of hydraulic efficiency manipulator clamper (0605), the spring (0604) lower end flanges are connect with the piston rod part of oil cylinder (0602), the upper flanges and hydraulic efficiency manipulator of spring (0604) The lower end of clamper (0605) connects, the hydraulic efficiency manipulator clamper (0605) include interior half cone watt, tapered sleeve, hydraulic package and The inner hole of pressure sensor I, the interior half cone watt of hydraulic efficiency manipulator clamper (0605) is greater than bolt diameter 3mm, hydraulic efficiency manipulator The upper end of the interior half cone watt of clamper (0605) is provided with 55 degree of taper holes, and pressure sensor (0606) is mounted on hydraulic efficiency manipulator folder In 55 degree of taper holes of holder (0605) interior half cone watt, the pressure sensor I of hydraulic efficiency manipulator clamper (0605) is mounted on interior half It bores on watt inner hole wall.
- The transportation robot 4. coal mine underground tunneling roadway according to claim 3 is taken a step in the air, it is characterized in that: the walking The structure and the walking of device II (07), walking device III (08), walking device IV (09), walking device V (10) and walking device VI (11) The structure of device I (06) is identical.
- The transportation robot 5. coal mine underground tunneling roadway according to claim 1 is taken a step in the air, it is characterized in that: the liquid Pressure system (15) includes that hydraulic power unit, motor, vane pump, electrical contact proportioning valve and pipe-line system, hydraulic system (15) are mounted on The upper surface of framework platform (05).
- The transportation robot 6. coal mine underground tunneling roadway according to claim 1 is taken a step in the air, it is characterized in that: described hydraulic System (15) is placed on development machine, synchronous with development machine forward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910234047.7A CN109838276B (en) | 2019-03-26 | 2019-03-26 | Air stepping transportation robot for underground tunneling tunnel of coal mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910234047.7A CN109838276B (en) | 2019-03-26 | 2019-03-26 | Air stepping transportation robot for underground tunneling tunnel of coal mine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109838276A true CN109838276A (en) | 2019-06-04 |
| CN109838276B CN109838276B (en) | 2023-12-15 |
Family
ID=66886334
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910234047.7A Active CN109838276B (en) | 2019-03-26 | 2019-03-26 | Air stepping transportation robot for underground tunneling tunnel of coal mine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109838276B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4012596A1 (en) * | 1989-12-19 | 1991-06-20 | Heisterkamp Helmut A Dipl Ing | Mining roadway lining machine - runs on overhead monorail and has working platform equipped with jack setting and other machinery |
| US5087102A (en) * | 1990-07-18 | 1992-02-11 | Kiefer Heinz E | Continuous mining machine |
| JPH05288000A (en) * | 1992-04-09 | 1993-11-02 | Fujita Corp | Equipment and materials transportation device in underground excavation work |
| CN201786382U (en) * | 2010-09-27 | 2011-04-06 | 西安科技大学 | Carrying robot |
| CN202132073U (en) * | 2011-07-08 | 2012-02-01 | 唐山开诚机器人制造有限公司 | Inspecting robot for adhesive tape conveyor in coal mine underground |
| CN206205929U (en) * | 2016-11-02 | 2017-05-31 | 河南理工大学 | Coal mine roof plate supporting anchorage cable aids in feeder |
| CN209704626U (en) * | 2019-03-26 | 2019-11-29 | 山东莱芜煤矿机械有限公司 | A kind of coal mine underground tunneling roadway is taken a step transportation robot in the air |
-
2019
- 2019-03-26 CN CN201910234047.7A patent/CN109838276B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4012596A1 (en) * | 1989-12-19 | 1991-06-20 | Heisterkamp Helmut A Dipl Ing | Mining roadway lining machine - runs on overhead monorail and has working platform equipped with jack setting and other machinery |
| US5087102A (en) * | 1990-07-18 | 1992-02-11 | Kiefer Heinz E | Continuous mining machine |
| JPH05288000A (en) * | 1992-04-09 | 1993-11-02 | Fujita Corp | Equipment and materials transportation device in underground excavation work |
| CN201786382U (en) * | 2010-09-27 | 2011-04-06 | 西安科技大学 | Carrying robot |
| CN202132073U (en) * | 2011-07-08 | 2012-02-01 | 唐山开诚机器人制造有限公司 | Inspecting robot for adhesive tape conveyor in coal mine underground |
| CN206205929U (en) * | 2016-11-02 | 2017-05-31 | 河南理工大学 | Coal mine roof plate supporting anchorage cable aids in feeder |
| CN209704626U (en) * | 2019-03-26 | 2019-11-29 | 山东莱芜煤矿机械有限公司 | A kind of coal mine underground tunneling roadway is taken a step transportation robot in the air |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109838276B (en) | 2023-12-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104088449B (en) | Safe and fast double-track construction platform of super high-rise curtain wall | |
| US11965490B2 (en) | Gravity-based energy storage system | |
| CN105000482B (en) | Tower crane with walking mechanism | |
| CN112873169B (en) | Be applied to colliery both arms tunnel in pit and patrol and examine robot | |
| CN109854289A (en) | A kind of underground coal mine is taken a step supporting and drilling anchor robot in the air | |
| CN205259938U (en) | Anchor rod drilling carriage of four arms group | |
| RU2595227C2 (en) | Method and device to prevent deviation of guiding cable | |
| CN209704626U (en) | A kind of coal mine underground tunneling roadway is taken a step transportation robot in the air | |
| GB2585124A (en) | Gravity-based energy storage system | |
| CN205662303U (en) | Forest fire prevention surveys automatic rising tower | |
| CN103587910A (en) | Rail transport vehicle power supply system, slide plate, and slide plate conveyor line | |
| CN102373882A (en) | Separated self-propelled coal mine underground drill rig | |
| CN109838276A (en) | A kind of coal mine underground tunneling roadway is taken a step transportation robot in the air | |
| US11479449B2 (en) | Vertical lifting device and method | |
| CN209704611U (en) | A kind of underground coal mine is taken a step supporting and drilling anchor robot in the air | |
| CN105200918B (en) | Bridge detection structure and bridge detection method adopting same | |
| CN102493779A (en) | Picker and method for picking targeted object | |
| CN202431184U (en) | Split self-propelled coal mine tunnel drill rig | |
| CN205012396U (en) | Two winding system synchro control devices of diaphragm wall hydraulic grab | |
| CN104500072B (en) | Mineral transport automatic butt joint system | |
| CN204199734U (en) | A kind of safe blanket net of automatic control movement | |
| CN103206232B (en) | Synchronous pre-support and anchorage device for follow-up heading machines | |
| CN209704628U (en) | A kind of underground coal mine ground transport robot | |
| CN111945560B (en) | Robot for detecting FAST cable | |
| CN204898521U (en) | Bridge detects structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |