CN111058843A - Combine and dig working face monorail formula anchor support cooperative machine - Google Patents
Combine and dig working face monorail formula anchor support cooperative machine Download PDFInfo
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- CN111058843A CN111058843A CN202010039720.4A CN202010039720A CN111058843A CN 111058843 A CN111058843 A CN 111058843A CN 202010039720 A CN202010039720 A CN 202010039720A CN 111058843 A CN111058843 A CN 111058843A
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- 238000004873 anchoring Methods 0.000 claims abstract description 114
- 230000008093 supporting effect Effects 0.000 claims abstract description 82
- 239000000725 suspension Substances 0.000 claims abstract description 48
- 238000005065 mining Methods 0.000 claims abstract description 14
- 239000003245 coal Substances 0.000 claims abstract description 11
- 238000005553 drilling Methods 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 16
- 210000000078 claw Anatomy 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 230000036544 posture Effects 0.000 claims description 3
- 238000009412 basement excavation Methods 0.000 description 10
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 238000010276 construction Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/66—Machines for making slits with additional arrangements for drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/68—Machines for making slits combined with equipment for removing, e.g. by loading, material won by other means
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D17/00—Caps for supporting mine roofs
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D19/00—Provisional protective covers for working space
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
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Abstract
The invention discloses an electromechanical device integrating anchoring and supporting functions, which comprises a suspension support system, a power system, an advance support system, an auxiliary transportation system and an anchoring robot system. The suspension support system is fixed at the top end of the coal mining roadway through an anchor rod and provides support for the system; the power system is arranged at the tail end of a system main beam in the suspension support system; the advanced support system is arranged at the front end of a system main beam in the suspension support system; the auxiliary transportation system is arranged on a system main beam in the suspension support system at the rear side of the advance support system; the anchoring robot system is arranged on a system main beam in the suspension support system between the power system and the auxiliary transportation system. Furthermore, the invention has good turning and slope changing performance and high transportation efficiency of the equipment. In addition, anchor robot work platform has buffer function, and the anchor is steady, and the operating efficiency is high.
Description
Technical Field
The invention relates to the field of electric equipment of fully-mechanized excavation face machines, in particular to electromechanical equipment integrating anchoring and supporting functions, and belongs to the field of integrated anchoring and supporting machines.
Background
In recent years, China has made a major breakthrough in the research and development of coal mining technology and equipment, and coal mining operation has made higher requirements on the mining speed while requiring little or no humanization. In order to solve the difficult problem of 'mining disorder' in the coal mining process, a great amount of manpower and material resources are invested in the development of the heading machine, and great progress is made. At present, the main factors restricting the further improvement of the fully mechanized mining production capacity are slow anchor support operation speed and low working efficiency.
The working time sequences of roadway excavation, anchoring and supporting are relatively close, and the coordination of the three directly determine the roadway excavation speed, so that the excavation, anchoring and supporting mechanical equipment of the existing part of products are integrated into a whole. The integrated machine disclosed in patent nos. 201721694586.1, 201711089051.6, 201711288542.3, 201910109402.8 and the like is essentially a simple combination of an anchoring mechanism and a temporary support mechanism in a heading machine. Although the all-in-one machine has the function of multi-process operation, all processes can not work simultaneously, and the difficult problem of digging, anchoring and supporting cooperative operation is not fundamentally solved.
This subject group provides the application patent of an integration equipment with protect anchor collaborative operation function, adopts the advancing mode of single track hanging to with anchor equipment, support equipment and entry driving machine separation, can realize the high-efficient collaborative operation of digging, anchor, propping overall, but the whole size of equipment and the stability in the transportation still have following not enoughly:
1) the equipment has large volume and limited application range.
Anchoring device, strutting arrangement and entry driving machine separation in this patent, whole equipment size reduces greatly than traditional anchor all-in-one of digging, is applicable to the tunnel of general mine, but its supplementary transport mechanism's structure is comparatively complicated and heavy, is unfavorable for the transportation of equipment, and the range of application also can receive certain restriction.
2) The turning maneuverability of the equipment is poor, which is not beneficial to transportation.
This patent adopts the single track to hang the transportation of carrying out equipment, and driving system simple structure, but the state of transportation receives the influence of tunnel roof operating mode great. Especially when the roadway has a curvature and a slope, the performance requirement on a power system on the monorail crane is very high, but the power system only drives a power trolley through a speed reducer by a motor, and the turning performance and the anti-skidding performance of the whole set of equipment in the running process on the rail are poor.
3) The anchoring platform of the device is unstable and not beneficial to anchoring operation.
The anchoring operation in this patent is realized through the stock robot who installs on anchor robot work platform, and anchor robot work platform installs in the end of anchor robot system girder through the round pin. The jumbolter can produce great impact force at the drilling process to direct action is in work platform, but this platform does not have buffer function, and then, anchor robot work platform can not provide stable operational environment for the jumbolter, is unfavorable for the anchor operation.
In view of the above problems, there is a need to provide an improved solution for the existing equipment to further improve the performance of the "anchor support" work.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a novel structure with functions of anchoring and supporting operation, reduces the equipment volume, improves the maneuverability of the equipment, realizes high-efficiency anchoring operation of a coal mining roadway, and finally forms a complete set of anchoring and supporting cooperative machine technology and equipment of a fully mechanized excavation working face. The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a fully-mechanized excavation face single-rail type anchor support cooperative machine comprises a suspension support system, a power system, an advance support system, an auxiliary transportation system and an anchoring robot system; the suspension support system is fixed at the top end of the coal mining roadway through an anchor rod and provides support for the whole set of equipment; the power system is arranged at the tail end of a system main beam in the suspension support system; the advanced support system is arranged at the front end of a system main beam in the suspension support system; the auxiliary transportation system is arranged on a system main beam in the suspension support system at the rear side of the advance support system; the anchoring robot system is arranged on a system main beam in the suspension support system between the power system and the auxiliary transportation system.
The suspension support system comprises a system main beam, a top beam, a support piece, a track and a rectangular pin; a structural part for installation is welded at the upper end of the track, and racks are welded on two sides of the lower end of the track; the system main beam is arranged on the track through a bearing trolley; the top beam is provided with four holes and is fixed at the top end of the coal mining roadway through anchor rods; the upper end of the supporting piece is connected with the top beam through the rectangular pin, and the lower end of the supporting piece is connected with the track through the rectangular pin.
The power system comprises a bearing trolley, a motor base and a gear transmission system; the motor is arranged on the motor base through a bolt; the motor base is arranged on the lower bottom surface of the bearing trolley through bolts; the bearing trolley is arranged on the surface of the track and can slide on the surface of the track; the gear transmission system comprises a driven straight gear A, a driven worm gear A, a worm A, a large bevel gear A, a small bevel gear A, a differential, a driving bevel gear A, a driven straight gear B, a driven worm gear B, a worm B, a large bevel gear B, a small bevel gear B and a bevel gear B; in order to facilitate the walking control of the equipment, the motor is a variable frequency all-in-one machine.
The advance support system comprises an advance support main beam, a support net bracket, a support net and a support net hydraulic telescopic system; one end of the advance support main beam is connected with the system main beam through a pin, and the other end of the advance support main beam is connected with the support net bracket through a pin; one end of the support net hydraulic telescopic system is arranged on the advance support main beam, and the other end of the support net hydraulic telescopic system is arranged on the support net bracket; the supporting net is tied on the supporting net bracket; the hydraulic telescopic system of the supporting net can adjust the size of the supporting net according to the state of the supported equipment and the supporting condition, thereby realizing efficient supporting.
The auxiliary transportation system comprises an auxiliary transportation system supporting assembly A, an auxiliary transportation system supporting assembly B, a supporting cross beam, a supporting upright post A, a supporting upright post B, a chain wheel and chain transportation device, a driving device and a carrying manipulator; the auxiliary transportation system supporting assembly A and the auxiliary transportation system supporting assembly B respectively comprise an upper suspension beam, a hydraulic cylinder and a lower suspension beam; the upper suspension beam is connected with the system main beam through a pin; the chain wheel and chain conveying device comprises a chain wheel, a chain, a movable stop block, a movable baffle plate and an I-shaped baffle rod; the chain wheel drives the chain to move through meshing; the driving device comprises a bevel gear AA, a bevel gear BB, a servo motor AA and a motor base; the carrying manipulator comprises a mechanical claw A, a mechanical claw B, a front end execution rod, a joint A, a joint B, a joint C, a servo motor A, a servo motor B and a servo motor C; the mechanical claw A and the mechanical claw B are respectively welded on the left side and the right side of the tail end of the front end execution rod.
The anchoring robot system comprises an anchoring robot hydraulic cylinder group, an anchoring robot connecting assembly, an anchor rod storage device, an anchoring robot working platform and an anchoring robot; the anchoring robot connecting assembly comprises a folding arm A, an anchoring rod frame motor, a folding arm B and an anchoring robot connecting assembly hydraulic cylinder group; one end of the folding arm A is connected with the system main beam through a pin, and the other end of the folding arm A is connected with the folding arm B through a pin; the anchoring robot work platform comprises a middle motor stator, a left motor stator, a ground supporting hydraulic cylinder group, a connecting block, a right motor stator, a motor rotor, a folding arm connecting hydraulic cylinder, a folding hydraulic cylinder A and a folding hydraulic cylinder B; the ground supporting hydraulic cylinder groups are respectively arranged on the lower bottom surface of the left motor stator and the lower bottom surface of the right motor stator; the anchoring robot comprises a guide rail of the jumbolter, a propelling motor, a rotating table, a large anchoring arm, a motor A, a motor B, a motor C, a base box, a rotary table, a mechanical arm base, a connecting rod A, a connecting rod B, a drive chain of the jumbolter and the jumbolter; the jumbolter is arranged on a sliding rod of the jumbolter guide rail through holes on two sides; the propulsion motor drives the jumbolter to move in the jumbolter guide rail through the jumbolter driving chain.
A fully mechanized excavation face monorail type anchor support cooperative machine comprises the following working processes:
s1: firstly, manually laying a section of track on a roadway roof, and installing the device on the track;
s2: when the motor works, the power system moves on the track through the gear transmission system to push the system main beam connected with the power system, so that the motion of the whole set of equipment is realized;
s3: after the whole set of equipment operates to a designated working position, a support net hydraulic telescopic system in the advance support system pushes a support net bracket to extend, so that the support net is driven to expand; and then, the auxiliary transportation system supporting assembly A and the auxiliary transportation system supporting assembly B in the auxiliary transportation system synchronously act to enable the chain wheel and chain transportation device to be positioned at the designated height. Meanwhile, the anchoring robot connecting assembly in the anchoring robot system swings for a certain angle under the combined action of the hydraulic cylinder group of the anchoring robot connecting assembly and the folding arm connecting hydraulic cylinder, so that the anchoring robot working platform descends for a certain height and is parallel to the ground, then the anchoring robot working platform is unfolded under the action of the folding hydraulic cylinder A and the folding hydraulic cylinder B, the ground supporting hydraulic cylinder group extends immediately, the ground supporting action is completed, and the action is as follows: impact force generated by the anchor rod drilling machine in the drilling process is absorbed and transmitted to the ground, so that the platform is more stable.
S4: a chain wheel and chain conveying device in the auxiliary conveying system conveys materials required in the operation process to a designated position; the carrying manipulator grabs the top beam to a specific position of the roadway; the anchoring robot and the anchor rod storage device simultaneously adjust the positions, so that one anchor rod in the anchor rod storage device is installed on an anchor rod drilling machine to finish the action of installing the anchor rod;
s5: the anchoring robot adjusts different postures to realize anchoring operation of the anchor rod drilling machine at different positions of the side surface of the roadway and the top plate, and the top beam is fixed on the top plate through the anchor rod to provide support for the whole set of equipment;
s6: the carrying manipulator grabs materials required for building the suspension support system and is arranged on the top beam; the carrying manipulator grabs the track, the upper end of the carrying manipulator is connected with the suspension support system, and the tail end of the carrying manipulator is connected with the front end of the previous section of track to finish track laying;
s7: and in the forepoling system, the auxiliary transportation system and the anchoring robot system, a hydraulic system for adjusting the shape contracts, a motor drives the whole set of equipment to move forwards, the steps are continued, and the anchoring and supporting operation is repeated.
Compared with the prior art, the invention has the beneficial effects that the existing tunneling, anchoring and supporting integrated machine and the patent mentioned herein (an integrated equipment with the function of protecting and anchoring cooperative operation) are included:
1) the auxiliary transportation system has compact structure and small volume.
The auxiliary transportation system fully utilizes the space between the forepoling and the anchoring robot system in the equipment, adopts a chain wheel and chain transportation mode, not only reduces the size of the auxiliary transportation device, but also increases the types and the quantity of transported materials, and the volume of the whole set of equipment is smaller. The invention is particularly suitable for narrow roadways in 'Shuihi river basin'.
2) The transmission system of the invention adopts a gear rack and differential mechanism structure, and the device has good maneuvering performance.
In the invention, the racks are welded on two sides of the lower end of the track, and the motor drives the speed reducer meshed with the racks to run, so that the equipment has good slope changing performance. Meanwhile, a differential is installed in the speed reducer, and the equipment has different traveling speeds at the inner side and the outer side in the turning process, so that the turning with smaller radian is realized. Therefore, the invention has good maneuvering performance and can stably travel in a severe roadway environment.
3) The anchoring robot working platform has a buffering function and is stable in anchoring process.
The anchoring robot at the upper end of the anchoring robot working platform is electromagnetically driven with the platform, so that the movement and control precision is higher, and the precise positioning and punching of the anchor rod drilling machine are facilitated; the lower end of the platform is connected with a hydraulic system. When the anchor rod drilling machine operates, the bottom end of the hydraulic system supports the ground, so that impact force generated in the drilling process is absorbed and transmitted to the ground, the platform is more stable, and good working conditions are provided for the anchor rod drilling machine.
Drawings
FIG. 1 is a schematic view of the general structure (operating condition) of the present invention;
FIG. 2 is a schematic view of the general construction (non-operating state) of the present invention;
FIG. 3 is a schematic view of a main beam structure of the system of the present invention;
FIG. 4 is a schematic view of the suspension support system of the present invention;
FIG. 5 is a schematic view of the track structure of the present invention;
FIG. 6 is a schematic diagram of the powertrain of the present invention;
FIG. 7 is a schematic illustration of the powertrain drive assembly of the present invention;
FIG. 8 is a schematic illustration of a portion of the powertrain drive assembly of the present invention;
fig. 9 is a schematic view of the construction (working state) of the advance support system of the present invention;
FIG. 10 is a schematic view of the construction (non-operating state) of the advance support system of the present invention;
FIG. 11 is a schematic view of an external support structure of the auxiliary transport system of the present invention;
FIG. 12 is a schematic view of a partial structure of an auxiliary transportation system according to the present invention;
FIG. 13 is a schematic structural view of a support assembly of the auxiliary transport system of the present invention;
FIG. 14 is a schematic view of a sprocket/chain transport device of the auxiliary transport system of the present invention;
FIG. 15 is a schematic view of the construction of the auxiliary transport system sprocket of the present invention;
FIG. 16 is a schematic view of a driving device of the auxiliary transportation system of the present invention;
FIG. 17 is a schematic view of a handling robot of the auxiliary transport system of the present invention;
FIG. 18 is a schematic view of the connection between the main beam and the anchoring robot system of the present invention;
FIG. 19 is a schematic view of the anchoring robotic system of the present invention in a configuration (non-operational state);
FIG. 20 is a schematic view of the anchoring robot system of the present invention in its structural (working) state;
FIG. 21 is a schematic view of the construction of the work platform of the anchoring robot of the present invention;
fig. 22 is a schematic structural view of the anchoring robot of the present invention.
The reference numerals in the figures denote: 1. a suspension support system; 2. a power system; 3. a forepoling system; 4. an auxiliary transport system; 5. anchoring the robotic system; 1-1, a system main beam; 1-2, top beam; 1-3. a support; 1-4. orbit; 1-5, rectangular pin; 2-1, a load-bearing trolley; 2-2. a motor base; 2-3. a motor; 2-4. a gear transmission system; 2-4-1, a driven spur gear A; 2-4-2, driven worm gear A; 2-4-3. worm A; 2-4-4. a large bevel gear A; 2-4-5. a small bevel gear A; 2-4-6 differential mechanism; 2-4-7, a driving bevel gear A; 2-4-8, bevel gear B; 2-4-9. a bevel pinion B; 2-4-10. a big bevel gear B; 2-4-11. worm B; 2-4-12, driven worm wheel B; 2-4-13, driven spur gear B; 3-1, supporting the main beam in advance; 3-2, supporting the net support; 3-3, supporting the net; 3-4, a hydraulic telescopic system of the support net; 4-1, supporting component A of the auxiliary transportation system; 4-2, supporting the cross beam; 4-3, supporting the upright column A; 4-4, supporting the upright post B; 4-5, supporting component B of the auxiliary transportation system; 4-5-1, lower suspension beam; 4-5-2. a hydraulic cylinder; 4-5-3, hanging the beam; 4-6, a chain wheel and chain conveying device; 4-6-1, a chain; 4-6-2. a movable stop block; 4-6-3. an I-shaped stop lever; 4-6-4 of a movable baffle plate and 4-6-5 of a chain wheel; 4-7. a driving device; 4-7-1. bevel gear AA; 4-7-2. bevel gear BB; 4-7-3, servo motor AA; 4-7-4. a motor base; 4-8, carrying the manipulator; 4-8-1, servo motor C; 4-8-2. a gripper A; 4-8-3, a mechanical claw B; 4-8-4. front end actuating lever; 4-8-5, servo motor A; 4-8-6. joint A; 4-8-7, servo motor B; 4-8-8. joint B; 4-8-9. joint C; 5-1, anchoring the hydraulic cylinder group of the robot; 5-2, anchoring the robot connecting component; 5-2-1. folding arm A; 5-2-2, an anchor rod frame motor; 5-2-3. folding arm B; 5-2-4, connecting the hydraulic cylinder group by the anchoring robot; 5-3, anchoring the robot working platform; 5-3-1, folding a hydraulic cylinder A; 5-3-2, folding a hydraulic cylinder B; 5-3-3, a middle motor stator; 5-3-4. left motor stator; 5-3-5. a ground supporting hydraulic cylinder group; 5-3-6, connecting blocks; 5-3-7. a right motor stator; 5-3-8. a motor rotor; 5-3-9. the folding arm is connected with a hydraulic cylinder; 5-4, anchoring the robot; 5-4-1, a guide rail of the anchor rod drilling machine; 5-4-2, a propulsion motor; 5-4-3, rotating the platform; 5-4-4, anchoring the large arm; 5-4-5. motor C; 5-4-6. motor B; 5-4-7. motor A; 5-4-8, a base box; 5-4-9. a rotary table; 5-4-10, a mechanical arm base; 5-4-11, connecting rod A; 5-4-12, connecting rod B; 5-4-13. a jumbolter driving chain; 5-4-14. jumbolter; 5-5, storing the anchor rod.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described in detail with the accompanying drawings and the specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 and 2, a fully mechanized excavation face monorail type anchor support cooperative machine comprises a suspension support system 1, a power system 2, an advance support system 3, an auxiliary transportation system 4 and an anchoring robot system 5; the suspension support system 1 is fixed at the top end of a coal mining roadway through an anchor rod and provides support for the whole set of equipment; the power system 2 is arranged at the tail end of a system main beam 1-1 in the suspension support system 1; the forepoling system 3 is arranged at the front end of a system main beam 1-1 in the suspension support system 1; the auxiliary transportation system 4 is arranged on a system main beam 1-1 in the suspension support system 1 at the rear side of the advance support system 3; the anchoring robot system 5 is arranged on a system main beam 1-1 in the suspension support system 1 between the power system 2 and the auxiliary transportation system 4; the single-rail anchor support cooperation machine for the fully mechanized excavation face is characterized in that in a non-working state, the advance support system 3, the auxiliary transportation system 4 and the anchoring robot system 5 can be contracted, so that the overall space volume of the system is greatly reduced, and transportation is facilitated.
Referring to fig. 3, 4 and 5, the suspension support system 1 comprises a system main beam 1-1, a top beam 1-2, a support member 1-3, a track 1-4 and a rectangular pin 1-5; structural parts for installation are welded at the upper ends of the rails 1-4, and racks are welded on two sides of the lower ends of the rails; the system main beam 1-1 is arranged on the track 1-4 through the bearing trolley 2-1; the top beam 1-2 is provided with four holes and is fixed at the top end of a coal mining roadway through anchor rods; the upper ends of the supporting pieces 1-3 are connected with the top beams 1-2 through the rectangular pins 1-5, and the lower ends of the supporting pieces are connected with the tracks 1-4 through the rectangular pins 1-5.
Referring to fig. 6, 7 and 8, the power system 2 comprises a bearing trolley 2-1, a motor base 2-2, a motor 2-3 and a gear transmission system 2-4; the motor 2-3 is arranged on the motor base 2-2 through a bolt; the motor base 2-2 is arranged on the lower bottom surface of the bearing trolley 2-1 through bolts; the bearing trolley 2-1 is arranged on the track 1-4 and can slide on the surface of the track 1-4; the gear transmission system 2-4 comprises a driven straight gear A2-4-1, a driven worm gear A2-4-2, a worm A2-4-3, a large bevel gear A2-4-4, a small bevel gear A2-4-5, a differential 2-4-6, a driving bevel gear A2-4-7, a bevel gear B2-4-8, a small bevel gear B2-4-9, a large bevel gear B2-4-10, a worm B2-4-11, a driven worm gear B2-4-12 and a driven straight gear B2-4-13; the output shaft of the motor 2-3 is connected with the driving bevel gear A2-4-7 through a coupler; the drive bevel gear A2-4-7 is in tooth-to-tooth fit with the bevel gear B2-4-8; the bevel gear B2-4-8 is coaxial with the differential 2-4-6; the differentials 2-4-6 transmit motion to the bevel pinion A2-4-5 and bevel pinion B2-4-9, respectively, through shafts; the small bevel gear A2-4-5 is in tooth-to-tooth fit with the large bevel gear A2-4-4; the large bevel gear A2-4-4 is coaxial with the worm A2-4-3; the worm A2-4-3 is in tooth-to-tooth fit with the driven worm gear A2-4-2; the driven worm gear A2-4-2 is coaxial with the driven straight gear A2-4-1; the driven straight gear A2-4-1 is arranged between the rack teeth on one side of the track 1-4 in a matching way; the small bevel gear B2-4-9 is in tooth-to-tooth fit with the large bevel gear B2-4-10; the big bevel gear B2-4-10 is coaxial with the worm B2-4-11; the worm B2-4-11 is in tooth-to-tooth fit with the driven worm wheel B2-4-12; the driven worm gear B2-4-12 is coaxial with the driven straight gear B2-4-13; the driven straight gear B2-4-13 is arranged between the rack teeth on the other side of the track 1-4 in a matching way; the driven straight gear A2-4-1 and the driven straight gear B2-4-13 are respectively matched with the racks of the tracks 1-4 at two sides, and the system is characterized by having good slope changing property; the differential 2-4-6 is characterized in that when the equipment turns, the rotation speeds of the driven spur gear A2-4-1 and the driven spur gear B2-4-13 are different, so that the equipment has stable turning characteristics; in order to facilitate the walking control of the equipment, the motors 2-3 are frequency conversion integrated machines.
Referring to fig. 9 and 10, the advance support system 3 comprises an advance support main beam 3-1, a support net bracket 3-2, a support net 3-3 and a support net hydraulic telescopic system 3-4; one end of the advance support main beam 3-1 is connected with the system main beam 1-1 through a pin, and the other end of the advance support main beam is connected with the support net bracket 3-2 through a pin; one end of the support net hydraulic telescopic system 3-4 is installed on the advance support main beam 3-1, and the other end is installed on the support net bracket 3-2; the supporting net 3-3 is tied on the supporting net bracket 3-2, and the hydraulic telescopic system 3-4 of the supporting net can adjust the size of the supporting net 3-3 according to the state of the supported equipment and the condition required to be supported, thereby realizing efficient supporting.
Referring to fig. 11, fig. 12, fig. 13, fig. 14, fig. 15, fig. 16 and fig. 17, the auxiliary transportation system 4 comprises an auxiliary transportation system support assembly a4-1, an auxiliary transportation system support assembly B4-5, a support beam 4-2, a support upright a4-3, a support upright B4-4, a sprocket-chain transportation device 4-6, a driving device 4-7 and a handling manipulator 4-8; the auxiliary transportation system supporting assembly A4-1 and the auxiliary transportation system supporting assembly B4-5 both comprise an upper suspension beam 4-5-3, a hydraulic cylinder 4-5-2 and a lower suspension beam 4-5-1; the upper suspension beam 4-5-3 is connected with the system main beam 1-1 through a pin; the lower suspension beam 4-5-1 is connected with the supporting beam 4-2 through a shaft; one end of the hydraulic cylinder 4-5-2 is arranged on the upper suspension beam 4-5-3, and the other end is arranged on the lower suspension beam 4-5-1; one end of each of the supporting upright A4-3 and the supporting upright B4-4 is mounted on the system girder 1-1 through a pin, and the other end is mounted on the tail end of the supporting beam 4-2 through a pin; the chain wheel and chain conveying device 4-6 comprises a chain 4-6-1, a movable stop block 4-6-2, an I-shaped stop lever 4-6-3, a movable baffle 4-6-4 and a chain wheel 4-6-5; the chain wheel 4-6-5 drives the chain 4-6-1 to move through meshing; the movable stop block 4-6-2 and the movable baffle 4-6-4 are connected with the chain 4-6-1 through welding, and the device is characterized in that materials of different types are stored; one end of the I-shaped stop lever 4-6-3 is connected with the movable stop block 4-6-2 through a pin, and the other end is embedded into the sliding groove of the movable baffle 4-6-4, and the I-shaped stop lever 4-6-3 can slide in the sliding groove of the movable baffle 4-6-4; the driving device 4-7 comprises a bevel gear AA4-7-1, a bevel gear BB4-7-2, a servo motor AA4-7-3 and a motor base 4-7-4; the chain wheel 4-6-5 is connected with the bevel gear AA4-7-1 of the driving device 4-7 through a shaft, the servo motor AA4-7-3 is connected with the bevel gear BB4-7-2 through a coupling, the bevel gear BB4-7-2 and the bevel gear AA4-7-1 transmit power through inter-tooth fit, namely the servo motor AA4-7-3 drives the chain 4-6-1 to rotate, so that the material is transported, and the servo motor AA4-7-3 is installed on the motor seat 4-7-4 welded on one side of the supporting beam 4-2; the carrying manipulator 4-8 comprises a mechanical claw A4-8-2, a mechanical claw B4-8-3, a front end execution rod 4-8-4, a joint A4-8-6, a joint B4-8-8, a joint C4-8-9, a servo motor A4-8-5, a servo motor B4-8-7 and a servo motor C4-8-1; the mechanical claw A4-8-2 and the mechanical claw B4-8-3 are respectively welded at the left side and the right side of the tail end of the front end executive rod 4-8-4; the front end actuating rod 4-8-4 is connected with the joint A4-8-6 through the servo motor A4-8-5 and a speed reducer thereof; the joint A4-8-6 is connected with the joint B4-8-8 through the servo motor B4-8-7 and a speed reducer thereof; the joint B4-8-8 is connected with the joint C4-8-9 through the servo motor C4-8-1 and a speed reducer thereof; the bottom of the joint C4-8-9 is welded at the front end of the system main beam 1-1.
Referring to fig. 18, 19, 20, 21 and 22, the anchoring robot system 5 comprises an anchoring robot hydraulic cylinder group 5-1, an anchoring robot connecting assembly 5-2, an anchoring robot working platform 5-3, an anchoring robot 5-4 and an anchor rod storage device 5-5; the anchoring robot connecting assembly 5-2 comprises a folding arm A5-2-1, an anchor rod frame motor 5-2-2, a folding arm B5-2-3 and an anchoring robot connecting assembly hydraulic cylinder group 5-2-4; one end of the folding arm A5-2-1 is connected with the system girder 1-1 through a pin, and the other end is connected with the folding arm B5-2-3 through a pin; the hydraulic cylinder groups 5-1 of the anchoring robot are symmetrically arranged on two sides of the system main beam 1-1, one end of each hydraulic cylinder group 5-1 of the anchoring robot is connected with the system main beam 1-1 through a pin, and the other end of each hydraulic cylinder group of the anchoring robot is connected with the folding arm A5-2-1 through a pin; the hydraulic cylinder group 5-2-4 of the anchoring robot connecting assembly is two sets of hydraulic systems, one end of the hydraulic cylinder group is installed on the folding arm A5-2-1, and the other end of the hydraulic cylinder group is installed on the folding arm B5-2-3; the anchor rod frame motor 5-2-2 is fixed on the inner side surface of the folding arm A5-2-1 through a bolt; the output shaft of the anchor rod frame motor 5-2-2 is connected with the anchor rod storage device 5-5 to control the rotation of the anchor rod storage device; the anchoring robot working platform 5-3 comprises a middle motor stator 5-3-3, a left motor stator 5-3-4, a ground supporting hydraulic cylinder group 5-3-5, a connecting block 5-3-6, a right motor stator 5-3-7, a motor rotor 5-3-8, a folding arm connecting hydraulic cylinder 5-3-9, a folding hydraulic cylinder A5-3-1 and a folding hydraulic cylinder B5-3-2; one end of the folding arm connecting hydraulic cylinder 5-3-9 is connected with the folding arm B5-2-3 through a pin, and the other end of the folding arm connecting hydraulic cylinder is connected with the middle motor stator 5-3-3 through a pin; the left motor stator 5-3-4, the middle motor stator 5-3-3 and the right motor stator 5-3-7 are connected through the connecting block 5-3-6; one end of the folding hydraulic cylinder A5-3-1 is mounted on the left motor stator 5-3-4, and the other end is mounted on the middle motor stator 5-3-3; one end of the folding hydraulic cylinder B5-3-2 is mounted on the right motor stator 5-3-7, and the other end is mounted on the middle motor stator 5-3-3; the ground supporting hydraulic cylinder groups 5-3-5 are respectively arranged on the lower bottom surfaces of the left motor stators 5-3-4 and the right motor stators 5-3-7; the motor rotor 5-3-8 is embedded in the edge slots of the left motor stator 5-3-4, the middle motor stator 5-3-3 and the right motor stator 5-3-7, and is characterized in that the motor rotor 5-3-8 can move in the edge slots of the left motor stator 5-3-4, the middle motor stator 5-3-3 and the right motor stator 5-3-7 in a power-on state; the anchoring robot 5-4 comprises a jumbolter guide rail 5-4-1, a propelling motor 5-4-2, a rotating table 5-4-3, an anchoring large arm 5-4-4, a motor C5-4-5, a motor B5-4-6, a motor A5-4-7, a base box 5-4-8, a rotary table 5-4-9, a mechanical arm base 5-4-10, a connecting rod A5-4-11, a connecting rod B5-4-12, a jumbolter drive chain 5-4-13 and a jumbolter 5-4-14; the anchoring robot 5-4 is fixed on the motor rotor 5-3-8 through a bolt; the base box 5-4-8 at the lower end of the anchoring robot 5-4 fixes the motor A5-4-7 through a bolt; the motor A5-4-7 drives the rotary table 5-4-9 to rotate through a worm gear arranged in the base box 5-4-8; the mechanical arm base 5-4-10 is fixed on the rotary table 5-4-9 through bolts; the large anchoring arm 5-4-4 is matched with the mechanical arm base 5-4-10 through a bearing; the motor B5-4-6 is fixed on the surface of one side of the mechanical arm base 5-4-10 through a bolt; an output shaft of the motor B5-4-6 is matched with a bearing arranged on the mechanical arm base 5-4-10 and is connected with the large anchoring arm 5-4-4; the motor C5-4-5 is fixed on the inner side of the anchoring large arm 5-4-4 through a bolt; an output shaft of the motor C5-4-5 is matched with a bearing and is arranged on the inner side surface of the large anchoring arm 5-4-4; an output shaft of the motor C5-4-5 is connected with the mechanical arm base 5-4-10 through a bearing; the tail end of an output shaft of the motor C5-4-5 is fixedly provided with the connecting rod A5-4-11; one end of the connecting rod B5-4-12 is connected with the boss shaft at the tail end of the connecting rod A5-4-11 through a bearing, a bearing end cover is fixed on the connecting rod B5-4-12 through a bolt, the other end of the connecting rod B5-4-12 is connected with the boss shaft at the tail end of the rotating table 5-4-3 through a bearing, and the bearing end cover is fixed on the connecting rod B5-4-12 through a bolt; the propulsion motor 5-4-2 is arranged on the lower side of the guide rail 5-4-1 of the jumbolter; the jumbolter 5-4-14 is arranged on a sliding rod of the jumbolter guide rail 5-4-1 through holes on two sides; the propulsion motor 5-4-2 drives the jumbolter 5-4-14 to move in the jumbolter guide rail 5-4-1 through the jumbolter drive chain 5-4-13.
A fully mechanized excavation face monorail type anchor support cooperative machine comprises the following working processes:
s1: firstly, manually laying a section of track 1-4 on a roadway top plate, and installing the device on the track 1-4;
s2: when the motor 2-3 works, the power system 2 moves on the track 1-4 through the gear transmission system 2-4 to push the system main beam 1-1 connected with the power system 2, so that the motion of the whole set of equipment is realized;
s3: after the whole set of equipment operates to a designated working position, a support net hydraulic telescopic system 3-4 in the advance support system 3 pushes a support net bracket 3-2 to extend, so that the support net 3-3 is driven to expand; subsequently, the subsidiary transport system support assembly A4-1 and the subsidiary transport system support assembly B4-5 in the subsidiary transport system 4 are synchronized to position the sprocket chain transport device 4-6 at a designated height. Meanwhile, an anchoring robot connecting assembly 5-2 in the anchoring robot system 5 swings at a certain angle under the combined action of an anchoring robot connecting assembly hydraulic cylinder group 5-2-4 and the folding arm connecting hydraulic cylinder 5-3-9, so that the anchoring robot working platform 5-3 descends at a certain height and is parallel to the ground, then the anchoring robot working platform 5-3 is unfolded under the action of a folding hydraulic cylinder A5-3-1 and a folding hydraulic cylinder B5-3-2, and the ground supporting hydraulic cylinder group 5-3-5 extends immediately to complete the ground supporting action, and the ground supporting action has the following functions: impact force generated by the anchor rod drilling machine 5-4-14 in the drilling process is absorbed and transmitted to the ground, so that the platform is more stable;
s4: a chain wheel and chain conveying device 4-6 in the auxiliary conveying system 4 conveys materials required in the operation process to a designated position; the carrying manipulator 4-8 grabs the top beam 1-2 to a specific position of the roadway; the anchoring robot 5-4 and the anchor rod storage device 5-5 simultaneously adjust the positions, so that one anchor rod in the anchor rod storage device 5-5 is installed on the anchor rod drilling machine 5-4-14 to finish the action of installing the anchor rod;
s5: the anchoring robot 5-4 adjusts different postures to realize the anchoring operation of the anchor rod drilling machine 5-4-14 at different positions of the side surface of the roadway and the top plate, and the top beam 1-2 is fixed on the top plate through the anchor rod to provide support for the whole set of equipment;
s6: the carrying manipulator 4-8 grabs materials required for building the suspension support system 1 and is arranged on the top beam 1-2; the carrying manipulator 4-8 grabs the track 1-4 to enable the upper end of the track to be connected with the suspension support system 1, and the tail end of the track is connected with the front end of the previous section of track 1-4 to finish track laying;
s7: and (3) contracting a hydraulic system for adjusting the shape in the forepoling system 3, the auxiliary transportation system 4 and the anchoring robot system 5, driving the whole set of equipment to move forwards by the motor 2-3, continuing the steps, and repeating the anchoring and supporting operation.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (9)
1. The utility model provides a combine and dig working face monorail formula anchor support cooperative machine which characterized by: comprises a suspension support system, a power system, an advance support system, an auxiliary transportation system and an anchoring robot system; the suspension support system is fixed at the top end of the coal mining roadway through an anchor rod and provides support for the whole set of equipment; the power system is arranged at the tail end of a system main beam in the suspension support system; the advanced support system is arranged at the front end of a system main beam in the suspension support system; the auxiliary transportation system is arranged on a system main beam in the suspension support system at the rear side of the advance support system; the anchoring robot system is arranged on a system main beam in the suspension support system between the power system and the auxiliary transportation system.
2. The fully mechanized working face monorail anchor support cooperative machine of claim 1, wherein: the suspension support system comprises a system main beam, a top beam, a support piece, a track and a rectangular pin; a structural part for installation is welded at the upper end of the track, and racks are welded on two sides of the lower end of the track; the system main beam is arranged on the track through a bearing trolley; the top beam is provided with four holes and is fixed at the top end of the coal mining roadway through anchor rods; the upper end of the supporting piece is connected with the top beam through the rectangular pin, and the lower end of the supporting piece is connected with the track through the rectangular pin.
3. The fully mechanized working face monorail anchor support cooperative machine of claim 1, wherein: the power system comprises a bearing trolley, a motor base and a gear transmission system; the motor is arranged on the motor base through a bolt; the motor base is arranged on the lower bottom surface of the bearing trolley through bolts; the bearing trolley is arranged on the surface of the track and can slide on the surface of the track; the gear transmission system comprises a driven straight gear A, a driven worm gear A, a worm A, a large bevel gear A, a small bevel gear A, a differential, a driving bevel gear A, a driven straight gear B, a driven worm gear B, a worm B, a large bevel gear B, a small bevel gear B and a bevel gear B; in order to facilitate the walking control of the equipment, the motor is a variable frequency all-in-one machine.
4. The fully mechanized working face monorail anchor support cooperative machine of claim 1, wherein: the advance support system comprises an advance support main beam, a support net bracket, a support net and a support net hydraulic telescopic system; one end of the advance support main beam is connected with the system main beam through a pin, and the other end of the advance support main beam is connected with the support net bracket through a pin; one end of the support net hydraulic telescopic system is arranged on the advance support main beam, and the other end of the support net hydraulic telescopic system is arranged on the support net bracket; the supporting net is tied on the supporting net bracket; the hydraulic telescopic system of the supporting net can adjust the size of the supporting net according to the state of the supported equipment and the supporting condition, thereby realizing efficient supporting.
5. The fully mechanized working face monorail anchor support cooperative machine of claim 1, wherein: the auxiliary transportation system comprises an auxiliary transportation system supporting assembly A, an auxiliary transportation system supporting assembly B, a supporting cross beam, a supporting upright post A, a supporting upright post B, a chain wheel and chain transportation device, a driving device and a carrying manipulator; the auxiliary transportation system supporting assembly A and the auxiliary transportation system supporting assembly B respectively comprise an upper suspension beam, a hydraulic cylinder and a lower suspension beam; the upper suspension beam is connected with the main beam of the system through a pin.
6. The fully mechanized face monorail anchor support collaboration machine of claim 5, wherein: the chain wheel and chain conveying device comprises a chain wheel, a chain, a movable stop block, a movable baffle plate and an I-shaped baffle rod; the chain wheel drives the chain to move through meshing; the driving device comprises a bevel gear AA, a bevel gear BB, a servo motor AA and a motor base; the carrying manipulator comprises a mechanical claw A, a mechanical claw B, a front end execution rod, a joint A, a joint B, a joint C, a servo motor A, a servo motor B and a servo motor C; the mechanical claw A and the mechanical claw B are respectively welded on the left side and the right side of the tail end of the front end execution rod.
7. The fully mechanized working face monorail anchor support cooperative machine of claim 1, wherein: the anchoring robot system comprises an anchoring robot hydraulic cylinder group, an anchoring robot connecting assembly, an anchor rod storage device, an anchoring robot working platform and an anchoring robot; the anchoring robot connecting assembly comprises a folding arm A, an anchoring rod frame motor, a folding arm B and an anchoring robot connecting assembly hydraulic cylinder group; one end of the folding arm A is connected with the system main beam through a pin, and the other end of the folding arm A is connected with the folding arm B through a pin.
8. The fully mechanized face monorail anchor support co-operation machine of claim 7, wherein: the anchoring robot work platform comprises a middle motor stator, a left motor stator, a ground supporting hydraulic cylinder group, a connecting block, a right motor stator, a motor rotor, a folding arm connecting hydraulic cylinder, a folding hydraulic cylinder A and a folding hydraulic cylinder B; the ground supporting hydraulic cylinder groups are respectively arranged on the lower bottom surface of the left motor stator and the lower bottom surface of the right motor stator; the anchoring robot comprises a guide rail of the jumbolter, a propelling motor, a rotating table, a large anchoring arm, a motor A, a motor B, a motor C, a base box, a rotary table, a mechanical arm base, a connecting rod A, a connecting rod B, a drive chain of the jumbolter and the jumbolter; the jumbolter is arranged on a sliding rod of the jumbolter guide rail through holes on two sides; the propulsion motor drives the jumbolter to move in the jumbolter guide rail through the jumbolter driving chain.
9. The utility model provides a combine and dig working face monorail formula anchor support cooperative machine which characterized in that, its working process includes following step:
s1: firstly, manually laying a section of track on a roadway roof, and installing the device on the track;
s2: when the motor works, the power system moves on the track through the gear transmission system to push the system main beam connected with the power system, so that the motion of the whole set of equipment is realized;
s3: after the whole set of equipment operates to a designated working position, a support net hydraulic telescopic system in the advance support system pushes a support net bracket to extend, so that the support net is driven to expand; and then, the auxiliary transportation system supporting assembly A and the auxiliary transportation system supporting assembly B in the auxiliary transportation system synchronously act to enable the chain wheel and chain transportation device to be positioned at the designated height. Meanwhile, the anchoring robot connecting assembly in the anchoring robot system swings for a certain angle under the combined action of the hydraulic cylinder group of the anchoring robot connecting assembly and the folding arm connecting hydraulic cylinder, so that the anchoring robot working platform descends for a certain height and is parallel to the ground, then the anchoring robot working platform is unfolded under the action of the folding hydraulic cylinder A and the folding hydraulic cylinder B, the ground supporting hydraulic cylinder group extends immediately, the ground supporting action is completed, and the action is as follows: impact force generated by the anchor rod drilling machine in the drilling process is absorbed and transmitted to the ground, so that the platform is more stable.
S4: a chain wheel and chain conveying device in the auxiliary conveying system conveys materials required in the operation process to a designated position; the carrying manipulator grabs the top beam to a specific position of the roadway; the anchoring robot and the anchor rod storage device simultaneously adjust the positions, so that one anchor rod in the anchor rod storage device is installed on an anchor rod drilling machine to finish the action of installing the anchor rod;
s5: the anchoring robot adjusts different postures to realize anchoring operation of the anchor rod drilling machine at different positions of the side surface of the roadway and the top plate, and the top beam is fixed on the top plate through the anchor rod to provide support for the whole set of equipment;
s6: the carrying manipulator grabs materials required for building the suspension support system and is arranged on the top beam; the carrying manipulator grabs the track, the upper end of the carrying manipulator is connected with the suspension support system, and the tail end of the carrying manipulator is connected with the front end of the previous section of track to finish track laying;
s7: and in the forepoling system, the auxiliary transportation system and the anchoring robot system, a hydraulic system for adjusting the shape contracts, a motor drives the whole set of equipment to move forwards, the steps are continued, and the anchoring and supporting operation is repeated.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010039720.4A CN111058843A (en) | 2020-01-13 | 2020-01-13 | Combine and dig working face monorail formula anchor support cooperative machine |
| US17/021,705 US20210215043A1 (en) | 2020-01-13 | 2020-09-15 | Monorail anchoring and supporting cooperative machine for fully mechanized excavation face |
| BE20205641A BE1027935B1 (en) | 2020-01-13 | 2020-09-15 | A coordinated anchoring and retaining monorail device for the excavation face |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010039720.4A CN111058843A (en) | 2020-01-13 | 2020-01-13 | Combine and dig working face monorail formula anchor support cooperative machine |
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| Publication Number | Publication Date |
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| CN111058843A true CN111058843A (en) | 2020-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010039720.4A Pending CN111058843A (en) | 2020-01-13 | 2020-01-13 | Combine and dig working face monorail formula anchor support cooperative machine |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US20210215043A1 (en) |
| CN (1) | CN111058843A (en) |
| BE (1) | BE1027935B1 (en) |
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| CN111594207A (en) * | 2020-05-21 | 2020-08-28 | 安徽理工大学 | Integrated equipment with anchor protecting and cooperative operation functions |
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| CN113503129A (en) * | 2021-07-30 | 2021-10-15 | 江西蓝翔重工有限公司 | Single-rail hydraulic anchor rod drill carriage and roadway tunneling construction method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111594207A (en) * | 2020-05-21 | 2020-08-28 | 安徽理工大学 | Integrated equipment with anchor protecting and cooperative operation functions |
| GB2589441A (en) * | 2020-05-21 | 2021-06-02 | Univ Anhui Sci & Technology | Integrated equipment with support and anchor collaboration function |
| CN111608705A (en) * | 2020-06-01 | 2020-09-01 | 安徽理工大学 | Walking type anchor supporting robot for fully mechanized excavation face |
| CN112081611A (en) * | 2020-10-10 | 2020-12-15 | 安徽理工大学 | Walking robot with anchor, support and protection functions |
| CN113503129A (en) * | 2021-07-30 | 2021-10-15 | 江西蓝翔重工有限公司 | Single-rail hydraulic anchor rod drill carriage and roadway tunneling construction method |
| CN113503129B (en) * | 2021-07-30 | 2023-05-02 | 江西蓝翔重工有限公司 | Monorail hydraulic anchor rod drill carriage and roadway tunneling construction method |
| CN113882888A (en) * | 2021-11-01 | 2022-01-04 | 安徽理工大学 | Double-door efficient and rapid circulating self-moving anchor support integrated equipment and control method |
| CN113882888B (en) * | 2021-11-01 | 2024-04-19 | 安徽理工大学 | Double-door type efficient and rapid circulation self-moving anchor supporting integrated equipment and control method |
| CN117266894A (en) * | 2023-09-27 | 2023-12-22 | 河南龙宇能源股份有限公司 | Advanced active supporting device for overfire diagenetic recovery of coal face |
| CN117266894B (en) * | 2023-09-27 | 2024-04-16 | 河南龙宇能源股份有限公司 | Advanced active supporting device for overfire diagenetic recovery of coal face |
Also Published As
| Publication number | Publication date |
|---|---|
| US20210215043A1 (en) | 2021-07-15 |
| BE1027935B1 (en) | 2022-01-11 |
| BE1027935A1 (en) | 2021-07-27 |
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