CN111119960A

CN111119960A - Anchoring robot suitable for complex working condition of fully mechanized excavation working face

Info

Publication number: CN111119960A
Application number: CN202010040881.5A
Authority: CN
Inventors: 郭永存; 苏国用; 邓海顺; 王爽; 胡坤; 马天兵
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2020-01-13
Filing date: 2020-01-13
Publication date: 2020-05-08
Also published as: AU2020220120A1; NL2026313A; NL2026313B1

Abstract

The invention discloses an anchoring and protecting intelligent device, which belongs to the field of electric devices of fully-mechanized excavation face machines and comprises a suspension support system, a power system, an anchoring robot system, a ground support system and a wall support 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 anchoring robot system is arranged at the lower end of a system main beam in the suspension support system; the ground support system is fixed on a system main beam in the suspension support system above the installation position of the anchoring robot system; and the wall surface supporting system is fixed on a system main beam in the suspension supporting system above the installation position of the ground supporting system. Furthermore, the invention has compact integral structure and high anchoring efficiency, and the ground support system and the wall support system are adopted to ensure that the equipment runs stably and the turning performance is good.

Description

Anchoring robot suitable for complex working condition of fully mechanized excavation working face

Technical Field

The invention relates to the field of electric equipment of fully-mechanized excavation working faces, in particular to an anchoring robot suitable for complex working conditions of fully-mechanized excavation working faces, and belongs to the field of anchoring protection intelligent equipment.

Background

The anchoring process is one of the commonly used supporting methods for a coal mine tunnel, and the anchoring process is anchored into surrounding rocks of the tunnel through an anchor rod, so that a supporting body and the surrounding rocks form a space structure body capable of bearing pressure heavy load together, thereby preventing a top plate from falling off, maintaining the effective use space of a coal face and ensuring the safe operation of equipment. However, the roof support process of the tunnel is complicated, the degree of mechanization is not high, the operation time is more, the operation rate of the heading machine is affected, and the roof support process becomes a great obstacle to rapid heading of the tunnel.

In recent years, a common tunneling and anchoring all-in-one machine mainly installs anchoring and supporting equipment on the tunneling and anchoring machine in a two-side type, a gantry type and a folding type. The patents represented by the publication numbers 201520053096.8, 201910275708.0, 201920461381.1 and the like have the advantages that the tunneling device, the supporting device and the anchoring device are designed and installed in a module mode, so that the equipment can adapt to turning and up-and-down fluctuation in the advancing process; however, the equipment has certain requirements on the unevenness of the turning radius and the roadway bottom plate, and in a narrow roadway with a severe environment, the large equipment is low in working efficiency and even cannot be used due to the fact that the anchoring operation space is limited.

This subject group provides an application patent of combine and dig working face monorail formula anchor support cooperative machine, in order to facilitate the marching of equipment, with anchor equipment, support equipment and entry driving machine separation to adopt the mode of marcing of single track hanging, make equipment have good maneuverability, be applicable to general narrow and small tunnel. However, the equipment has higher requirements on the roadway support environment and low anchoring efficiency, and has certain defects, specifically as follows:

1) the equipment advances in a monorail crane mode and is not suitable for a soft rock coal mine roadway.

All mechanical equipment all install in the monorail and hang on, and the weight of whole equipment is great, and is higher to the tunnel rock layer hardness requirement that the monorail hung by the stock support, and some coal mine tunnel rock layers are comparatively soft, consequently, should equip only to be applicable to the better occasion of tunnel condition.

2) The linkage of the work platform of the anchoring robot is poor.

The anchor work platform that proposes in the patent adopts three-section hydraulic drive folding structure, nevertheless because folding process can receive the restriction of pneumatic cylinder mounted position and stroke, the folding position precision of platform is not high, and the stock robot is slow and unstable on its surface translation rate, influences the operating efficiency of anchor process. Meanwhile, the ground supporting hydraulic system cannot be accurately contracted, and interference can be generated on other equipment in the transportation process.

3) The buffering capacity of the anchoring operation platform is poor, and anchoring operation is not facilitated.

The anchor operation platform that proposes in the patent to two sets of ground supporting hydraulic cylinder group are as the buffer system of anchor operation, though can absorb and transmit the drilling impact force to ground at drilling in-process, under the soft operating mode of tunnel bottom plate, ground supporting hydraulic cylinder group bottom can sink, thereby leads to anchor operation platform to be unstable, is unfavorable for the anchor operation.

Disclosure of Invention

The invention aims to overcome the problem of low digging and anchoring efficiency, provides an anchoring robot suitable for complex working conditions of a fully-mechanized digging working face, has the advantages of high automation degree, convenience in operation, strong adaptability and high safety, and provides a solution for the background technology.

The technical problem to be solved by the invention is realized by adopting the following technical scheme:

an anchoring robot suitable for complex working conditions of a fully mechanized excavation face comprises a suspension support system, a power system, an anchoring robot system, a ground support system and a wall support 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 anchor support robot; the power system is arranged at the tail end of a system main beam in the suspension support system; the anchoring robot system is arranged at the lower end of a system main beam in the suspension support system; and the ground supporting system and the wall surface supporting system are both fixed on a system main beam in the suspension supporting system above the installation position of the anchoring robot system.

The suspension support system comprises a system main beam, a top beam, a support piece, a track and a rectangular pin; the system main beam is arranged on the track through a bearing trolley; the top beam is provided with four holes for fixing the top beam on the top end of the coal mining roadway by using anchor rods; the upper end of the supporting piece is connected with the top beam through a long square pin, and the lower end of the supporting piece is connected with the track through a long square pin.

The power system comprises a bearing trolley, a motor base, a gear transmission system and a power connecting device; 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 is characterized by being capable of sliding on the surface of the track; an input shaft in the gear transmission system is connected with the motor through a coupler, and an output gear is installed in a matching manner with a rack in the track; one end of the power connecting device is welded on the gear transmission system, and the other end of the power connecting device is connected with the main beam of the system through a pin.

The anchoring robot system comprises a beam arm 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 an upper connecting arm, a lower connecting arm and a connecting hydraulic cylinder group; the upper end of the anchoring robot connecting assembly is connected with the system main beam through a pin; the tail end of the anchoring robot connecting assembly is connected with the anchoring robot working platform through a pin; the anchoring robot working platform comprises a middle working platform, an arm platform connecting hydraulic cylinder, a folding hydraulic cylinder, a connecting rod A, a ground supporting hydraulic cylinder, a connecting rod B, a sliding block, a connecting rod C and a boundary working platform; the anchoring robot working platform is composed of three sections, and can realize a folding function; the mechanism at the bottom end of the anchoring robot and the anchoring robot working platform form a linear motor; the anchor rod storage device comprises a support rotating motor and an anchor rod storage support; the anchoring robot comprises a driving mechanism, a rotary table base, a large arm and an actuator; the driving mechanism can drive the rotary table base to rotate so as to meet the requirements of different stations of the actuator; the large arm is connected with the turntable base and can swing relatively; the large arm and the actuator form a four-bar linkage mechanism which can control the rotation angle of the actuator; the actuator comprises an anchor rod drilling machine guide rail, a propelling motor, an anchor rod drilling machine and a chain; the propulsion motor is arranged at the front end of the guide rail of 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 by driving the chain.

The ground support system comprises a support main beam, a support platform, a rear steering track, a steering mechanism, a support device and a front steering track; the ground support system is symmetrically arranged about a system main beam in the suspension support system; the rear steering track comprises a small roller A, a large roller A and a chute mechanism A; the small roller A is arranged at the upper end of a groove-shaped opening of the chute mechanism A; the steering mechanism comprises a small roller C, a large roller C, a fixing groove, a steering hydraulic cylinder A, a fixing piece A, a pushing hydraulic cylinder A, a supporting sleeve, a fixing piece B, a steering hydraulic cylinder B, a pushing hydraulic cylinder B, a connecting block A and a connecting block B; three groups of same supporting devices are arranged on one side of the ground supporting system; the supporting device comprises a front-end ground supporting hydraulic cylinder, a middle ground supporting hydraulic cylinder, a rear-end ground supporting hydraulic cylinder and a supporting seat; the front steering track is similar to the rear steering track and comprises a small roller B, a large roller B and a chute mechanism B; the small roller B is arranged at the upper end of a groove-shaped opening of the sliding groove mechanism B; the supporting platform is matched with the small roller A and the large roller A on the rear steering track, the small roller C and the large roller C on the steering mechanism, and the small roller B and the large roller B on the front steering track in a rolling manner, so that the rear steering track, the steering mechanism and the front steering track can roll on the supporting platform.

The wall surface supporting system comprises a side surface supporting main beam, a side surface supporting platform, a propelling hydraulic cylinder and a side surface supporting mechanism; the wall surface supporting systems are symmetrically arranged relative to a system main beam in the suspension supporting system; the side surface supporting mechanism comprises an upper roller, a lower roller, a fixed table, a front end wall supporting hydraulic cylinder, a rear end wall supporting hydraulic cylinder and a wall surface supporting seat; the upper roller is arranged at the upper end of the groove-shaped opening of the fixed table; the lower roller is arranged in a groove of the groove-shaped opening of the fixed table; the upper roller and the lower roller can be buckled with the upper surface and the lower surface of the side supporting platform to realize rolling fit; the upper ends of the front end wall supporting hydraulic cylinder and the rear end wall supporting hydraulic cylinder are fixed with the fixed table, and the lower ends of the front end wall supporting hydraulic cylinder and the rear end wall supporting hydraulic cylinder are connected with the wall surface supporting seat through pins; the two groups of side supporting mechanisms are connected through the pushing hydraulic cylinder; two ends of the pushing hydraulic cylinder are respectively fixed on the fixed tables of the two groups of side supporting mechanisms.

An anchoring robot suitable for complex working conditions of a fully mechanized excavation face is characterized by comprising the following steps:

s1: mounting the whole set of equipment on a track laid on a roadway roof in advance;

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 to move, so that the supporting platform and the side supporting platform are driven to move together;

s3: the ground support system and the wall support system are arranged on two sides of the main beam of the system, the working processes of the systems on the two sides are completely synchronous, and the working process on one side is taken as an example for description. At the beginning of the operation of the whole set of equipment, a front-end ground support hydraulic cylinder, a middle ground support hydraulic cylinder and a rear-end ground support hydraulic cylinder in the support device are simultaneously supported on a roadway bottom plate; the front end wall supporting hydraulic cylinder and the rear end wall supporting hydraulic cylinder are simultaneously supported on the wall surface of the roadway, and the pushing hydraulic cylinder B and the pushing hydraulic cylinder are in a contraction state. During operation, the front-end ground supporting hydraulic cylinder and the front-end wall supporting hydraulic cylinder are contracted, the front steering rail connected with the front-end ground supporting hydraulic cylinder is pushed to move forwards to a specified position along the supporting platform under the action of the pushing hydraulic cylinder B, and meanwhile, the side supporting mechanism connected with the front-end wall supporting hydraulic cylinder is pushed to move forwards to a specified position along the side supporting platform under the action of the pushing hydraulic cylinder. Then, the front end ground support hydraulic cylinder extends to be supported on the roadway bottom plate, and meanwhile, the front end support wall hydraulic cylinder extends to be supported on the roadway wall surface;

s4: the middle ground support hydraulic cylinder contracts, then the hydraulic cylinder B contracts, meanwhile, the hydraulic cylinder A expands, the two jointly act to enable the chute mechanism A connected with the middle ground support hydraulic cylinder to move forwards to a specified position along the side support platform, and then the middle ground support hydraulic cylinder expands and is supported on the roadway bottom plate;

s5: the rear end ground support hydraulic cylinder and the rear end wall support hydraulic cylinder are contracted, the rear steering rail connected with the rear end ground support hydraulic cylinder is pulled to move forwards to a specified position along the support platform under the action of the pushing hydraulic cylinder A, and meanwhile, the rear end wall support hydraulic cylinder and the rear end ground support hydraulic cylinder are pulled to move forwards to a specified position along the side support mechanism under the action of the pushing hydraulic cylinder A. Then, the rear end ground support hydraulic cylinder extends to be supported on the bottom plate of the roadway, and meanwhile, the rear end wall support hydraulic cylinder is supported on the wall surface of the roadway to realize that the whole set of equipment travels for a certain distance; the continuous advance of the whole set of equipment can be realized by repeating the steps.

An anchoring robot suitable for complex working conditions of a fully mechanized excavation face is characterized by comprising the following steps in a turning process:

s1: when the turning function of the whole set of equipment is realized, the front-end ground supporting hydraulic cylinder is contracted, and can be driven to swing in the front turning track under the telescopic action of the turning hydraulic cylinder B, so that the front-end ground supporting hydraulic cylinder is not positioned on a connecting line of the middle ground supporting hydraulic cylinder and the rear-end ground supporting hydraulic cylinder, and then the front-end ground supporting hydraulic cylinder is extended and supported on a roadway bottom plate;

s2: the rear end ground support hydraulic cylinder contracts and can drive the rear end ground support hydraulic cylinder to swing in a rear steering track under the telescopic action of the steering hydraulic cylinder A, so that the rear end ground support hydraulic cylinder, the middle ground support hydraulic cylinder and the front end ground support hydraulic cylinder are on the same straight line, and then the front end ground support hydraulic cylinder extends and is supported on a roadway bottom plate to realize turning action.

The anchoring robot suitable for the complex working condition of the fully mechanized excavation face is characterized by comprising the following steps of:

s1: an anchoring robot working platform in the anchoring robot system descends to a certain height and keeps parallel to the ground under the combined action of an anchoring robot connecting assembly, a folding hydraulic cylinder and a ground supporting hydraulic cylinder to finish supporting action;

s2: the position and the posture of the anchoring robot and the anchor rod storage support are adjusted simultaneously, so that one anchor rod in the anchor rod storage support is installed in the anchor rod drilling machine to finish the action of installing the anchor rod;

s3: the two groups of anchoring robots adjust different poses, anchoring operation of the anchor rod drilling machine on different positions of the side face and the top plate of the roadway can be achieved, and roadway supporting operation is completed.

Compared with the prior art, the invention has the beneficial effects that the invention comprises the prior tunneling, anchoring and supporting integrated machine and the patent (the fully-mechanized working face single-rail type anchor supporting cooperative machine) mentioned herein, and the invention has the following beneficial effects:

1) the invention is walking type advancing, has good maneuvering characteristics and is suitable for coal mine tunnels with complex working conditions.

The invention reasonably improves the walking support mode, guides the walking of the robot by using the monorail crane, bears the load of the whole system by using the ground support system, improves the stability and the safety of the equipment in the moving process, and the ground support system has a certain turning function, so that the equipment can be stably transported and operated in rock roadways with different hardness.

2) The invention ensures that the working platform of the anchoring robot is stably contracted and expanded and has high control precision through the connecting rod mechanism.

The lower end of the working platform of the anchoring robot can realize simultaneous contraction and expansion of the working platforms at two sides and the ground supporting hydraulic cylinders thereof through the connecting rod sliding block mechanism, so that the position precision of the working platforms is improved, and the anchoring robot can move on the surface more stably.

3) The invention has a plurality of supporting systems, which provides a stable working platform for anchoring operation.

The wall surface supporting system of the invention not only prevents the equipment from shaking left and right during transportation, but also bears part of the weight of the equipment. Meanwhile, in the anchoring operation process, the system and the ground supporting hydraulic cylinder jointly form a buffer system, so that the drilling impact force is absorbed and transmitted to the surface of the roadway, and the stability of the anchoring robot working platform is ensured.

4) The invention has compact structure and high space utilization rate.

The main components of the invention can be expanded and contracted under different working environments, and the invention has compact structure and small space volume. Meanwhile, two sets of anchoring robots are arranged on the anchoring robot working platform to jointly perform anchoring operation, so that the anchoring working efficiency is improved. In addition, the invention occupies small volume of the roadway space, thereby providing space for the operation of other equipment.

Drawings

FIG. 1 is a schematic diagram of the general structure of the present invention;

FIG. 2 is a schematic view of the suspension support system of the present invention;

FIG. 3 is a schematic view of a main beam of the system of the present invention;

FIG. 4 is a schematic illustration of the powertrain of the present invention;

FIG. 5 is a schematic view of the connection relationship between the main beam and the anchoring robot system of the present invention;

FIG. 6 is a schematic view of the anchoring robotic system of the present invention in a non-operational state;

FIG. 7 is a schematic view of the anchoring robot system of the present invention in an operational state;

FIG. 8 is a schematic view of the work platform of the anchoring robot of the present invention;

FIG. 9 is a schematic view of a ground support system according to the present invention;

FIG. 10 is a rear steering rail schematic of the ground support system of the present invention;

FIG. 11 is a schematic view of a steering mechanism of the ground support system of the present invention;

FIG. 12 is a schematic view of a ground support system support platform according to the present invention;

FIG. 13 is a schematic view of a front steering track of the ground support system of the present invention;

FIG. 14 is a schematic view of a wall support system of the present invention;

FIG. 15 is a schematic view of a wall support system support mechanism of the present invention.

The reference numerals in the figures denote: 1. a suspension support system; 2. a power system; 3. anchoring the robotic system; 4. a ground support system; 5. a wall support system; 1-1, top beam; 1-2. a support; 1-3. track; 1-4, rectangular pin; 1-5, a system main beam; 2-1, a load-bearing trolley; 2-2. a motor base; 2-3. a motor; 2-4. a gear transmission system; 2-5. a power connection device; 3-1, a beam arm hydraulic cylinder group; 3-2, anchoring the robot connecting component; 3-3, anchoring the robot working platform; 3-4, anchoring the robot; 3-5, storing the anchor rod; 3-2-1, an upper connecting arm; 3-2-2. a lower connecting arm; 3-2-3, connecting the hydraulic cylinder group; 3-3-1. a middle working platform; 3-3-2, connecting the arm platform with a hydraulic cylinder; 3-3-3. folding hydraulic cylinder; 3-3-4. connecting rod A; 3-3-5. a ground supporting hydraulic cylinder; 3-3-6, connecting rod B; 3-3-7. a sliding block; 3-3-8, connecting rod C; 3-3-9. a boundary working platform; 3-4-1. a driving mechanism; 3-4-2. a rotary table base; 3-4-3, big arm; 3-4-4, actuator; 3-4-4-1. a chain; 3-4-4-2. a jumbolter; 3-4-4-3, a propulsion motor; 3-4-4-4 roofbolter guide rails; 3-5-1, storing the anchor rod in a bracket; 3-5-2. a bracket rotating motor; 4-1, supporting the main beam; 4-2, supporting the platform; 4-3, turning to a track; 4-4. a steering mechanism; 4-5, a supporting device; 4-6. front steering track; 4-3-1, a small roller A; 4-3-2, a large roller A; 4-3-3, a chute mechanism A; 4-4-1, small roller C; 4-4-2, a big roller C; 4-4-3, fixing groove; 4-4-4, steering hydraulic cylinder A; 4-4-5, connecting block A; 4-4-6, pushing the hydraulic cylinder A; 4-4-7, a support sleeve; 4-4-8, fixing part A; 4-4-9, fixing part B; 4-4-10. a steering hydraulic cylinder B; 4-4-11, pushing the hydraulic cylinder B; 4-4-12, connecting block B; 4-5-1. a supporting seat; 4-5-2. a rear end ground support hydraulic cylinder; 4-5-3, supporting the hydraulic cylinder on the middle ground; 4-5-4. front end ground support hydraulic cylinder; 4-6-1, small roller B; 4-6-2, a big roller B; 4-6-3, a chute mechanism B; 5-1, laterally supporting the main beam; 5-2, supporting the platform at the side; 5-3, a side supporting mechanism; 5-4, a propelling hydraulic cylinder; 5-3-1, mounting a roller; 5-3-2. a fixed station; 5-3-3. wall surface supporting seat; 5-3-4. a front end wall supporting hydraulic cylinder; 5-3-5. a rear end supporting wall hydraulic cylinder; 5-3-6, lower roller.

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, an anchoring robot suitable for complex working conditions of a fully mechanized excavation face comprises a suspension support system 1, a power system 2, an anchoring robot system 3, a ground support system 4 and a wall support 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 1-5 in the suspension support system 1; the anchoring robot system 3 is arranged at the lower end of a system main beam 1-5 in the suspension support system 1; the ground support system 4 is fixed on system main beams 1-5 in the suspension support system 1 above the installation position of the anchoring robot system 3; the wall surface supporting system 5 is fixed on system main beams 1-5 in the suspension supporting system 1 above the installation position of the ground supporting system 4. The anchoring robot suitable for the complex working condition of the fully mechanized excavation face is characterized in that when the anchoring robot walks and works, the ground supporting system 4 and the wall surface supporting system 5 are used for supporting the dead weight of the whole anchoring robot together, and the stability and the safety of the work are greatly improved.

Referring to fig. 2 and 3, the suspension support system 1 comprises a top beam 1-1, a support member 1-2, a track 1-3, a rectangular pin 1-4 and a system main beam 1-5; the system main beam 1-5 is arranged on the track 1-3 through a bearing trolley 2-1; the top beam 1-1 is provided with four holes for fixing the top beam on the top end of a coal mining roadway by using anchor rods; the upper end of the supporting piece 1-2 is connected with the top beam 1-1 through the rectangular pin 1-4, and the lower end is connected with the track 1-3 through the rectangular pin 1-4.

Referring to fig. 4, the power system 2 comprises a bearing trolley 2-1, a motor 2-3, a motor base 2-2, a gear transmission system 2-4 and a power connecting device 2-5; the motor 2-3 is arranged on the motor base 2-2 through a bolt, and the motor base 2-2 is arranged on the lower bottom surface of the bearing trolley 2-1 through a bolt; the bearing trolley 2-1 is arranged on the track 1-3, and is characterized in that the bearing trolley 2-1 can slide on the surface of the track 1-3; an input shaft in the gear transmission system 2-4 is connected with the motor 2-3 through a coupler, an output gear in the gear transmission system 2-4 is installed in a matched mode with a rack in the track 1-3, one end of the power connection device 2-5 is welded to the gear transmission system 2-4, and the other end of the power connection device is connected with the system main beam 1-5 through a pin.

Referring to fig. 5, 6, 7 and 8, the anchoring robot system 3 comprises a beam arm hydraulic cylinder group 3-1, an anchoring robot connecting assembly 3-2, an anchoring robot working platform 3-3, an anchoring robot 3-4 and an anchor rod storage device 3-5; the anchoring robot connecting assembly 3-2 comprises an upper connecting arm 3-2-1, a lower connecting arm 3-2-2 and a connecting hydraulic cylinder group 3-2-3; the upper connecting arm 3-2-1 is connected with the system main beam 1-5 through a pin; one end of the beam arm hydraulic cylinder group 3-1 is connected with the system main beam 1-5 through a pin, the other end of the beam arm hydraulic cylinder group is connected with the upper connecting arm 3-2-1 through a pin, and two sets of beam arm hydraulic cylinder groups 3-1 are uniformly distributed on two sides of the system main beam 1-5; the upper connecting arm 3-2-1 is connected with the lower connecting arm 3-2-2 through a pin; one end of the connecting hydraulic cylinder group 3-2-3 is connected with the upper connecting arm 3-2-1 through a pin, and the other end of the connecting hydraulic cylinder group is connected with the lower connecting arm 3-2-2 through a pin; the lower connecting arm 3-2-2 is connected with the anchoring robot working platform 3-3 through a pin; the anchoring robot working platform 3-3 comprises a middle working platform 3-3-1, an arm platform connecting hydraulic cylinder 3-3-2, a folding hydraulic cylinder 3-3-3, a connecting rod A3-3-4, a ground supporting hydraulic cylinder 3-3-5, a connecting rod B3-3-6, a sliding block 3-3-7, a connecting rod C3-3-8 and a boundary working platform 3-3-9; one end of the arm platform connecting hydraulic cylinder 3-3-2 is connected with the middle position of the tail end of the lower connecting arm 3-2-2 through a pin, and the other end of the arm platform connecting hydraulic cylinder is connected with the middle position of the bottom of the middle working platform 3-3-1 through a pin; the boundary working platforms 3-3-9 on both sides are symmetrically arranged about the middle working platform 3-3-1, which will be described with one side; one end of the folding hydraulic cylinder 3-3-3 is connected with the middle working platform 3-3-1 through a pin, and the other end of the folding hydraulic cylinder is connected with one end of the connecting rod A3-3-4 and one end of the connecting rod B3-3-6 through a pin; the lower end of the boundary working platform 3-3-9 is connected with the connecting rod A3-3-4 through a pin; the sliding blocks 3-3-7 are matched with the groove-shaped structures on the lower sides of the boundary working platforms 3-3-9 to realize translation; the lower end of the slider 3-3-7 is connected with one end of the connecting rod B3-3-6 and one end of the connecting rod C3-3-8 through pins; the connecting rod C3-3-8 is connected with the ground supporting hydraulic cylinder 3-3-5 through a pin; the anchoring robot working platform 3-3 and the mechanism at the bottom end of the anchoring robot 3-4 form a linear motor; the anchor rod storage device 3-5 comprises an anchor rod storage support 3-5-1 and a support rotating motor 3-5-2; the bracket rotating motor 3-5-2 is arranged on the inner side surface of the anchoring robot connecting component 3-2; the anchor rod storage support 3-5-1 is arranged on the outer side surface of the anchoring robot connecting assembly 3-2; the anchoring robot 3-4 comprises a driving mechanism 3-4-1, a rotary table base 3-4-2, a large arm 3-4-3 and an actuator 3-4-4; the driving mechanism 3-4-1 can drive the rotary table base 3-4-2 to rotate so as to meet the requirements of the actuator 3-4-4 on different stations; the large arm 3-4-3 is connected with the rotary table base 3-4-2 and can swing relatively; the large arm 3-4-3 and the actuator 3-4-4 form a four-bar linkage mechanism which can control the rotation angle of the actuator 3-4-4; the actuator 3-4-4 comprises a chain 3-4-4-1, an anchor rod drilling machine 3-4-4-2, a propulsion motor 3-4-4-3 and an anchor rod drilling machine guide rail 3-4-4-4; the propulsion motor 3-4-4-3 is arranged at the front end of the actuator 3-4-4; the jumbolter 3-4-4-2 is arranged on the jumbolter guide rail 3-4-4 through holes on two sides; the propulsion motor 3-4-4-3 drives the jumbolter 3-4-4-2 to move on the jumbolter guide rail 3-4-4-4 by driving the chain 3-4-4-1.

Referring to fig. 9, 10, 11, 12 and 13, the ground support system 4 includes a support main beam 4-1, a support platform 4-2, a rear steering rail 4-3, a steering mechanism 4-4, a support device 4-5 and a front steering rail 4-6; the ground support system 4 is symmetrically arranged about the system main beams 1-5 in the suspension support system 1; the following description will take the ground support system 4 as an example on one side. One end of each of three groups of support main beams 4-1 at one side of a system main beam 1-5 in the suspension support system 1 is fixed on the system main beam 1-5 in the suspension support system 1 through a bolt, and the other end of each of the three groups of support main beams is fixed on the support platform 4-2 through a bolt; the rear steering track 4-3 comprises a small roller A4-3-1, a large roller A4-3-2 and a chute mechanism A4-3-3; one side of the ground support system 4 comprises three identical sets of the support devices 4-5; the supporting device 4-5 comprises a supporting seat 4-5-1, a rear-end ground supporting hydraulic cylinder 4-5-2, a middle ground supporting hydraulic cylinder 4-5-3 and a front-end ground supporting hydraulic cylinder 4-5-4; the lower end of the rear ground support hydraulic cylinder 4-5-2 is connected with the support seat 4-5-1 through a pin; the small roller A4-3-1 is arranged at the upper end of a groove opening of the chute mechanism A4-3-3; the large roller A4-3-2 is arranged in a groove of the chute mechanism A4-3-3 groove-shaped opening; the small roller A4-3-1 and the big roller A4-3-2 can be buckled with the upper surface and the lower surface of the supporting platform 4-2 to realize rolling fit; the steering mechanism 4-4 comprises a small roller C4-4-1, a large roller C4-4-2, a fixing groove 4-4-3, a steering hydraulic cylinder A4-4-4, a fixing piece A4-4-8, a pushing hydraulic cylinder A4-4-6, a supporting sleeve 4-4-7, a fixing piece B4-4-9, a steering hydraulic cylinder B4-4-10, a pushing hydraulic cylinder B4-4-11, a connecting block A4-4-5 and a connecting block B4-4-12; the small roller C4-4-1 is arranged at the upper end of the groove-shaped opening of the fixed groove 4-4-3; the large roller C4-4-2 is arranged in a groove of the groove-shaped opening of the fixed groove 4-4-3; the small roller C4-4-1 and the big roller C4-4-2 can be buckled with the upper surface and the lower surface of the supporting platform 4-2 to realize rolling fit; the upper bottom end of the fixing groove 4-4-3 is fixed at the upper end of the hydraulic cylinder; the fixing piece A4-4-8 is sleeved on the middle ground support hydraulic cylinder 4-5-3; one side of the fixing piece A4-4-8 is provided with the steering hydraulic cylinder A4-4-4, and the other side is provided with the pushing hydraulic cylinder A4-4-6; one end of the connecting block A4-4-5 is sleeved on the pushing hydraulic cylinder A4-4-6, and the other end of the connecting block A4-4-5 is connected with one end of the steering hydraulic cylinder A4-4-4; the fixing piece B4-4-9 is sleeved on the middle ground supporting hydraulic cylinder 4-5-3 on the lower side of the fixing piece A4-4-8; one side of the fixing piece B4-4-9 is provided with the steering hydraulic cylinder B4-4-10, and the other side is provided with the pushing hydraulic cylinder B4-4-11; one end of the connecting block B4-4-12 is sleeved on the pushing hydraulic cylinder B4-4-11, and the other end of the connecting block B4-4-12 is connected with one end of the steering hydraulic cylinder B4-4-10; the supporting sleeve 4-4-7 is arranged on the middle ground supporting hydraulic cylinder 4-5-3 at the lower side of the fixing piece A4-4-8; two legs of the supporting sleeve 4-4-7 are respectively fixed on the fixing piece A4-4-8 and the fixing piece B4-4-9; the front steering track 4-6 is similar to the rear steering track 4-3 and comprises a small roller B4-6-1, a large roller B4-6-2 and a chute mechanism B4-6-3; the small roller B4-6-1 is arranged at the upper end of a groove-shaped opening of the chute mechanism B4-6-3; the big roller B4-6-2 is arranged in a groove of a groove-shaped opening of the chute mechanism B4-6-3; the small roller B4-6-1 and the big roller B4-6-2 can be buckled with the upper surface and the lower surface of the supporting platform 4-2 to realize rolling fit; the pushing hydraulic cylinder A4-4-6 is connected with the rear end ground support hydraulic cylinder 4-5-2 at the rear end of the support device 4-5 through a pin; the pushing hydraulic cylinder B4-4-11 is connected with the front end ground support hydraulic cylinder 4-5-4 at the front end of the support device 4-5 through a pin; the supporting platform 4-2, the small roller A4-3-1 and the large roller A4-3-2 on the rear steering track 4-3, the small roller C4-4-1 and the large roller C4-4-2 on the steering mechanism 4-4, and the small roller B4-6-1 and the large roller B4-6-2 on the front steering track 4-6 are matched in a rolling manner, so that the rear steering track 4-3, the steering mechanism 4-4 and the front steering track 4-6 can roll on the supporting platform 4-2.

Referring to fig. 14 and 15, the wall surface supporting system 5 comprises a side surface supporting main beam 5-1, a side surface supporting platform 5-2, a pushing hydraulic cylinder 5-4 and a side surface supporting mechanism 5-3; the wall surface support systems 5 are symmetrically arranged relative to system main beams 1-5 in the suspension support system 1; the following description will be made by taking the ground support system 4 on one side as an example; one ends of two groups of side supporting main beams 5-1 at one side of the system main beams 1-5 in the suspension supporting system 1 are fixed on the system main beams 1-5 in the suspension supporting system 1 through bolts, and the other ends of the two groups of side supporting main beams are fixed on the side supporting platform 5-2 through bolts. The side supporting mechanism 5-3 comprises an upper roller 5-3-1, a lower roller 5-3-6, a fixed table 5-3-2, a wall surface supporting seat 5-3-3, a front end wall supporting hydraulic cylinder 5-3-4 and a rear end wall supporting hydraulic cylinder 5-3-5; the upper roller 5-3-1 is arranged at the upper end of a groove-shaped opening of the fixed table 5-3-2; the lower roller 5-3-6 is arranged in a groove of the groove-shaped opening of the fixed table 5-3-2; the upper roller 5-3-1 and the lower roller 5-3-6 can be buckled with the upper surface and the lower surface of the side supporting platform 5-2 to realize rolling fit; the upper ends of the front end wall supporting hydraulic cylinder 5-3-4 and the rear end wall supporting hydraulic cylinder 5-3-5 are respectively fixed with the fixed table 5-3-2, and the lower ends are respectively connected with the wall surface supporting seat 5-3-3 through pins; the two groups of side supporting mechanisms 5-3 are connected through the pushing hydraulic cylinders 5-4; two ends of the propulsion hydraulic cylinder 5-4 are respectively fixed on the fixed tables 5-3-2 of the two groups of side supporting mechanisms 5-3; the wall surface supporting system 5 is characterized in that the propelling hydraulic cylinder 5-4 can realize that the two side surface supporting mechanisms 5-3 roll on the side surface supporting platform 5-2 alternately.

s1: mounting the whole set of equipment on the laid suspension support system 1;

s2: when the motor 2-3 works, the power system 2 moves on the track 1-3 through the gear transmission system 2-4 to push the system main beam 1-5 connected with the power system to move, so that the support platform 4-2 and the side support platform 5-2 are driven to move together;

s3: a ground support system 4 and a wall support system 5 are respectively arranged on two sides of a system main beam 1-5, the working processes of the systems on the two sides are completely synchronous, and the working process on one side is taken as an example for description. At the beginning of the operation of the whole set of equipment, a front-end ground support hydraulic cylinder 4-5-4, a middle ground support hydraulic cylinder 4-5-3 and a rear-end ground support hydraulic cylinder 4-5-2 in a support device 4-5 are simultaneously supported on a roadway bottom plate; the front end wall supporting hydraulic cylinder 5-3-4 and the rear end wall supporting hydraulic cylinder 5-3-5 are simultaneously supported on the wall surface of the roadway, and the pushing hydraulic cylinder B4-4-11 and the pushing hydraulic cylinder 5-4 are in a contraction state. During operation, the front-end ground support hydraulic cylinder 4-5-4 and the front-end wall support hydraulic cylinder 5-3-4 are contracted, the front steering rail 4-6 connected with the front-end ground support hydraulic cylinder 4-5-4 is pushed to move forwards to a specified position along the support platform 4-2 under the action of the pushing hydraulic cylinder B4-4-11, and meanwhile, the side support mechanism 5-3 connected with the front-end wall support hydraulic cylinder 5-3-4 is pushed to move forwards to a specified position along the side support platform 5-2 under the action of the pushing hydraulic cylinder 5-4. Then, the front end ground support hydraulic cylinder 4-5-4 extends to be supported on the bottom plate of the roadway, and meanwhile, the front end wall support hydraulic cylinder 5-3-4 extends to be supported on the wall surface of the roadway;

s4: the middle ground support hydraulic cylinder 4-5-3 is contracted, then the pushing hydraulic cylinder B4-4-11 is contracted, meanwhile, the pushing hydraulic cylinder A4-4-6 is expanded, the two cylinders act together to enable the chute mechanism A4-3-3 connected with the middle ground support hydraulic cylinder 4-5-3 to move forwards to a designated position along the side support platform 5-2, and then the middle ground support hydraulic cylinder 4-5-3 is expanded to be supported on the roadway bottom plate;

s5: the rear end ground support hydraulic cylinder 4-5-2 and the rear end wall support hydraulic cylinder 5-3-5 are contracted, the rear steering rail 4-3 connected with the rear end ground support hydraulic cylinder 4-5-2 is pulled to move forwards to a specified position along the support platform 4-2 under the action of the pushing hydraulic cylinder A4-4-6, and meanwhile, the rear end wall support hydraulic cylinder 5-3-5 is pulled to move forwards to a specified position along the side support mechanism 5-3 under the action of the pushing hydraulic cylinder 5-4. Then, the rear end ground support hydraulic cylinder 4-5-2 extends to be supported on the bottom plate of the roadway, and meanwhile, the rear end wall support hydraulic cylinder 5-3-5 is supported on the wall surface of the roadway, so that one end of the whole set of equipment is moved; the continuous advance of the whole set of equipment can be realized by repeating the steps.

s1: when the turning function of the whole set of equipment is realized, the front-end ground supporting hydraulic cylinder 4-5-4 is contracted, and the front-end ground supporting hydraulic cylinder 4-5-4 can be driven to swing in the front steering track 4-6 under the action of the telescopic action of the steering hydraulic cylinder B4-4-10, so that the front-end ground supporting hydraulic cylinder 4-5-4 is not positioned on the connecting line of the middle ground supporting hydraulic cylinder 4-5-3 and the rear-end ground supporting hydraulic cylinder 4-5-2, and then the front-end ground supporting hydraulic cylinder 4-5-4 is extended and supported on a roadway bottom plate;

s2: the rear end ground support hydraulic cylinder 4-5-2 contracts and can drive the rear end ground support hydraulic cylinder 4-5-2 to swing in the rear steering track 4-3 under the telescopic action of the steering hydraulic cylinder A4-4-4, so that the rear end ground support hydraulic cylinder 4-5-2, the middle ground support hydraulic cylinder 4-5-3 and the front end ground support hydraulic cylinder 4-5-4 are on the same straight line, and then the front end ground support hydraulic cylinder 4-5-4 extends and is supported on a roadway bottom plate to realize the turning action.

s1: an anchoring robot working platform 3-3 in the anchoring robot system 3 descends to a certain height and keeps parallel to the ground under the combined action of an anchoring robot connecting assembly 3-2, a folding hydraulic cylinder 3-3-3 and a ground supporting hydraulic cylinder 3-3-5 to complete supporting action;

s2: the position and posture of the anchoring robot 3-4 and the anchor rod storage bracket 3-5-1 are adjusted simultaneously, so that one anchor rod in the anchor rod storage bracket 3-5-1 is loaded on the anchor rod drilling machine 3-4-4-2 to finish the action of loading the anchor rod;

s3: the two groups of anchoring robots 3-4 adjust different poses, anchoring operation of the anchor rod drilling machine 3-4-4-2 on different positions of the side face and the top plate of the roadway can be realized, and roadway supporting operation is completed.

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

1. The utility model provides an anchor robot suitable for combine and dig working face complex operating mode which characterized by: comprises a suspension support system, a power system, an anchoring robot system, a ground support system and a wall support 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 anchor support robot; the power system is arranged at the tail end of a system main beam in the suspension support system; the anchoring robot system is arranged at the lower end of a system main beam in the suspension support system; and the ground supporting system and the wall surface supporting system are both fixed on a system main beam in the suspension supporting system above the installation position of the anchoring robot system.

2. The anchoring robot suitable for the complex working conditions of the fully mechanized excavation face of claim 1, wherein: the anchoring robot system comprises a beam arm 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 an upper connecting arm, a lower connecting arm and a connecting hydraulic cylinder group; the upper end of the anchoring robot connecting assembly is connected with the system main beam through a pin; the tail end of the anchoring robot connecting assembly is connected with the anchoring robot working platform through a pin; the anchoring robot working platform comprises a middle working platform, an arm platform connecting hydraulic cylinder, a folding hydraulic cylinder, a connecting rod A, a ground supporting hydraulic cylinder, a connecting rod B, a sliding block, a connecting rod C and a boundary working platform; the anchoring robot working platform is composed of three sections and can realize a folding function.

3. The anchoring robot suitable for the complex working conditions of the fully mechanized excavation face of claim 1, wherein: the ground support system comprises a support main beam, a support platform, a rear steering track, a steering mechanism, a support device and a front steering track; the ground support system is symmetrically arranged about a system main beam in the suspension support system; the rear steering track comprises a small roller A, a large roller A and a chute mechanism A; the small roller A is arranged at the upper end of a groove-shaped opening of the chute mechanism A; the steering mechanism comprises a small roller C, a large roller C, a fixing groove, a steering hydraulic cylinder A, a fixing piece A, a pushing hydraulic cylinder A, a supporting sleeve, a fixing piece B, a steering hydraulic cylinder B, a pushing hydraulic cylinder B, a connecting block A and a connecting block B; and three groups of same supporting devices are arranged on one side of the ground supporting system.

4. The anchoring robot suitable for the complex working conditions of the fully mechanized excavation face of claim 3, wherein: the supporting device comprises a front-end ground supporting hydraulic cylinder, a middle ground supporting hydraulic cylinder, a rear-end ground supporting hydraulic cylinder and a supporting seat; the front steering track is similar to the rear steering track and comprises a small roller B, a large roller B and a chute mechanism B; the small roller B is arranged at the upper end of a groove-shaped opening of the sliding groove mechanism B; the supporting platform is matched with the small roller A and the large roller A on the rear steering track, the small roller C and the large roller C on the steering mechanism, and the small roller B and the large roller B on the front steering track in a rolling manner, so that the rear steering track, the steering mechanism and the front steering track can roll on the supporting platform.

5. The anchoring robot suitable for the complex working conditions of the fully mechanized excavation face of claim 1, wherein: the wall surface supporting system comprises a side surface supporting main beam, a side surface supporting platform, a propelling hydraulic cylinder and a side surface supporting mechanism; the wall support system is symmetrically arranged with respect to a system main beam in the suspension support system.

6. The anchoring robot suitable for the complex working conditions of the fully mechanized excavation face of claim 5, wherein: the side surface supporting mechanism comprises an upper roller, a lower roller, a fixed table, a front end wall supporting hydraulic cylinder, a rear end wall supporting hydraulic cylinder and a wall surface supporting seat; the upper roller is arranged at the upper end of the groove-shaped opening of the fixed table; the lower roller is arranged in a groove of the groove-shaped opening of the fixed table; the upper roller and the lower roller can be buckled with the upper surface and the lower surface of the side supporting platform to realize rolling fit; the upper ends of the front end wall supporting hydraulic cylinder and the rear end wall supporting hydraulic cylinder are fixed with the fixed table, and the lower ends of the front end wall supporting hydraulic cylinder and the rear end wall supporting hydraulic cylinder are connected with the wall surface supporting seat through pins; the two groups of side supporting mechanisms are connected through the pushing hydraulic cylinder; two ends of the pushing hydraulic cylinder are respectively fixed on the fixed tables of the two groups of side supporting mechanisms.

7. An anchoring robot suitable for complex working conditions of a fully mechanized excavation face is characterized in that the advancing process comprises the following steps:

8. An anchoring robot suitable for complex working conditions of a fully mechanized excavation face is characterized in that the turning process characteristic comprises the following steps:

9. The utility model provides an anchor robot suitable for combine and dig complicated operating mode of working face which characterized in that, its anchor fixing process characteristics include following step: