CN111594207A - Integrated equipment with anchor protecting and cooperative operation functions - Google Patents

Abstract

The invention relates to the field of electric equipment of fully-mechanized excavation face machines, in particular to integrated equipment with an anchor protection cooperative operation function. The equipment comprises an empty rail component which is fixedly suspended below a top-supporting U-shaped beam by taking the top-supporting U-shaped beam as an anchor point, wherein the guide direction of the empty rail component is the same as the tunneling direction; the traveling assembly capable of generating reciprocating linear motion along the guide direction of the empty rail assembly is arranged on the empty rail assembly, and a functional part for realizing the drilling and anchoring function and/or the supporting function is arranged on the traveling assembly. The invention has extremely high operation flexibility, has high maneuverability in narrow environment and high adaptability to surrounding environment, and can realize parallel operation effect among all construction processes to the maximum extent.

Description

Integrated equipment with anchor protecting and cooperative operation functions

Technical Field

The invention relates to the field of electric equipment of fully-mechanized excavation face machines, in particular to integrated equipment with an anchor protection cooperative operation function.

Background

Along with the expansion of the production scale of coal mines and the improvement of the coal mining mechanization degree, the production capacity and the propelling speed of a fully mechanized coal mining face are continuously increased, and higher requirements are provided for the speed and the efficiency of digging, anchoring and supporting. At present, the equipment of the heading machine has great breakthrough in function and quality, and the intelligent level and the working efficiency of the product are obviously improved. However, in contrast, anchor support equipment is developed more slowly, and the speed of anchor support work is slower than the speed of roadway excavation, i.e., rapidly excavated roadway cannot be supported in time.

Considering the narrowness of the roadway working surface, in order to realize the parallel operation effect, the existing 'anchor' process mechanical equipment and 'support' process mechanical equipment are integrated on the tunneling machine, so that 'one-machine multi-process' equipment is formed; such devices with multiple processes such as "digging-anchoring-supporting" have become mainstream in the current research and development, and form a series of patents typified by patent numbers "CN 201610836758.8", "cn201720386256. x", "CN 201711288542.3" and even "CN 201920188706.3" and the like. The above-mentioned published patents all disclose that the drilling and anchoring system and the temporary support mechanism are installed on the top of the heading machine, and adopt the ground advancing way of the caterpillar band, and can realize the mechanized operation of 'digging', 'anchoring', 'supporting', and reduce the labor intensity of the coal mine operating personnel and the incidence of casualty accidents of the coal mine operating personnel to a certain extent; however, the drawbacks that it presents remain non-trivial: firstly, the equipment structure is huge, and the application range is limited. According to the existing tunneling, anchoring and protecting all-in-one machine, due to the fact that the drilling and anchoring equipment and the temporary supporting equipment are installed on the tunneling machine, the whole structure of the equipment is complex and large in size, the space of underground roadways of a plurality of coal mines is narrow, the tunneling, anchoring and protecting all-in-one machine is inconvenient in transportation and installation processes, and even some mines cannot use the equipment at all. Secondly, the equipment maneuverability is poor. The known tunneling, anchoring and protecting all-in-one machine adopts a crawler type advancing mode, and the equipment is heavy and has poor ground geological conditions of an underground coal mine roadway, so that the maneuvering performance of the whole equipment in the advancing process is poor, and the operation difficulty of workers is high. Thirdly, the cooperative capability of each sub-component of the equipment is poor, and the overall working efficiency is not high. The above-mentioned disclosed equipment is merely a superposition of simple mechanical structures, and does not fully consider the cooperative work among subsystems; for example, the tunneling and anchor drilling operations of the equipment cannot be performed simultaneously, the speed of the anchor supporting operation is lower than that of the tunneling, and the like, so that the overall working performance of the system cannot be fully exerted, and the overall working efficiency is not high. Finally, the roofbolter is not automated to a high degree. In the disclosed drilling and anchoring equipment, manual operation is needed in the process of installing the anchor rod on the anchor rod drilling machine, on one hand, the manual operation speed is slow, and the working efficiency of drilling and anchoring is influenced; on the other hand, if the manual installation anchor rod is not operated properly, certain potential safety hazard can exist. Based on this, whether can develop a high automation anchor supporting equipment independent of traditional entry driving machine to can combine the country rock characteristic under the novel anchor protection technology, guarantee the high mobility and the high adaptability of device itself, can the maximum realization parallel operation effect between each construction process, the technological problem that awaits the solution in this field in recent years.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the integrated equipment with the anchor protecting and cooperative operation functions, which has a reasonable and practical structure; the equipment has extremely high operation flexibility, has high maneuverability in narrow and small environments and high adaptability to surrounding environments, and can realize the parallel operation effect among all construction processes to the maximum extent.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides an integration is equipped with and protects anchor collaborative work function which characterized in that: the equipment comprises an empty rail component which is fixedly suspended below a top-supporting U-shaped beam by taking the top-supporting U-shaped beam as an anchor point, wherein the guide direction of the empty rail component is the same as the tunneling direction; the traveling assembly capable of generating reciprocating linear motion along the guide direction of the empty rail assembly is arranged on the empty rail assembly, and a functional part for realizing the drilling and anchoring function and/or the supporting function is arranged on the traveling assembly.

Preferably, the empty rail assembly comprises more than one group of rail plates with the plate length direction parallel to the traveling direction of the walking assembly, and each group of rail plates are fixed on the top supporting U-shaped beam of the corresponding group through connecting pieces; the connecting piece comprises an upper hook body and a lower hook body, the upper hook body is hooked in a preset hole of the top support U-shaped beam, the lower hook body is hooked in a prefabricated hole of the track plate, and hook handles of the upper hook body and the lower hook body extend towards each other and then are fixedly connected with each other in a threaded manner; in the advancing direction of the walking assembly, the adjacent end surfaces of the two adjacent groups of track plates are mutually attached and fixedly connected by threads, so that an I-shaped rail-shaped empty rail assembly is formed; the walking assembly comprises a pulley block in rolling fit with the walking assembly, and the walking assembly further comprises a power head for driving the pulley block to reciprocate along the empty rail assembly.

Preferably, in the guiding direction of the walking assembly, two adjacent groups of pulley blocks are fixed with each other through a connecting beam; the upper hook body and the lower hook body are horizontally provided with waist-shaped holes in the hook handle in a penetrating mode, the hole patterns of the waist-shaped holes are vertically arranged in the length direction, and horizontal screws transversely penetrate through the waist-shaped holes in the upper hook body and the lower hook body and then are fixedly connected with fixing nuts in a threaded mode.

Preferably, the walking assembly is fixedly connected with a main beam; the functional part comprises a drilling anchor unit horizontally hinged at one end of the main beam; the drilling and anchoring unit comprises a drilling and anchoring swing arm which is driven by the first hydraulic cylinder group to generate a hinged swinging action relative to the main beam; the bottom end of the drilling and anchoring swing arm inclines towards the tunneling direction and extends, an anchoring robot working platform is arranged at the bottom end, and a drilling and anchoring robot is erected on the anchoring robot working platform; the anchor drilling robot comprises an anchor drilling mechanical arm, and an anchor rod drilling machine for realizing rod installation and anchoring operation is arranged at the working end of the anchor drilling mechanical arm.

Preferably, the drilling anchor swing arm is formed by combining an inclined arm directly hinged with the main beam and a horizontal arm extending horizontally, and the horizontal arm is fixedly connected with the anchoring robot working platform; a transverse guide groove is concavely arranged on the anchoring robot working platform, and a base of the drilling and anchoring robot is clamped in the transverse guide groove and is driven by a driving motor to generate reciprocating linear displacement motion along the guide direction of the transverse guide groove; the device comprises a plurality of inclined arms, a rod body storage rack, a connecting rod and a connecting rod, wherein the rod body storage rack is arranged on at least one side of each inclined arm, is in a squirrel cage shape and comprises flange plates forming two end parts of the squirrel cage and middle connecting rods connecting two groups of the flange plates, the rod length direction of each middle connecting rod is parallel to the length direction of an anchor rod, and the length of each middle connecting rod is smaller than that of the anchor rod; the flange plate is parallel to the length direction of the middle connecting rod and is provided with a threaded hole in a penetrating mode, and the thread pitch of the threaded hole is equal to that of the outer wall of the anchor rod, so that the anchor rod is stored on the rod body storage rack in a screwing mode; the power shaft of the rotating motor horizontally penetrates through the inclined arm and forms a fixed connection matching relation with the rod body storage rack positioned at one side of the inclined arm.

Preferably, the anchoring robot work platform comprises a left plate body, a middle plate body and a right plate body, and the three plate bodies are hinged with each other through a horizontal hinge arranged at the upper plate surface of the anchoring robot work platform; the anchoring robot working platform further comprises a driving hydraulic cylinder which is used for driving the left plate body and the right plate body to generate hinged movement relative to the middle plate body, the cylinder wall of the driving hydraulic cylinder is horizontally hinged to the fixing plate at the lower plate surface of the middle plate body, and the piston rod end of the driving hydraulic cylinder is horizontally hinged to the lower plate surfaces of the left plate body and the right plate body correspondingly.

Preferably, a power groove is further concavely arranged on the bottom surface of the transverse guide groove, the length direction of the power groove is parallel to the length direction of the transverse guide groove, the driving motor is fixedly connected to the base of the drilling and anchoring mechanical arm, and the output shaft vertically extends downwards; the output shaft of the driving motor is fixedly connected with a power gear, the groove wall of the power groove is provided with a rack extending along the length direction of the power groove, and the power gear and the rack form gear tooth meshing fit.

Preferably, the functional part further comprises a palm-type advance support arranged at the head end of the walking assembly; the head end of the walking assembly horizontally extends forwards to form a front beam, and two groups of transverse extension assemblies are symmetrically arranged on two sides of the head end of the front beam; the transverse extension assembly comprises a horizontal hinged plate, one end of the horizontal hinged plate is hinged to a first vertical hinged seat at one side of the head end of the front beam, and the other end of the horizontal hinged plate is provided with a second vertical hinged seat so as to be hinged to the top end of the vertical fixed rod; the transverse stretching assembly further comprises a horizontal piston cylinder, the piston cylinder end of the horizontal piston cylinder is hinged to the front beam through a third vertical hinge base, and the third vertical hinge base is located in front of the first vertical hinge base in the extending direction of the front beam; the piston rod end of the horizontal piston cylinder is hinged to the front side plate surface of the horizontal hinged plate through a fourth vertical hinged seat, so that the horizontal hinged plate is controlled to generate hinged swinging motion along the first vertical hinged seat; a first horizontal hinge seat is arranged on the lower side plate surface of the horizontal hinge plate, a second horizontal hinge seat is arranged on the vertical fixing rod, and a piston rod end and a piston cylinder end of the inclined piston cylinder are correspondingly hinged and matched on the first horizontal hinge seat and the second horizontal hinge seat; and a supporting net with a supporting and blocking function is arranged between two groups of vertical fixing rods on the two groups of transverse stretching assemblies.

Preferably, the rod bodies of the two groups of vertical fixing rods are convexly provided with fixing piles, and the fixing piles are uniformly distributed along the length direction of the corresponding vertical fixing rods in sequence so as to be convenient for hanging and installing the supporting net.

Preferably, the drill anchor unit is arranged at the rear end of the main beam, and the equipment further comprises an auxiliary carrying assembly positioned at the front end of the main beam; the auxiliary carrying assembly comprises a carrying swing arm horizontally hinged at the front end of the main beam, the carrying swing arm is driven by the second hydraulic cylinder group to generate a hinged swinging action relative to the main beam, and swinging planes of the carrying swing arm and the drill anchor swing arm are overlapped or parallel to each other; the bottom end of the conveying swing arm extends towards the tunneling direction in an inclined mode, the bottom end of the conveying swing arm is provided with a conveying table, the front end of the conveying table is provided with a conveying mechanical arm, and a conveying clamping hand is arranged at the working end of the conveying mechanical arm; and a storage hook for placing materials is arranged on the carrying swing arm.

The invention has the beneficial effects that:

1) the problem that the traditional anchor protecting equipment is required to be installed on a ground tunneling system, and the tunneling and anchor protecting actions cannot be coordinated and unified is solved. The invention skillfully establishes a track system by taking the top-supported U-shaped beam inevitably existing in the existing roadway as an anchor point: on one hand, by utilizing a suspension type rail transportation mode, not only is a great updating flow not needed, but also the device transition method is more suitable for realizing the device transition under low cost; meanwhile, the whole working platform can advance without being influenced by the ground conditions of the roadway, the working platform has the advantages of high advancing speed, good turning performance and compact space structure, the vacant space on the upper portion of the roadway is utilized for transporting equipment, the equipment is obviously more beneficial to being used in narrow mine roadways, and the working platform obviously has a very wide application range. On the other hand, considering that the tunneling and anchor protecting actions are usually performed in tandem, the functional part, namely the supporting component and/or the drilling and anchoring unit are completely separated from the tunneling equipment and independently exist, the working process is not completely performed by the rhythm of the tunneling equipment, the working rhythm of the functional part can be achieved, the anchor protecting process can be performed more stably and reliably, and therefore the anchor protecting system is more suitable for the existing tunneling and anchor protecting system.

In conclusion, the invention realizes the autonomous working capability of the anchor support equipment separated from the tunneling equipment by taking the existing and inevitable top support U-shaped beam as the anchor point and taking the empty rail assembly and the walking assembly as the action matrix. The invention can independently carry out anchor supporting operation while the tunneling operation is carried out. In addition, each functional part of the invention is arranged on the empty rail component on the top plate of the roadway, the occupied relative space of the roadway is less, each sub-component can fully utilize the position of the roadway to carry out multi-process comprehensive cooperative work, and the working efficiency of the whole digging and protecting anchor system can be obviously improved.

2) For the air rail assembly, the air rail assembly can be realized through various implementation structures when in practical use, such as a traditional sliding rail mechanism and even a magnetic track structure. The invention realizes the connection of the empty rail component relative to the pulley block by adopting the I-shaped rail, is matched on the empty rail component in a rolling way through the pulley block, and is driven by the driving wheel of the power head such as a sliding rail motor and the like, thereby realizing the self-walking and self-locking functions of the whole walking component. It should be noted that the whole empty rail assembly of the present invention is formed by connecting and matching a plurality of independent sets of rail plates end to end, and each set of rail plates are correspondingly hooked on the corresponding top end supporting U-shaped beam through connecting pieces. Like this, during actual work, U type roof beam and the fixed of realization suspension type are strutted through the top to every group track board homoenergetic, and can guarantee each orderly cooperation through the mode of end to end joint assembly again between every group track board. When the tunneling device continuously tunnels and expands the roadway space, a new track plate is hung on a new top-supporting U-shaped beam, and then the assembly operation of the new track plate and the head end of the whole empty rail assembly is carried out, so that the normal running of the walking assembly is ensured by prolonging the length of the empty rail assembly on line, and finally the synchronism of the suspended tunneling device and the ground tunneling process is ensured. When necessary, the slide rail motor selects the frequency conversion all-in-one machine for use to realize the intelligence in the aspect and open and stop the function.

3) And for the functional part, the functional part comprises a drilling and anchoring unit for realizing drilling and anchoring operation, so that the online anchoring effect of the top supporting U-shaped beam at the top end of the roadway is ensured. The drilling and anchoring unit achieves the temporary storage effect of the anchor rod through the rod body storage rack located at the inclined arm, then achieves the controllable overturning function of the rotating position of the rod body storage rack through the rotating motor, then guarantees the pitching and lifting states of the anchor rod drilling machine through the drilling and anchoring mechanical arm, achieves the self-rod taking effect of the anchor rod drilling machine relative to the rod body storage rack through the driving function of the driving motor, and finally achieves the automation of the whole drilling and anchoring operation. During actual work, attention needs to be paid, the driving motor drives the drilling and anchoring mechanical arm and drives the jumbolter to move to the side of the current rod storage rack when the jumbolter horizontally moves along the anchoring robot working platform; at the moment, the anchor drilling mechanical arm can drive the anchor rod drilling machine to be in a horizontal state, so that a feeding hole of the anchor rod drilling machine and a corresponding anchor rod at a rod body storage rack which is horizontally arranged after being rotated are in a coaxial state, and a rotary table of the anchor rod drilling machine can conveniently rotate to feed materials and clamp the anchor rod.

4) For the anchoring robot working platform, the three groups of sub-plate bodies are matched in a hinged mode, and the driving hydraulic cylinders are matched, so that the purposes of controllable expansion and contraction of the anchoring robot working platform can be achieved. Collapsible anchor robot work platform, the cooperation can produce the anchor swing arm that bores of every single move articulated action under the drive of first pneumatic cylinder group, has effectively ensured the whole scalable effect of boring the anchor unit, and very convenient tunnel environment in narrow and small space uses.

5) And on the basis of the structure, the functional part also comprises a palm type advance support. The palm type advance support of the invention is not a fixed support structure, and the fixed structure is proved to be difficult to normally use in a narrow roadway environment. The invention adopts palm type advanced support similar to the retraction of human palms, so that the palm type advanced support can be opened like a human palm when in use, thereby playing a role in supporting and shielding; when in idle state such as transportation along a roadway, the device can be tightly held like a palm of a human body so as to achieve the effect of minimizing the volume, the whole structure is more compact and reasonable, and the device is reliable and stable in operation. It should be noted that the palm-type advance support of the invention can simulate a human palm according to the extension range of each extension component to realize the function of online change of different ranges, angles and shielding areas, and is obviously more suitable for roadways with complex environments.

6) For the supporting net, the invention preferably adopts a hanging mode, namely the supporting net can be directly hung on a fixed pile of the vertical fixed rod on site. Through the hanging mode, the support net is convenient and fast to assemble, once the support net is damaged due to the problems of use and the like on site, efficient maintenance, disassembly and assembly can be carried out on site, the humanization degree is high, and the use is flexible and convenient.

7) The main beam is actually a horizontal beam structure which is fixed on the walking assembly and the length direction of the horizontal beam structure is parallel to the tunneling direction. The tail end of the main beam is fixed with the drilling and anchoring unit, and the head end of the main beam is fixed with the auxiliary carrying assembly; the assembling position of each unit relative to the main beam can be properly adjusted during actual assembly. Similar with boring anchor unit, supplementary transport subassembly is also through the swing arm structure that the slope extends, and the cooperation second hydraulic cylinder group realizes the shrink of relative girder and extends the action to guarantee the retractility of overall structure, the tunnel of being convenient for uses. The arrangement of the storage hook is beneficial to realizing the effect of quickly carrying materials outside the roadway into the roadway, and the storage hook can be used as a temporary storage rack; the carrying mechanical arm with the carrying clamping hand can be used as automatic carrying equipment for replacing manpower as the name suggests, and obviously can effectively improve the efficiency of field carrying.

Drawings

FIG. 1 is a schematic view of an assembly structure of the present invention;

FIGS. 2 and 3 are perspective views of the relative positions of the traveling assembly, the empty rail assembly and the top end support U-shaped beam;

FIG. 4 is a perspective view of the connection of the track slab relative to the top end support U-beam;

FIG. 5 is a schematic perspective view of the pulley block;

FIG. 6 is a schematic perspective view of the power head;

FIG. 7 is a perspective view of one embodiment of a brake assembly;

FIG. 8 is a perspective view of the drill-anchor unit;

FIG. 9 is a schematic view of an assembled configuration of the rod storage rack with respect to the tilt arm;

FIG. 10 is a perspective view of the rod storage rack;

FIG. 11 is an assembled perspective view of the anchoring robot work platform, the drill and anchor robotic arms, and the jumbolter;

FIG. 12 is a diagram illustrating the operation of the anchoring robot, the drilling and anchoring arms, and the jumbolter when the anchoring robot is in a retracted state;

fig. 13 is a schematic perspective view of the palm type advance support in a normal working state;

fig. 14 is a schematic perspective view of the palm type advance support in a retracted state;

FIG. 15 is a perspective view of the auxiliary handling assembly;

FIG. 16 is a view showing the engagement of the transfer robot and the transfer gripper;

fig. 17 is a perspective view of the carrying gripper.

The specific meanings of the reference symbols in the drawings are as follows:

a-top end support U-shaped beam b-anchor rod

10-air rail assembly

11-track plate 12 a-upper hook body 12 b-lower hook body 12 c-waist-shaped hole

20-running assembly

21-power head 22-pulley block 23-connecting beam

30-girder 40-drill anchor unit

41-drill anchor swing arm 42-first hydraulic cylinder group

43-anchoring robot working platform 431-left plate body 432-middle plate body

433-right plate body 434-driving hydraulic cylinder 435-fixing plate

43 a-transverse guide groove 43 b-drive motor 43 c-power groove

43 d-Power Gear 43 e-Rack

44-rod body storage rack 44 a-flange plate 44 b-threaded hole

44 c-intermediate connecting rod 44 d-rotating electric machine

45-drilling and anchoring robot 451-jumbolter 452-drilling and anchoring mechanical arm

50-palm type advance support

51-front beam 52-horizontal hinged plate 53-horizontal piston cylinder

54-plumb fixed rod 54 a-fixed pile 55-supporting net

56 a-first vertical hinge base 56 b-second vertical hinge base

56 c-third vertical hinge base 56 d-fourth vertical hinge base

56 e-first horizontal hinge base 56 f-second horizontal hinge base

57-oblique piston cylinder

60-auxiliary handling assembly

61-carrying swing arm 62-second hydraulic cylinder group 63-carrying platform

64-handling robot 65-handling gripper 66-storage hook

Detailed Description

For ease of understanding, the specific construction and operation of the invention is described further herein as follows:

the specific implementation structure of the present invention can be seen from fig. 1 to 17, which are three-dimensional anchor protection systems formed by using a top support U-shaped beam a as an anchor point, and matching with an empty rail assembly 10, a traveling assembly 20, a drill-anchor unit 40, an auxiliary carrying assembly 60 and a palm-type advance support 50. In actual use, the functional unit may be configured to autonomously form a specific three-dimensional system by using another functional structure. As for the specific embodiment of fig. 1-17, the three-dimensional anchor protecting system of the present invention is completely independent of the tunneling equipment, and has an independent work rhythm, and occupies less relative space of the roadway, and each sub-component can fully utilize the position of the roadway to perform a multi-process comprehensive cooperative work, so that the work efficiency of the system can be significantly improved.

As shown in fig. 1, the top-supporting U-shaped beam a is fixed to the top end of the roadway by an anchor rod b, so as to provide a force application point for the whole working platform of the invention. The palm type advance support 50 is arranged at the front end of the walking assembly 20; the drill anchor unit 40 is arranged in the middle of the walking assembly 20; the auxiliary carrying assembly 60 is arranged on the walking assembly 20 between the palm-type advance support 50 and the drill-anchor unit 40, so that the coordination work effect can be better realized.

The structures of the various parts of the present invention are described below:

air rail assembly 10

Referring to fig. 1-7, the empty rail assembly 10 is formed by assembling a plurality of rail plates 11 in an end-to-end manner in the heading direction. During actual work, the connection end of each track slab 11 can be assembled through threads, mortise and tenon joints or even welded joints, so that the purpose of convenient online assembly is achieved.

For a specific configuration of the track plate 11, see fig. 4. The prefabricated holes are arranged above the track plate 11, so that the prefabricated holes at the track plate 11 and the preset holes at the top supporting U-shaped beam a are respectively hooked by utilizing the connection relation of the connecting pieces, and finally, the suspension type installation function of the whole empty track assembly 10 is realized. Furthermore, waist-shaped holes 12c are horizontally arranged at the hook handles of the upper hook body 12a and the lower hook body 12b in a penetrating manner, the length direction of the hole pattern of each waist-shaped hole 12c is vertically arranged, and a horizontal screw transversely penetrates through the waist-shaped holes 12c at the upper hook body 12a and the lower hook body 12b and then forms thread fixedly connected matching with a fixed nut; therefore, after actual assembly, the length of the connecting piece can be manually controlled through the adjusting function of the waist-shaped hole 12c, and the purpose of adjusting the height adaptability of the air rail assembly 10 can be achieved according to the characteristics of the current roadway.

Second, walking assembly 20

The walking assembly 20 is configured as shown in fig. 1-3 and 4-6. The walking assembly 20 comprises pulley blocks 22 and a connecting beam 23 connecting the adjacent pulley blocks 22, and a power head 21 is arranged at the pulley block 22 at the tail end to realize the power-stop function of the walking assembly 20. If necessary, the brake assembly can also be arranged as shown in fig. 6 to better achieve the braking effect of the whole walking assembly 20. The walking assembly 20 is further provided with a main beam 30 and a front beam 51 so as to install a plurality of functional parts.

For the power head 21, it generally includes a driving wheel and a slide rail motor for driving the driving wheel to rotate; and more particularly, to a slide rail motor, a motor base, a gear reducer and a main power cart. The slide rail motor is installed on the motor base through the bolt, and the motor base is connected with the main power trolley through the bolt and is installed on the air rail component 10. When the walking assembly works, the sliding rail motor rotates and decelerates through the gear reducer, then power is transmitted to the driving wheel at the position of the main power trolley, and then the driving wheel rotates and rolls along the empty rail assembly 10, so that power can be provided for the whole walking assembly 20. When necessary, the slide rail motor can be according to its output's of actual tunnel automatically regulated size to guarantee that whole subassembly can steady operation all the time when climbing and turning. For the brake assembly, as shown in fig. 7, the brake assembly includes four small moving wheels, four brake pads, a group of brake integral supports, a group of brake moving supports, and a group of brake hydraulic systems; during actual work, the brake hydraulic system is started, and the four brake pads are driven by the brake motion support to extrude the rail surface of the empty rail assembly 10, so that the purpose of braking is achieved. Of course, the power head 21 and the brake assembly may also be directly constructed by commercially available components, and the independent action effect can be achieved, which is not described herein.

Three, drill anchor unit 40

The actual construction of the drill-anchor unit 40 can be seen with reference to fig. 1 and 8-12. The drill and anchor unit 40 includes a first hydraulic cylinder group 42, a drill and anchor swing arm 41, a rod body storage rack 44, an anchoring robot work platform 43, and a drill and anchor robot 45 formed by a combination of a drill and anchor robot arm 452 and an anchor drilling machine 451. Wherein:

the top end of the drill anchor swing arm 41 is horizontally hinged to the tail end of the main beam 30, and the other end of the drill anchor swing arm is fixedly connected with the anchoring robot working platform 43 directly or through a hinged structure. The first hydraulic cylinder group 42 functions to drive the drill anchor swing arm 41 to produce a hinged swinging action relative to the main beam 30, which can be achieved entirely using conventional hydraulic arrangements. In the configuration shown in fig. 1, the present invention provides an implementation of a hydraulic cylinder set similar to the second hydraulic cylinder set 62 for the subsequent auxiliary handling assembly, and is described herein together with: taking the drill anchor swing arm 41 as an example, the whole hydraulic cylinder group comprises two sets of drill anchor hydraulic cylinders, wherein one ends of the two sets of drill anchor hydraulic cylinders are installed at the top end of the drill anchor swing arm 41 through pins, and the other ends of the two sets of drill anchor hydraulic cylinders are installed on the main beam 30 through pins. The connection points of the two groups of hydraulic cylinder groups relative to the drill anchor swing arm 41 are respectively arranged on two sides of the axis of the pin hinged to the top end of the drill anchor swing arm 41 so as to conveniently realize the controllable effect of the drill anchor swing arm 41, and the specific assembly mode can be shown in fig. 1; when the hydraulic drilling anchor swinging arm device works, the controllable swinging function of the drilling anchor swinging arm 41 relative to the main beam 30 can be realized through the push-pull action of the two groups of hydraulic cylinder groups.

The drill and anchor robot 452, in conjunction with the jumbolter 451, is conventionally assembled. The invention provides a novel full-automatic anchor rod b assembly mode, which is characterized in that: a set of rod storage shelves 44 are arranged at both sides of the tilting arm of the drill anchor swing arm 41, respectively. The rod body storage rack 44 is composed of two sets of flange plates 44a with threaded holes 44b and a plurality of sets of intermediate connecting rods 44 c. When the anchor bar b is stored, the anchor bar b is directly screwed into the threaded hole 44b, so that the temporary storage function of the anchor bar b is realized as shown in fig. 8. When the anchor rod b is required by the anchor drilling machine 451, the entire anchor drilling robot arm 452 is displaced laterally relative to the lateral guide groove 43a and the power groove 43c of the anchor robot work platform 43 by the operation of the driving motor 43b as shown in fig. 11. Then, the coaxiality of the feeding hole of the anchor drilling machine 451 and the anchor rod b at the rod storage rack 44 which is rotationally adjusted by the rotating motor 44d can be ensured in cooperation with the automatic adjustment of the anchor drilling mechanical arm 452. Subsequently, the turret of the anchor drilling machine 451 is linearly displaced in the direction of the anchor b and simultaneously performs a self-rotation function, so that the end of the anchor b exposed from the rod storage rack 44 can be screwed into the turret. Then, the turret continues to rotate to move in a reverse linear direction, and the anchor rod b is screwed out of the rod storage rack 44. Finally, the driving motor 43b acts to reset the drilling and anchoring mechanical arm 452, and the drilling and anchoring mechanical arm 452 can be matched with the anchor rod drilling machine 451, so that the conventional installation function of the roadway top anchor rod b is realized.

Before the drilling and anchoring unit 40 works, the left plate body 431, the middle plate body 432 and the right plate body 433 can be unfolded and combined to form the anchoring robot working platform 43 by controlling the driving hydraulic cylinder 434 in the drilling and anchoring unit 40, so that a transverse displacement space of the drilling and anchoring mechanical arm 452 is provided, and finally the jumbolter 451 can be always correspondingly positioned at the discharge position of the corresponding rod storage rack 44. After the automatic rod installing process is completed, the anchor drilling machine 451 can be remotely controlled, so that the anchor rod b penetrates through the mounting hole in the top-end support U-shaped beam a, and the anchoring action is completed.

Therefore, the drilling and anchoring unit 40 can independently perform rod installing and anchoring operation, manual operation is not needed in the whole process, and the automation degree can be effectively guaranteed.

Fourth, auxiliary carrying assembly 60

The structure of the auxiliary carrying assembly 60 can be seen in fig. 1 and 15-17.

The auxiliary carrying assembly 60 is arranged to simply realize the on-line material transportation effect instead of manual carrying. The auxiliary handling assembly 60 is similar to the drill and anchor unit 40 and includes a handling swing arm 61 and a second hydraulic cylinder group 62 for driving the handling swing arm 61 to produce a hinged swinging motion relative to the main beam 30. A plurality of storage hooks 66 are arranged on the carrying swing arm 61, so that the effect of quickly carrying materials outside the roadway into the roadway is facilitated, and the carrying swing arm can be used as a material storage rack. The carrying mechanical arm 64 with the carrying clamping hands 65 can be used as automatic carrying equipment for replacing manpower, so that the material carrying effect in a roadway is realized, and the efficiency of field carrying can be obviously improved.

Five, palm type advance support 50

The specific structure of the palm type advance support 50 can be seen in fig. 1 and 13 to 14. Fig. 13 is a schematic structural diagram of the palm-type advance support 50 in an expanded state, that is, in a normal working state, which shows an advance shielding effect thereof to prevent production accidents caused by factors such as falling rocks; fig. 1 and 14 are schematic structural views of the palm-type advance support 50 in a retracted state, in which the entire palm-type advance support 50 is retracted like a hand to ensure that the volume is minimized and the rapid movement along a narrow roadway is facilitated.

More specifically, the palm type advance support 50 includes a front beam 51 extending forward from the head end of the running assembly. The front end of the front beam 51 is provided with two groups of transverse stretching components and one group of oblique stretching components. The transverse stretching assembly comprises a horizontal hinge seat 52 and a horizontal piston cylinder 53, one end of the horizontal hinge seat 52 is hinged on a first vertical hinge seat 56a at one side of the head end of the front beam 51, and the other end of the horizontal hinge seat 52 is provided with a second vertical hinge seat 56b so as to be hinged on the top end of the vertical fixing rod 54. The piston cylinder end of the horizontal piston cylinder 53 is hinged to the front beam 51 through a third vertical hinge seat 56c, and the third vertical hinge seat 56c is located in front of the first vertical hinge seat 56a in the extending direction of the front beam 51. The piston rod end of the horizontal piston cylinder 53 is hinged to the front side plate surface of the horizontal hinge seat 52 through a fourth vertical hinge seat 56d, so that the horizontal hinge seat 52 is controlled to generate a hinge swinging motion along the first vertical hinge seat 56 a. The diagonal extension assembly includes a diagonal piston cylinder 57; the lower side plate surface of the horizontal hinge seat 52 is provided with a first horizontal hinge seat 56e, the vertical fixing rod 54 is provided with a second horizontal hinge seat 56f, and the piston rod end and the piston cylinder end of the inclined piston cylinder 57 are correspondingly hinged and matched on the first horizontal hinge seat 56e and the second horizontal hinge seat 56 f. As shown in fig. 13 to 14, a support net 55 functioning as a support blocking function is disposed between two sets of vertical fixing rods 54.

In practical operation, it is considered that the fixing piles 54a are protruded from the shaft bodies of the two vertical fixing rods 54, and the fixing piles 54a are uniformly distributed along the length direction of the corresponding vertical fixing rods 54 in order to hang the supporting net 55 formed by weaving a rope with certain flexibility. In operation the expansion assemblies are deployed and the support screen 55 is in tension as shown in figure 13 to provide protection for personnel and/or equipment. By adjusting the expansion range of each expansion component, the palm-type advance support 50 can automatically adjust the expansion degree according to the space of the underground roadway, and finally has a self-adaptive, flexible and accurate and coordinated temporary protection function.

To facilitate a further understanding of the present invention, the specific workflow of the present invention is set forth herein below in conjunction with FIGS. 1-17:

the working process comprises the following steps:

s1: the air rail assembly 10 and the traveling assembly 20 are sequentially installed on the basis of the conventional top end support U-shaped beam a, and the main beam 30, the drill-anchor unit 40, the auxiliary carrying assembly 60, and the palm type advance support 50 are installed one by one on the traveling assembly 20 as shown in fig. 1. The power head 21 at the walking component 20 drives the walking component 20 to reciprocate along the empty rail component 10, so as to push the main beam 30 connected with the walking component, thereby realizing the motion function of the whole workbench.

S2: after the whole working platform runs to a designated working position, the walking assembly 20 brakes to ensure that relative movement of relevant equipment on the air rail assembly 10 does not exist. Each extending component on the palm-type advance support 50 starts to operate, so as to drive the support net 55 to expand by a specific range, and complete the protection operation.

S3: the second hydraulic cylinder bank 62 of the auxiliary transfer assembly 60 is actuated to adjust the auxiliary transfer assembly 60 to a height convenient for operation of the transfer robot 64. At the same time, the first hydraulic cylinder group 42 in the drill-anchor unit 40 is actuated to adjust the drill-anchor robot 452 to the proper working height. Subsequently, the hydraulic cylinder 434 is driven to operate, so that the anchoring robot working platform 43 shown in fig. 12 is completely unfolded to form a whole plate as shown in fig. 11. The rod storage rack 44 is driven by the rotating motor 44d shown in fig. 9 to rotate to a horizontal position, and the anchor drilling mechanical arm 452 simultaneously drives the anchor drilling machine 451 to swing by a certain angle, so that the anchor rod mounting hole, i.e., the feeding hole, in the middle of the tail end of the anchor drilling machine is coaxially aligned with the anchor rod b on the rod storage rack 44. Thereafter, the anchor drilling machine 451 is operated so that the anchor b is screwed out of the rod storage rack 44 and into the anchor drilling machine 451, thereby completing the automatic rod installation process.

S4: the handling robot 64 at the auxiliary handling assembly 60 grips the top support U-beam a on the storage hook 66 to a roadway specific position by means of the handling gripper 65. The anchor drilling machine 451 operates to make the anchor rod b pass through the mounting hole on the top support U-shaped beam a to act on the top plate of the roadway, thereby completing the anchoring operation. The carrying gripper 65 then grips other parts for rail transportation such as the connecting members and the rail plates 11 on the storage hook 66 or the carrying table 63, and mounts them one by one on the top end support U-shaped beam a, and abuts against the previously mounted rail plates 11, thereby completing the anchoring and rail laying process.

After the above-mentioned work flow is completed, the palm-type forepoling 50, the auxiliary carrying assembly 60 and the hydraulic system for adjusting the shape in the drill-anchor unit 40 drive the corresponding devices to contract, such as the carrying swing arm 61 and the drill-anchor swing arm 41 are lifted and the palm-type forepoling 50 retracts, and then the stop state of the walking assembly 20 is released, the whole set of equipment is driven to move forward again, and the above-mentioned steps are repeated to perform the operation.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, 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 and equivalents 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, for example, the walking assembly 20 may adopt other sliding displacement assemblies, the power head 21 adopts belt transmission instead of driving wheel driving, even the connecting member adopts a fixed rod instead of hook-shaped structure, etc., and such conventional techniques on the basis of the above structures shall be covered by the scope of the claims of the present invention.

Claims (10)

1. The utility model provides an integration is equipped with and protects anchor collaborative work function which characterized in that: the equipment comprises an empty rail component (10) which is fixedly suspended below a top-supporting U-shaped beam by taking the top-supporting U-shaped beam as an anchor point, wherein the guide direction of the empty rail component (10) is the same as the tunneling direction; the air rail assembly (10) is provided with a walking assembly (20) capable of generating reciprocating linear motion along the guiding direction of the air rail assembly (10), and the walking assembly (20) is provided with a functional part for realizing the drilling and anchoring function and/or the supporting function.

2. The integrated equipment with the anchor protecting and cooperative operation function as claimed in claim 1, wherein: the empty rail assembly (10) comprises more than one group of rail plates (11) with the plate length direction parallel to the advancing direction of the walking assembly (20), and each group of rail plates (11) is fixed on the corresponding group of top end support U-shaped beams through connecting pieces; the connecting piece comprises an upper hook body (12a) and a lower hook body (12b), the upper hook body (12a) is hooked in a preset hole of the top end support U-shaped beam, the lower hook body is hooked in a prefabricated hole of the track plate (11), and hook handles of the upper hook body (12a) and the lower hook body (12b) extend towards each other and then are fixedly connected with each other in a threaded mode; in the advancing direction of the walking assembly (20), the adjacent end surfaces of the two adjacent groups of track plates (11) are mutually attached and fixedly connected in a threaded manner, so that an I-shaped rail-shaped empty rail assembly (10) is formed; the walking assembly (20) comprises a pulley block (22) in rolling fit with the walking assembly (20), and the walking assembly (20) further comprises a power head (21) for driving the pulley block (22) to reciprocate along the empty rail assembly (10).

3. The integrated equipment with the anchor protecting and cooperative operation function as claimed in claim 2, wherein: in the guiding direction of the walking assembly (20), two adjacent groups of pulley blocks (22) are fixed with each other through a connecting beam (23); the upper hook body (12a) and the lower hook body (12b) are horizontally provided with a waist-shaped hole (12c) in a penetrating way at the hook handle, the hole type length direction of the waist-shaped hole (12c) is vertically arranged, and a horizontal screw transversely penetrates through the waist-shaped hole (12c) at the upper hook body (12a) and the lower hook body (12b) and then is fixedly connected with a fixing nut in a threaded way.

4. The integrated equipment with the function of protecting and anchoring cooperative work according to claim 1, 2 or 3, characterized in that: a main beam (30) is fixedly connected to the walking component (20); the functional part comprises a drilling anchor unit (40) horizontally hinged at one end of the main beam (30); the drilling and anchoring unit (40) comprises a drilling and anchoring swing arm (41), and the drilling and anchoring swing arm (41) is driven by a first hydraulic cylinder group (42) to generate hinged swinging motion relative to the main beam (30); the bottom end of the drilling and anchoring swing arm (41) inclines towards the tunneling direction and extends, an anchoring robot working platform (43) is arranged at the bottom end, and a drilling and anchoring robot (45) is erected on the anchoring robot working platform (43); the drilling and anchoring robot (45) comprises a drilling and anchoring mechanical arm (452), and an anchor rod drilling machine (451) used for realizing rod loading and anchoring operation is arranged on the working end of the drilling and anchoring mechanical arm (452).

5. The integrated equipment with the anchor protecting and cooperative operation function as claimed in claim 4, wherein: the drilling anchor swing arm (41) is composed of an inclined arm directly hinged with the main beam (30) and a horizontal arm extending horizontally, and the horizontal arm is fixedly connected with the anchoring robot working platform (43); a transverse guide groove (43a) is concavely arranged on the anchoring robot working platform (43), the base of the drilling and anchoring robot is clamped in the transverse guide groove (43a), and the drilling and anchoring robot is driven by a driving motor (43b) to generate reciprocating linear displacement motion along the guide direction of the transverse guide groove (43 a); at least one side of the inclined arm is provided with a rod body storage rack (44), the rod body storage rack (44) is in a squirrel cage shape and comprises flange plates (44a) forming two end parts of the squirrel cage and middle connecting rods (44c) connecting the two groups of flange plates (44a), the rod length direction of each middle connecting rod (44c) is parallel to the length direction of the anchor rod, and the length of each middle connecting rod (44c) is smaller than that of the anchor rod; a threaded hole (44b) is formed in the flange plate (44a) in a penetrating mode in parallel to the length direction of the middle connecting rod (44c), and the thread pitch of the threaded hole (44b) is equal to that of the outer wall of the anchor rod, so that the anchor rod is stored on the rod body storage rack (44) in a screwing mode; the tilting arm is internally provided with a rotating motor (44d), and a power shaft of the rotating motor (44d) horizontally penetrates through the tilting arm and forms a fixed connection matching relation with the rod body storage rack (44) positioned at one side of the tilting arm.

6. The integrated equipment with the anchor protecting and cooperative operation function as claimed in claim 5, wherein: the anchoring robot working platform (43) comprises a left plate body (431), a middle plate body (432) and a right plate body (433), and the three groups of plate bodies are hinged to each other through a horizontal hinge arranged on the upper plate surface of the anchoring robot working platform (43); the anchoring robot working platform (43) further comprises a driving hydraulic cylinder (434) used for driving the left plate body (431) and the right plate body (433) to generate hinged movement relative to the middle plate body (432), the cylinder wall of the driving hydraulic cylinder (434) is horizontally hinged to a fixing plate (435) on the lower plate surface of the middle plate body (432), and the piston rod end of the driving hydraulic cylinder (434) is horizontally hinged to the lower plate surface of the corresponding left plate body (431) and the right plate body (433).

7. The integrated equipment with the anchor protecting and cooperative operation function as claimed in claim 6, wherein: a power groove (43c) is further concavely arranged on the bottom surface of the transverse guide groove (43a), the groove length direction of the power groove (43c) is parallel to the groove length direction of the transverse guide groove (43a), a driving motor (43b) is fixedly connected to the base of the drilling and anchoring mechanical arm (452), and an output shaft vertically extends downwards; the output shaft of the driving motor (43b) is fixedly connected with a power gear (43d), the groove wall of the power groove (43c) is provided with a rack (43e) in an extending mode along the groove length direction of the power groove (43c), and the power gear (43d) and the rack (43e) form gear tooth meshing fit.

8. The integrated equipment with the function of protecting and anchoring cooperative work according to claim 1, 2 or 3, characterized in that: the functional part also comprises a palm-type forepoling (50) arranged at the head end of the walking assembly (20); the head end of the walking assembly (20) horizontally extends forwards to form a front beam (51), and two groups of transverse extension assemblies are symmetrically arranged on two sides of the head end of the front beam (51); the transverse stretching assembly comprises a horizontal hinge plate (52), one end of the horizontal hinge plate (52) is hinged on a first vertical hinge seat (56a) at the side of the head end of the front beam (51), and the other end of the horizontal hinge plate (52) is provided with a second vertical hinge seat (56b) so as to hinge the top end of the vertical fixing rod (54); the transverse stretching assembly further comprises a horizontal piston cylinder (53), the piston cylinder end of the horizontal piston cylinder (53) is hinged to the front beam (51) through a third vertical hinge base (56c), and in the extending direction of the front beam (51), the third vertical hinge base (56c) is located in front of the first vertical hinge base (56 a); the piston rod end of the horizontal piston cylinder (53) is hinged on the front side plate surface of the horizontal hinge plate (52) through a fourth vertical hinge seat (56d), so that the horizontal hinge plate (52) is controlled to generate a hinge swinging action along the first vertical hinge seat (56 a); a first horizontal hinge seat (56e) is arranged on the lower side plate surface of the horizontal hinge plate (52), a second horizontal hinge seat (56f) is arranged on the vertical fixing rod (54), and the piston rod end and the piston cylinder end of the inclined piston cylinder (57) are correspondingly hinged and matched on the first horizontal hinge seat (56e) and the second horizontal hinge seat (56 f); and a supporting net (55) with a supporting and blocking function is arranged between two groups of vertical fixing rods (54) on the two groups of transverse stretching assemblies.

9. The integrated equipment with the anchor protecting and cooperative operation function as claimed in claim 8, wherein: the rod body of the two groups of vertical fixing rods (54) is convexly provided with fixing piles (54a), and the fixing piles (54a) are uniformly distributed along the rod length direction of the corresponding vertical fixing rods (54) in sequence so as to be convenient for hanging and installing the supporting net (55).

10. The integrated equipment with the anchor protecting and cooperative operation function as claimed in claim 4, wherein: the drilling and anchoring unit (40) is arranged at the rear end of the main beam (30), and the equipment further comprises an auxiliary handling assembly (60) positioned at the front end of the main beam (30); the auxiliary carrying assembly (60) comprises a carrying swing arm (61) horizontally hinged at the front end of the main beam (30), the carrying swing arm (61) is driven by a second hydraulic cylinder group (62) to generate hinged swinging motion relative to the main beam (30), and swinging planes of the carrying swing arm (61) and the drill anchor swing arm (41) are coincident with each other or parallel to each other; the bottom end of the conveying swing arm (61) extends towards the tunneling direction in an inclined mode, a conveying table (63) is arranged at the bottom end of the conveying swing arm, a conveying mechanical arm (64) is arranged at the front end of the conveying table (63), and a conveying clamping hand (65) is arranged at the working end of the conveying mechanical arm (64); and a storage hook (66) for placing materials is arranged on the carrying swing arm (61).

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