CN109838276B - Air stepping transportation robot for underground tunneling tunnel of coal mine - Google Patents
Air stepping transportation robot for underground tunneling tunnel of coal mine Download PDFInfo
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- CN109838276B CN109838276B CN201910234047.7A CN201910234047A CN109838276B CN 109838276 B CN109838276 B CN 109838276B CN 201910234047 A CN201910234047 A CN 201910234047A CN 109838276 B CN109838276 B CN 109838276B
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Abstract
The utility model relates to an air stepping transportation robot for an underground tunneling roadway of a coal mine, which belongs to the technical field of coal mine mechanical transportation equipment. The utility model realizes unattended operation or less attended operation, and accords with national safety requirements and safety policies; the walking in the air is realized, the occupied space is small, the equipment appearance is small, the flexibility is good, and the working efficiency is high.
Description
Technical Field
The utility model relates to the technical field of coal mine mechanical transportation equipment, in particular to an air stepping transportation robot for a coal mine underground tunneling roadway.
Background
The national coal mine safety supervision bureau bulletins (2019, no. 1), the research and development direction of underground tunneling roadway transportation robots is defined in the key research and development catalogue of coal mine robots, underground roadway transportation mechanization, intellectualization and unmanned are development trends in future, and especially factors such as the increase of labor cost, the requirement of coal mine safety and the like have higher and higher requirements on intelligent and mechanized transportation; how to reduce the potential safety hazard, unattended operation or less attended operation is a technical problem which needs to be solved in the coal mine urgently; because of the limitation of factors such as explosion prevention, light rays, dust, ground conditions and the like, few robots which are successfully applied to underground tunneling tunnels of coal mines are in a research stage.
The driving modes commonly used at present in the home and abroad of the foot-type robot mainly comprise electric and hydraulic, and the hydraulic driving has the advantages of strong loading capacity, high power density, stepless speed change, larger impact bearing, high rigidity of the system, quick response and the like, so that the foot-type robot becomes the primary choice of the high-performance outdoor heavy-load four-foot robot. The four-legged robot BigDog developed by Boston power company in the United states, the four-legged robot HYQ developed by Italy technical institute, the four-legged robot SCalf developed by Shandong university in China and the like are all in a hydraulic driving mode, and all joints are driven by hydraulic cylinders in a straight line to realize joint rotation of the four-legged robot, however, the linear hydraulic cylinders drive the joints to rotate, the installation and movement space requirements are large, the corresponding joint rotation angle is small, and the special occasion movement performance requirements of the large movement angle of the joints of the four-legged robot cannot be met; secondly, the speed ratio of the joint movement rotating speed to the movement speed of the linear hydraulic cylinder is different along with the movement position, and the output force of the linear hydraulic cylinder is also different along with the movement position, so that the disadvantage of unbalanced speed and force increases the difficulty of controlling the force and speed of the joint movement, is not beneficial to the realization of the movement of the foot-type robot, and also hinders the design thought of the joint of the hydraulic driving foot-type robot; in addition, the traditional asymmetric linear hydraulic cylinder has relatively complex hydraulic servo control model, and increases the difficulty for the control algorithm; such robots are not suitable for the environment in a coal mine underground tunnelling roadway.
The development of the bionic robot is an advanced stage of the development of the robot, and the adopted design of the bionic characteristics not only enables the movement of the robot to be more flexible and control to be more accurate, but also enables the specific structure to better meet certain special working requirements. At present, scientific research institutions in many countries in the world are researching bionic robots, and the bionic robots are gradually applied to the fields of rescue and relief work, scientific research exploration and the like, and particularly work in working environments where people are difficult to reach or dangerous. The development of the bionic robot goes through three stages of original exploration, bionic profiling and electromechanical and biological system fusion. Along with the rapid development of modern technology, the bionic robot is moving to a direction which is more intelligent and more in line with the characteristics of biological structures. However, there are many problems with biomimetic robots today, including: the structure model is relatively simple, the disclosure of the biological mechanism is insufficient, the energy utilization rate of the driving mode is low, the control cannot be accurate enough, and the like, and the existing transportation robot is heavy in weight, large in size, capable of only transporting on the ground, not applicable in many occasions and not suitable for the environment in the underground tunneling roadway of the coal mine.
The main transportation scheme at present is as follows:
1) At present, the heading is carried out for a distance of about 30000mm, and most of the heading is carried out manually: near the heading head, the width of the heading machine is about 3000mm to 3800mm, and the length is about 8000mm to 10000mm; the maximum profile width of the belt conveyor is about 1500mm, the length is about 10000mm, and the roadway width is about 4000mm to 5000mm; in the roadway, the reserved space on two sides of the heading machine and the belt conveyor is narrow, the transportation vehicle is difficult to pass, the monorail crane can pass through one side of the belt conveyor (the side close to the side), but the monorail crane is difficult to pass through one side of the heading machine, and the distance in the length direction of the heading machine still needs to be transported manually.
2) The utility model patent number 201721426485.6, namely a quadruped robot, is entitled to bulletin date 2018, 5 and 11; the utility model patent with the patent number of 201810675697.0 is a novel bionic multi-legged transport robot and a using method, application publication number CN108995732A, application publication date 2018, 12 months and 14 days; these two patents have mainly the following disadvantages: (1) the four feet have more degrees of freedom and high failure rate; (2) the bearing capacity is small; (3) the structure is complex, and the device is not suitable for the step of grabbing an anchor rod in the air; (4) the problems of explosion prevention, dust prevention, light ray, detection and the like are not researched.
At present, the mine construction is more and more important for the relative production safety because the minerals are dug more deeply, particularly, the gas contained in the coal is inevitably mixed with oxygen breathed by constructors in the underground coal, the gas concentration is high, the explosion is easy to occur, and great potential safety hazards exist; because of the existence of underground gas of a coal mine, strict explosion-proof requirements are provided for underground equipment, electrical elements, a control system, a power supply, electric sparks and the like, but the existing disclosed underground robot is not mentioned, has no countermeasures and has no practicability; the phenomena of water seepage and collapse of deep well operation also occur frequently, the life safety of constructors is seriously dangerous, and robots are adopted to replace manual operation in dangerous environments, so that the deep well operation is a development trend.
The underground robot is rarely researched due to the influence of factors such as underground gas, light, power supply, explosion resistance, dust prevention, water resistance, rugged ground, changeable and irregular environment of a coal mine, is a current domestic and foreign problem, simplifies the structure and the function of the robot, solves a single problem, has low investment, low failure rate, is safe and reliable, and is a problem to be solved urgently by a person skilled in the art.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and discloses an air stepping transportation robot for a coal mine underground tunneling roadway.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
the utility model provides a colliery is tunnelling tunnel in pit takes a step in air and transports robot, including storage box, telescopic machanism, vertical curtain protector, detecting system, frame platform, walking ware I, walking ware II, walking ware III, walking ware IV, walking ware V, walking ware VI, vertical gyroscope system, mobile device, control system, hydraulic system and remote controller, telescopic machanism includes telescopic multistage cylinder body, telescopic multistage cylinder piston rod and electromagnetic chuck, and telescopic multistage cylinder body's of telescopic machanism upper end is installed in frame platform front and back both ends downside middle part, and telescopic machanism's telescopic multistage cylinder piston rod's lower extreme is connected with electromagnetic chuck, and telescopic machanism's electromagnetic chuck lower extreme is connected with the storage box, vertical curtain protector installs in frame platform's downside week, detecting system installs in frame platform's upper middle part, and detecting system includes infrared ray distance detector, laser scanner, laser, camera, positioning system, infrared ray distance detector is used for detecting the concrete position of stock in order to be convenient for to walking ware I, walking ware II, walking ware III, walking ware IV, VI, walking ware V realize fine setting up the scanner and scanning and can be in order to the same position to the memory condition, can be recorded to the same position to the motion path; the vertical gyroscope system is arranged in the middle of the frame platform and is used for detecting the levelness of the frame platform, and when the set rated deviation is exceeded, the oil cylinder is started, the adjustment is automatically carried out, and the levelness of the frame platform is ensured; the mobile device is evenly installed on a frame platform by 6 pieces, the mobile device comprises a fixed seat, a screw rod, a screw seat and a hydraulic motor, the hydraulic system respectively controls the hydraulic motor of the mobile device to realize the movement of the screw seat, the lower ends of the walking device I, the walking device II, the walking device III, the walking device IV, the walking device V and the walking device VI are connected with the screw seat through flexible short circuits, the control system is simultaneously interlocked with a remote controller to realize remote control operation, and through an optical cable, ground remote control is realized, underground personnel are reduced, unmanned or unattended operation is realized, and national safety requirements and safety policies are met.
Preferably, the curtain protection device comprises an automatic wire collecting device and a flexible vertical wire, the detection system detects the height of equipment through which the robot passes in advance, the automatic wire collecting device of the curtain protection device automatically adjusts the height of the flexible vertical wire to be 200mm away from the equipment, and the curtain protection device is required to strictly prevent a person from standing in the flexible vertical wire range of the curtain protection device, plays the roles of reminding and protecting, and accords with the national safety standard requirement of the regulation of the person strictly preventing the person from standing below a suspended or moving object.
Preferably, the walking device I comprises a flexible short circuit, an oil cylinder, a universal joint, a spring, a hydraulic manipulator clamp holder and a pressure sensor, wherein the lower end of the flexible short circuit is connected with a screw seat, the upper end of the flexible short circuit is connected with the bottom flange of the cylinder body of the oil cylinder, a guide sleeve is arranged at the top of a piston rod of the oil cylinder, and the guide sleeve is arranged on the cylinder body of the oil cylinder to play a guide role, so that the oil cylinder bears a certain radial force, the service performance of the oil cylinder is prolonged, and the reliability of a product is improved; the top of a piston rod of the oil cylinder is connected with the lower end of a universal joint, the upper end of the universal joint is connected with the lower end of a hydraulic manipulator holder, a lower end flange of a spring is connected with the top of the piston rod of the oil cylinder, the upper end flange of the spring is connected with the lower end of the hydraulic manipulator holder, the hydraulic manipulator holder comprises an inner half-cone tile, a cone sleeve, a hydraulic component and a pressure sensor I, the inner hole of the inner half-cone tile of the hydraulic manipulator holder is larger than the diameter of an anchor rod by 3mm, the upper end of the inner half-cone tile of the hydraulic manipulator holder is provided with a 55-degree cone hole, the pressure sensor is installed in the 55-degree cone hole of the inner half-cone tile of the hydraulic manipulator holder, and the pressure sensor I of the hydraulic manipulator holder is installed on the inner hole wall of the inner half-cone tile.
Preferably, the structures of the walking device II, the walking device III, the walking device IV, the walking device V and the walking device VI are the same as those of the walking device I.
Preferably, the hydraulic system comprises a hydraulic pump station, a motor, a vane pump, an electric contact proportional valve and a pipeline system, and is arranged on the frame platform.
Preferably, the hydraulic system is arranged on the heading machine and moves ahead synchronously with the heading machine.
The beneficial effects of the utility model are as follows:
(1) The underground tunneling roadway is initiated in China, meets national policies and national coal mine safety requirements, adopts an air stepping transportation robot, realizes remote control operation, realizes ground remote control through an optical cable, realizes unattended operation or less attended operation, and reduces potential safety hazards.
(2) The walking in the air is realized, the occupied space is small, the equipment appearance is small, the flexibility is good, and the working efficiency is high.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present utility model, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a front view of an air stepping transport robot for a coal mine underground tunneling roadway.
Fig. 2 is a front view of a walker i in the air stepping transport robot for a coal mine underground tunneling roadway.
Fig. 3 is a front view of a mobile device in an air stepping transport robot for a coal mine underground tunneling roadway.
FIG. 4 is a schematic diagram of a stepping position in an air stepping transport robot for a tunneling roadway under a coal mine.
In the figure: 01-storage box, 02-telescopic mechanism, 03-curtain protection device, 04-detection system, 05-frame platform, 06-walking device I, 07-walking device II, 08-walking device III, 09-walking device IV, 10-walking device V, 11-walking device VI, 12-vertical gyroscope system, 13-moving device, 14-control system, 15-hydraulic system, 16-remote controller, 0601-flexible short circuit, 0602-oil cylinder, 0603-universal joint, 0604-spring, 0605-hydraulic manipulator clamp, 0606-pressure sensor, 1301-fixed seat, 1302-lead screw, 1303-screw seat and 1304-hydraulic motor.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
As shown in fig. 1, 2, 3 and 4, the air stepping transport robot for the underground tunneling roadway of the coal mine provided in this embodiment includes a storage tank 01, a telescopic mechanism 02, a vertical curtain protection device 03, a detection system 04, a frame platform 05, a walking device i 06, a walking device ii 07, a walking device iii 08, a walking device iv 09, a walking device v 10, a walking device vi 11, a vertical gyroscope system 12, a moving device 13, a control system 14, a hydraulic system 15 and a remote controller 16, and the structures of the walking device ii 07, the walking device iii 08, the walking device iv 09, the walking device v 10 and the walking device vi 11 are the same as those of the walking device i 06.
The telescopic mechanism 02 comprises a telescopic multi-stage cylinder body, a telescopic multi-stage cylinder piston rod and an electromagnetic chuck, the upper end of the telescopic multi-stage cylinder body of the telescopic mechanism 02 is arranged in the middle of the lower sides of the front end and the rear end of the frame platform 05, the lower end of the telescopic multi-stage cylinder piston rod of the telescopic mechanism 02 is connected with the electromagnetic chuck, the lower end of the electromagnetic chuck of the telescopic mechanism 02 is connected with the storage box 01, the vertical curtain protection device 03 is arranged on the periphery of the lower side surface of the frame platform 05, the detection system 04 is arranged in the middle of the upper surface of the frame platform 05, the detection system 04 comprises an infrared distance detector, a laser scanner, a TOF camera and a positioning system, the infrared distance detector is used for detecting the specific positions of an anchor rod so as to realize fine adjustment on the walking device I06, the walking device II 07, the walking device III 08, the walking device IV 09, the walking device V10 and the walking device VI 11, the laser scanner and the TOF camera have recording and memory functions, and can optimize paths, the anchor rod position under the same condition, the action can be in one step, and the efficiency is high; the vertical gyroscope system 12 is arranged in the middle of the frame platform 05, the vertical gyroscope system 12 is used for detecting the levelness of the frame platform 05, and when the set rated deviation is exceeded, the oil cylinder 0602 is started to automatically adjust so as to ensure the levelness of the frame platform 05; the moving device 13 is uniformly arranged on the frame platform 05 by 6 pieces, the moving device 13 comprises a fixed seat 1301, a screw 1302, a nut seat 1303 and a hydraulic motor 1304, the hydraulic system 15 respectively controls the hydraulic motor 1304 of the moving device 13 to realize the movement of the nut seat 1303, the lower ends of the walking device I06, the walking device II 07, the walking device III 08, the walking device IV 09, the walking device V10 and the walking device VI 11 are connected with the nut seat 1303 through flexible short circuits 0601, the control system 14 is similar to an intelligent robot brain, the precise calculation, the grasping and the positioning are realized, the control of the whole process is independently realized, the hydraulic manipulator holder 0605 of at least 2 walking devices in the front row is required to be ensured, the next action can be performed when the preset rated grasping force and drawing force are reached, and the guarantee is provided for safe operation.
The curtain protection device 03 comprises an automatic wire collecting device and a flexible vertical line, the detection system 04 detects the height of equipment through which a robot passes in advance, the automatic wire collecting device of the curtain protection device 03 automatically adjusts the height of the flexible vertical line to be 200mm away from the equipment, and a person is required to be strictly forbidden in the range of the flexible vertical line of the curtain protection device 03, so that the curtain protection device plays a role in reminding and protecting, and meets the national safety standard requirement of the regulation of the person strictly forbidden below a suspended or moving object.
The walking device I06 comprises a flexible short circuit 0601, an oil cylinder 0602, a universal joint 0603, a spring 0604, a hydraulic manipulator clamp 0605 and a pressure sensor 0606, wherein the lower end of the flexible short circuit 0601 is connected with a screw seat 1303, the upper end of the flexible short circuit 0601 is connected with the bottom flange of a cylinder body of the oil cylinder 0602, a guide sleeve is arranged at the top of a piston rod of the oil cylinder 0602 and is arranged on the cylinder body of the oil cylinder 0602 to play a role in guiding, so that the oil cylinder 0602 bears a certain radial force, the service performance of the oil cylinder 0602 is prolonged, and the reliability of a product is improved; the top of a piston rod of the oil cylinder 0602 is connected with the lower end of a universal joint 0603, the upper end of the universal joint 0603 is connected with the lower end of a hydraulic manipulator clamp 0605, a lower end flange of a spring 0604 is connected with the top of the piston rod of the oil cylinder 0602, an upper end flange of the spring 0604 is connected with the lower end of the hydraulic manipulator clamp 0605, the hydraulic manipulator clamp 0605 comprises an inner half-cone tile, a taper sleeve, a hydraulic component and a pressure sensor I, an inner hole of the inner half-cone tile of the hydraulic manipulator clamp 0605 is larger than the diameter of an anchor rod by 3mm, a 55-degree taper hole is formed in the upper end of the inner half-cone tile of the hydraulic manipulator clamp 0605, the pressure sensor 0606 is arranged in the 55-degree taper hole of the inner half-cone tile of the hydraulic manipulator clamp 0605, and the pressure sensor I of the hydraulic manipulator clamp 0605 is arranged on the inner hole wall of the inner half-cone tile. The structures of the walking device II 07, the walking device III 08, the walking device IV 09, the walking device V10 and the walking device VI 11 are the same as those of the walking device I06, and the detailed description is omitted here.
Consult the design data record of the anchor rod pulling force: a 20mm diameter anchor rod, a drawing force of about 15 tons for material Q335, and a drawing force of about 21 tons for material Q500; a 22mm diameter anchor rod, the pulling force of the material Q335 is about 19 tons, and the pulling force of the material Q500 is about 23 tons; after 30 seconds of the anchor rod anchoring agent, 80% of the rated strength is reached. The total weight of the robot is about 1 ton, the strength of any anchor rod is enough, the robot is temporarily borrowed, an auxiliary anchor rod is not required to be additionally installed, and the installed anchor rod is adopted.
The parallel distance between the two moving devices 13 is the distance between the roof bolts designed by the design institute, L is the distance between the roof bolts designed by the design institute, one scheme of the parallel distance between the two moving devices 13 is a fixed value, the other scheme is that the moving devices 13 on the two sides are arranged on a sliding rail, and the distance between the moving devices 13 on the two sides and the moving device 13 in the middle is adjusted through an oil cylinder, so that the automatic adjustment of the distance is realized.
The hydraulic system 15 comprises a hydraulic pump station, a motor, a vane pump, an electric contact proportional valve and a pipeline system, wherein the hydraulic system 15 is arranged on the frame platform 05, and the hydraulic system 15 is arranged on a heading machine and moves ahead synchronously with the heading machine in another embodiment.
The air stepping transportation robot for the underground tunneling roadway of the coal mine can adopt a hydraulic system or a pneumatic or hydraulic system, and all electrical elements, control systems and the like in the utility model have strict explosion-proof requirements.
The power supply in the coal mine underground tunneling roadway air stepping transportation robot is directly connected with a power line or provided with a storage battery.
According to the air stepping transport robot for the underground tunneling roadway of the coal mine, the screw rod and the outer leakage part of the piston rod are protected by the folding sleeve, the outer surface of the whole machine is protected secondarily, dust is prevented, and the service life of the whole machine is prolonged.
As shown in fig. 4, the track points are 06A, 07A, 08A, 09A, 10A, 11A after the walking devices i 06, ii 07, iii 08, iv 09, v 10, and vi 11 move forward L; the movement rules of the walking device I06, the walking device III 08, the walking device IV 09 and the walking device VI 11 adopt a horse-shaped movement rule, namely, left front-right back-left back-right front, and track points are 06A, 08A, 09A and 11A after the walking device I06, the walking device III 08, the walking device IV 09 and the walking device VI 11 move forwards L; the vertical gyroscope system 12 mainly detects the levelness of the frame platform 05, and when the levelness exceeds a set rated deviation, the oil cylinder 0602 is started to automatically adjust, so that the levelness of the frame platform 05 is ensured; the walking device II 07 and the walking device V10 move regularly and simultaneously move forwards, find the anchor rod position and grasp the anchor rod, improve the running speed, and after moving forwards L, the track points are 07A and 10A, one of the track points is allowed to grasp the anchor rod, and the walking device V is allowed to wait below the anchor rod which is not grasped; the laser scanner and the TOF camera of the detection system 14 have recording and memorizing functions, can optimize the path, can move in place in one step for the anchor rod position under the same condition, and has high efficiency.
The upper end of the inner half-cone tile of the hydraulic manipulator clamp 0605 is a 55-degree cone hole, the pressure sensor 0606 is arranged in the 55-degree cone hole of the inner half-cone tile of the hydraulic manipulator clamp 0605, the distance between the anchor rods is convenient to adjust, certain distance errors are allowed for the anchor rods, -20mm to +20mm, when the pressure sensor 0606 detects that the front end is stressed, the walking device I06 moves to finely tune to the front end, and when the rear end is stressed, the walking device I06 moves to finely tune to the rear end; the main function of the spring 0604 is to make the universal joint 0603 vertically upwards in a natural state, when the position of the anchor rod is deviated, the universal joint 0603 has a certain adjusting range, in addition, the flexible short circuit 0601 also has a certain adjusting range, so that the anchor rod can be accurately grasped, and certain remedial measures are provided for a robot program when the position deviation of the anchor rod is too large to grasp. The pressure sensor I of the hydraulic manipulator clamp 0605 transmits the detected grasping force to the control system 14, and under the condition of meeting the rated grasping force, the next action is allowed, the hundred percent safe grasping of the anchor rod is ensured, the next procedure is carried out, and the safety of the air movement is realized.
The control system 14 is interlocked with the remote controller 16 at the same time to realize remote control operation, ground remote control is realized through an optical cable, underground personnel are reduced, unmanned or unattended operation is realized, and national safety requirements and safety policies are met.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (6)
1. An air stepping transportation robot for a coal mine underground tunneling roadway is characterized in that: comprises a storage box (01);
a frame platform (05);
the telescopic mechanism (02) comprises a telescopic multi-stage cylinder body, a telescopic multi-stage cylinder piston rod and an electromagnetic chuck, the upper end of the telescopic multi-stage cylinder body of the telescopic mechanism (02) is arranged in the middle of the lower sides of the front end and the rear end of the frame platform (05), the lower end of the telescopic multi-stage cylinder piston rod of the telescopic mechanism (02) is connected with the electromagnetic chuck, and the lower end of the electromagnetic chuck of the telescopic mechanism (02) is connected with the storage box (01);
the curtain hanging protection device (03) is arranged on the lower side circumference of the frame platform (05);
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);
the detection system (04) is arranged in the middle of the upper surface of the frame platform (05), the detection system (04) comprises an infrared distance detector, a laser scanner, a TOF camera and a positioning system, and the infrared distance detector is used for detecting the specific position of an anchor rod so as to realize fine adjustment on the walking device I (06), the walking device II (07), the walking device III (08), the walking device IV (09), the walking device V (10) and the walking device VI (11);
the vertical gyroscope system (12) is arranged in the middle of the frame platform (05), and the vertical gyroscope system (12) is used for detecting levelness of the frame platform (05);
the moving device (13), 6 pieces of moving device (13) are uniformly arranged on the frame platform (05), and the moving device (13) comprises a fixed seat (1301), a screw rod (1302), a nut seat (1303) and a hydraulic motor (1304); the moving devices (13) on two sides are arranged on the sliding rail, and the distance between the moving devices (13) on two sides and the moving device (13) in the middle can be automatically adjusted;
a control system (14);
a remote control (16);
the hydraulic system (15), hydraulic motor (1304) that hydraulic system (15) control mobile device (13) realize that screw seat (1303) remove, walking ware I (06), walking ware II (07), walking ware III (08), walking ware IV (09), walking ware V (10) and walking ware VI (11) lower extreme are connected with screw seat (1303) through flexible short circuit (0601), control system (14) are simultaneously with remote control (16) interlocking realization remote control.
2. The coal mine underground tunneling roadway air stepping transportation robot according to claim 1, characterized in that: the curtain hanging protection device (03) comprises an automatic wire collecting device and a flexible vertical wire, and the automatic wire collecting device can automatically adjust the height of the flexible vertical wire according to data detected by the detection system (04).
3. The coal mine underground tunneling roadway air stepping transportation robot according to claim 1, characterized in that: the walking device I (06) comprises a flexible short circuit (0601), an oil cylinder (0602), a universal joint (0603), a spring (0604), a hydraulic manipulator clamp holder (0605) and a pressure sensor (0606), wherein the lower end of the flexible short circuit (0601) is connected with a screw seat (1303), the upper end of the flexible short circuit (0601) is connected with a flange at the bottom of a cylinder body of the oil cylinder (0602), a guide sleeve is arranged at the top of a piston rod of the oil cylinder (0602), the guide sleeve is arranged on the cylinder body of the oil cylinder (0602), the top of the piston rod of the oil cylinder (0602) is connected with the lower end of the universal joint (0603), the upper end of the universal joint (0603) is connected with the lower end of the hydraulic manipulator clamp holder (0605), the lower end flange of the spring (0604) is connected with the lower end of the hydraulic manipulator clamp holder (0605), the hydraulic manipulator clamp holder (0605) comprises an inner half cone, a cone sleeve, a hydraulic cone assembly and a hydraulic pressure sensor (0605) with the diameter of the inner cone of the hydraulic manipulator clamp holder (0605) is arranged in an inner hole of the inner cone (0605) of the hydraulic manipulator clamp holder (0605), the inner hole of the inner cone is arranged in the half cone (0605) of the inner cone (0605), the pressure sensor I of the hydraulic manipulator clamp holder (0605) is arranged on the inner hole wall of the inner half-cone tile.
4. The coal mine underground tunneling roadway air stepping transportation robot according to claim 3, characterized in that: the structures of the walking device II (07), the walking device III (08), the walking device IV (09), the walking device V (10) and the walking device VI (11) are the same as those of the walking device I (06).
5. The coal mine underground tunneling roadway air stepping transportation robot according to claim 1, characterized in that: the hydraulic system (15) comprises a hydraulic pump station, a motor, a vane pump, an electric contact proportional valve and a pipeline system, and the hydraulic system (15) is arranged on the frame platform (05).
6. The coal mine underground tunneling roadway air stepping transportation robot according to claim 1, characterized in that: the hydraulic system (15) is arranged on the heading machine and moves forward synchronously with the heading machine.
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| CN201910234047.7A CN109838276B (en) | 2019-03-26 | 2019-03-26 | Air stepping transportation robot for underground tunneling tunnel of coal mine |
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| CN201910234047.7A CN109838276B (en) | 2019-03-26 | 2019-03-26 | Air stepping transportation robot for underground tunneling tunnel of coal mine |
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| CN109838276B true CN109838276B (en) | 2023-12-15 |
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| CN109838276A (en) | 2019-06-04 |
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