CN112012773B - Intelligent tunneling robot system for coal mine - Google Patents
Intelligent tunneling robot system for coal mine Download PDFInfo
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- CN112012773B CN112012773B CN202010689272.2A CN202010689272A CN112012773B CN 112012773 B CN112012773 B CN 112012773B CN 202010689272 A CN202010689272 A CN 202010689272A CN 112012773 B CN112012773 B CN 112012773B
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- 230000005641 tunneling Effects 0.000 title claims abstract description 59
- 239000003245 coal Substances 0.000 title claims abstract description 43
- 238000005553 drilling Methods 0.000 claims abstract description 70
- 238000004873 anchoring Methods 0.000 claims abstract description 41
- 239000000428 dust Substances 0.000 claims abstract description 14
- 238000009423 ventilation Methods 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 28
- 238000005520 cutting process Methods 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 13
- 238000012546 transfer Methods 0.000 claims description 12
- 230000032258 transport Effects 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 8
- 239000011435 rock Substances 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000007480 spreading Effects 0.000 claims description 5
- 238000003892 spreading Methods 0.000 claims description 5
- 239000013589 supplement Substances 0.000 claims description 4
- 239000002817 coal dust Substances 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 239000010865 sewage Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000003860 storage Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 3
- 238000005065 mining Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
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- Structural Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to the field of machinery, in particular to an intelligent tunneling robot system for a coal mine, which is used for realizing accurate positioning based on inertial navigation and a digital total station and comprises a transverse shaft type tunneling robot, a temporary support robot, an anchor drilling robot, an anchor net transporting robot, an electro-hydraulic control platform, a ventilation and dust removal system and a transporting system which are sequentially arranged in a coal mine tunnel; the horizontal shaft type tunneling robot is positioned in a frame of the temporary support robot and is positioned at the forefront of the whole system, and the temporary support robot is used for moving forwards by pushing and pulling; the drilling and anchoring robot, the anchor net transporting robot and the electric hydraulic control platform are connected with the temporary support robot in series through hinges, and are pulled to move back and forth through the front, and the left and right positions are finely adjusted through hydraulic cylinders on two sides of the hinges. The intelligent tunneling robot system for the coal mine can solve the intelligent tunneling problem under complex geological conditions, improve the tunneling efficiency and ensure the safe production.
Description
Technical Field
The invention relates to the field of machinery, in particular to an intelligent tunneling robot system for a coal mine.
Background
The main energy of China is coal, although the coal resources are abundant in China, the coal fields suitable for open-pit mining are few and more complex than coal fields of America, Canada and Russia, underground miners are the main production modes of coal mines, and companies with conditions for building large coal mines face the problem of quick intelligent tunneling under complex geological conditions, so that great hidden danger is brought to safe and efficient production, and the automation intelligence degree of tunneling equipment becomes a main factor for restricting the improvement of the production capacity of the coal mines. In the face of the unique mining condition in China, numerous foreign manufacturers can not be helped, so that a brand-new intelligent tunneling robot system is developed by independent research of centralized strength in China aiming at the urgent need of intelligent coal mine construction for quick intelligent tunneling and the difficult problem of tunneling of large-section roadways under complex geological conditions in the coal industry in Yubei, and is particularly urgent.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent tunneling robot system for a coal mine.
In order to achieve the purpose, the invention adopts the technical scheme that:
an intelligent tunneling robot system for a coal mine is used for realizing accurate positioning based on inertial navigation and a digital total station and comprises a transverse shaft type tunneling robot, a temporary support robot, an anchor drilling robot, an anchor net conveying robot, an electric hydraulic control platform, a ventilation and dust removal system and a conveying system which are sequentially arranged in a coal mine tunnel;
the horizontal shaft type tunneling robot is positioned in a frame of the temporary support robot and is positioned at the forefront of the whole system, and the temporary support robot is used for moving forwards by pushing and pulling;
the drilling and anchoring robot, the anchor net transporting robot and the electro-hydraulic control platform are connected with the temporary support robot in series through hinges, move back and forth through front traction, and the left and right positions are finely adjusted through hydraulic cylinders on two sides of the hinges;
the drilling and anchoring robot is used for completing drilling and anchoring tasks of anchor net permanent support, two rows of drilling machines are mounted on the drilling and anchoring robot, the permanent support can be completed at one time, all the drilling machines can rotate by 90 degrees and are finely adjusted front and back to realize support of all tops and side walls, and a sensor and a hydraulic servo system carried on the drilling and anchoring robot are utilized to realize human-assisted automatic drilling and automatic anchor net loading;
the anchor net conveying machine automatically surfs the net for the drilling and anchoring robot and replenishes the net for the first anchor net warehouse through the manipulator mechanism, the sensor and the hydraulic servo system;
the temporary robot comprises a temporary support robot I and a temporary support robot II, is used for realizing the timely support of surrounding rocks and the autonomous dragging of a robot system, and has the functions of advanced drilling, repairing and automatic deviation rectification;
the transportation system comprises a scraper conveyer, a floor belt type transfer conveyor or a floor scraper (which can be selected according to requirements) and a main transportation belt, coal excavated by the tunneling robot is transmitted to the floor belt type transfer conveyor through the scraper conveyer, and the floor belt type transfer conveyor transfers the coal to the main transportation belt and transports the coal out of the system; the temporary support robot I is hinged with the scraper conveyor and drives the scraper conveyor to move forwards, and the temporary support robot II is hinged with the floor belt type reversed loader or the floor scraper conveyor and drives the floor belt type reversed loader or the floor scraper conveyor to move forwards;
the ventilation and dust removal system sends fresh air to the front end through an external pipeline to directly reach the temporary support robot, the right-side customized rectangular pipeline is a fresh air sending pipeline and provides fresh air for workers, the right-side square pipeline is a dust removal port, and coal dust generated by cutting coal is taken away through negative pressure;
the transportation system drags the belt conveyor to move forwards through the walking self-moving tail and keeps synchronous with the coal and rock transportation system.
Furthermore, the transverse shaft type tunneling robot comprises a transverse shaft cutting head, a cantilever, a pair of hydraulic cylinders and a sliding table base, wherein the transverse shaft cutting head is used for realizing efficient cutting, and a hydraulic motor servo system in the transverse shaft type tunneling robot can feed back the rotating speed and the hydraulic pressure in real time; the pair of hydraulic cylinders are used for providing power for the cantilever to swing up and down, and displacement sensors are arranged on the hydraulic cylinders to feed back the position of the cantilever in real time; the sliding table base is connected with the bottom of the temporary support robot I through a track, and the whole transverse shaft type tunneling robot can be driven to move back and forth through the sliding table base.
Further, the temporary support robot I and the temporary support robot II advance through a forward pulling and backward pushing traction system.
Furthermore, the drilling and anchoring robot comprises a machine body, a net spreading mechanism, a first gang drill, a second gang drill, a third gang drill, an anchor net conveying device, a moving structure, a side wall lifting working platform and a shield, wherein the machine body is hinged with the temporary support robot II, and the position is finely adjusted through hydraulic cylinders on two sides; the shield and the net spreading mechanism are used for opening a folded net reaching a preset position, drilling machines arranged on the first gang drill, the second gang drill and the third gang drill can move left and right and up and down and can rotate around a rotation center by 90 degrees, all jumbolters have an angle fine adjustment function, the range is +/-5 degrees, one-key drilling and one-key anchoring functions can be realized after bolts are manually installed by utilizing sensors arranged on the drilling machines, all jumbolters have an independent control function, the top jumbolters have a sewage collection function, and the row number and the total number of the drilling machines can be flexibly adjusted according to the bolting requirements and the space; the anchor net transporting device is arranged on the top of the machine body and is parallel to the top of the anchor net transporting robot behind, the anchor net is transported to a preset position of the front section of the machine body from the top of the anchor net transporting robot through the rotary conveying device, and the anchor net stops when the anchor net meets a travel switch at the preset position; the front end of the mobile structure is hinged with the temporary support robot, and the rear end of the mobile structure is hinged with a dragging oil cylinder of the anchor net transportation robot; the side slope lifting working platform can be lifted according to the needs of operators.
Further, the anchor net transporting robot comprises a first anchor net warehouse, a material warehouse, a manipulator mechanism, a main frame and a sliding shoe moving mechanism I, wherein the first anchor net warehouse is used for storing folding anchor nets, the material warehouse is located below the first anchor net warehouse, the left side of the material warehouse is used for storing anchor rods, the right side of the material warehouse is used for storing materials such as screws and cover plates, the manipulator mechanism can stretch up and down and move back and forth and is used for transporting the anchor nets to the first anchor net warehouse from a second anchor net warehouse on an electric hydraulic control platform or clamping the anchor nets to a chain type anchor net transporting device on the top of the drilling and anchoring robot from the first anchor net warehouse, the sliding shoe moving mechanism I is rigidly connected with the main frame and is hinged with the front drilling and anchoring robot and the rear electric hydraulic control platform, and the anchor net transporting robot can automatically load the anchor nets to the drilling and anchoring robot according to sensors and counters carried on the anchor nets and automatically supplement the first anchor net warehouse with the anchor nets.
Furthermore, the electro-hydraulic control platform comprises a main frame, a second anchor net library, a hydraulic pump station and an oil tank, an integrated control room, a 12-loop composition switch and a sliding shoe moving mechanism II, wherein the second anchor net library is used for storing anchor nets which cannot be stored in the first anchor net library, the hydraulic pump station and the oil tank provide hydraulic power for the whole system, the integrated control room is integrated with a control and monitoring unit of the whole system, the control and monitoring unit monitors and cooperates with the work of each subsystem, the 12-loop composition switch is used for connecting an electric liquid pipeline of the system and is provided with a clean water inlet pipe connector for water use of the systems such as a drilling anchor robot and a tunneling robot, the sliding shoe moving mechanism is hinged with the anchor net transport robot, and the relative positions are finely adjusted through hydraulic cylinders on two sides.
The intelligent coal mine tunneling robot system can solve the intelligent tunneling problem under complex geological conditions, improves the tunneling efficiency, ensures the safe production, leads the tunneling technical revolution, and has milestone-type significant meaning and profound influence on creating intelligent coal mines and building intelligent mining areas.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent tunneling robot system for a coal mine according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of the horizontal tunneling robot in the embodiment of the invention.
Fig. 3 is a schematic structural diagram of a temporary support robot in the embodiment of the invention.
Fig. 4 is a schematic structural diagram of the drilling and anchoring robot in the embodiment of the invention.
Fig. 5 is a schematic structural diagram of an anchor net transporting robot in the embodiment of the invention.
Fig. 6 is a schematic structural diagram of an electrohydraulic control platform according to an embodiment of the present invention.
Fig. 7 is a working flow chart of an intelligent tunneling robot system for a coal mine according to an embodiment of the invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the intelligent coal mine tunneling robot system of the embodiment of the present invention is based on inertial navigation and a digital total station to achieve accurate positioning, the total length of the system is 100m, the total weight is 450t, the installed power is 866Kw, and the monthly footage is more than 1500m, and includes a horizontal shaft tunneling robot 1, a temporary support robot 2, a drilling and anchoring robot 3, an anchor net transport robot 4, an electro-hydraulic control platform 5, a ventilation and dust removal system 6, and a transport system 7, which are sequentially arranged in a coal mine tunnel, and are mutually matched to respectively complete their own work;
the horizontal shaft type tunneling robot 1 is positioned in a frame of the temporary support robot 2, is positioned at the forefront of the whole system, and moves forwards by pushing and pulling the temporary support robot;
the drilling and anchoring robot 3, the anchor net transporting robot 4 and the electro-hydraulic control platform 5 are connected with the temporary support robot in series through hinges, move back and forth through front traction, and the left and right positions are finely adjusted through hydraulic cylinders on two sides of the hinges;
the drilling and anchoring robot is used for completing the drilling and anchoring task of the anchor net permanent support, two rows of drilling machines are arranged on the drilling and anchoring robot, the permanent support can be completed at one time, all the drilling machines can rotate by 90 degrees and can be finely adjusted front and back, the support of all the tops and the side walls is realized, and the automatic drilling and the automatic anchor net loading which are assisted by people are realized by utilizing a sensor and a hydraulic servo system which are carried on the drilling and anchoring robot;
the anchor net conveying machine automatically surfs the net for the drilling and anchoring robot and replenishes the net for the first anchor net warehouse through the manipulator mechanism, the sensor and the hydraulic servo system;
the temporary robot 2 comprises a temporary support robot I21 and a temporary support robot II22, is used for realizing timely support of surrounding rocks and autonomous dragging of a robot system, and has the functions of advanced drilling, repairing of walls and automatic deviation rectification;
the transportation system comprises a scraper conveyer, a floor belt type transfer conveyor or a floor scraper (which can be selected according to requirements) and a main transportation belt, coal excavated by the tunneling robot is transmitted to the floor belt type transfer conveyor through the scraper conveyer, and the floor belt type transfer conveyor transfers the coal to the main transportation belt and transports the coal out of the system; the temporary support robot I is hinged with the scraper conveyor and drives the scraper conveyor to move forwards, and the temporary support robot II is hinged with the floor belt type reversed loader or the floor scraper conveyor and drives the floor belt type reversed loader or the floor scraper conveyor to move forwards;
the ventilation and dust removal system is divided into a positive-pressure fresh air supply part and a negative-pressure dust removal part, wherein a fan of the ventilation and dust removal system is erected above a secondary transportation system behind the electric-hydraulic control platform, fresh air is supplied to the front end of the ventilation and dust removal system through an external pipeline and directly reaches the temporary support robot, a right-side customized rectangular pipeline is a fresh air supply pipeline and provides fresh air for workers, a right-side square pipeline is a dust removal port, and coal dust generated by coal cutting is taken away through negative pressure;
the transportation system 7 drags the belt conveyor to move forwards through the walking self-moving tail and keeps synchronous with the coal and rock transportation system.
As shown in fig. 2, the horizontal shaft type tunneling robot 1 includes a horizontal shaft cutting head 101, a cantilever 102, a pair of hydraulic cylinders 103 and a slipway base 104, the horizontal shaft cutting head 101 is used for realizing efficient cutting, and a servo system of a hydraulic motor therein can feed back a rotating speed and a hydraulic pressure in real time; the pair of hydraulic cylinders 103 are used for providing power for the cantilever 102 to swing up and down, and displacement sensors are arranged on the hydraulic cylinders to feed back the position of the cantilever in real time; the sliding table base 104 is connected with the bottom of the temporary support robot I through a track, and the whole horizontal shaft type tunneling robot can be driven to move back and forth through the sliding table base 104.
As shown in fig. 3, temporary support robot I21 and temporary support robot II22 are advanced by a pull-forward and push-back traction system.
As shown in fig. 4, the drilling and anchoring robot 3 includes a machine body 301, a net spreading mechanism 302, a first row of drills 303, a second row of drills 304, a third row of drills 305, an anchor net transporting device 306, a moving structure 307, a side lifting working platform 308 and a shield 309, wherein the machine body 301 is hinged with a temporary support robot II22, and the position is finely adjusted by hydraulic cylinders on both sides; the shield 309 and the net unfolding mechanism 302 are used for opening a folded net reaching a preset position, drilling machines arranged on the first gang drill 303, the second gang drill 304 and the third gang drill 305 can move left and right and up and down and can rotate around a rotation center by 90 degrees, all jumbolters have an angle fine adjustment function, the range is +/-5 degrees, one-key drilling and one-key anchoring functions can be realized after an anchor rod is manually installed by utilizing sensors arranged on the drilling machines, all jumbolters have an independent control function, a top jumbolter has a sewage collection function, and the row number and the total number of the drilling machines can be flexibly adjusted according to the support requirements and the space of the anchor net; the anchor net transporting device 306 is arranged on the top of the machine body and is parallel to the top of the anchor net transporting robot behind, the anchor net is transported to a preset position of the front section of the machine body 3 from the top of the anchor net transporting robot through the rotary conveying device, and a travel switch is arranged at the preset position; the front end of the moving structure 307 is hinged with the temporary support robot, and the rear end is hinged with a dragging oil cylinder of the anchor net transportation robot; the side lift platform 308 can be raised and lowered as needed by the operator.
As shown in fig. 5, the anchor net transporting robot 4 includes a first anchor net storage 401, a material storage 402, a manipulator mechanism 403, a main frame 404 and a sliding shoe moving mechanism I405, the first anchor net storage 401 is used for storing the folded anchor net, the material storage 402 is located below the first anchor net storage, the left side is used for storing anchor rods, the right side is used for storing materials such as screws and cover plates, the manipulator mechanism 403 can extend up and down and move back and forth, and is used for transporting the anchor net from a second anchor net storage on the electro-hydraulic control platform to the first anchor net storage, or the chain anchor net transporting device 302 for clamping the anchor net from the first anchor net storeroom to the top of the drilling and anchoring robot, the sliding shoe moving mechanism I405 is rigidly connected with the main frame 404, the anchor net conveying robot can automatically load anchor nets on the drilling and anchoring robot according to the sensors and the counters carried on the anchor net conveying robot, and automatically supply the first anchor net warehouse with the anchor nets.
As shown in fig. 6, the electro-hydraulic control platform 5 includes a main frame 501, a second anchor net storehouse 502, a hydraulic pump station and an oil tank 503, an integrated control room 504, a 12-loop composition switch 505 and a sliding shoe moving mechanism II506, the second anchor net storehouse is used for storing the anchor nets which cannot be stored in the first anchor net storehouse, the hydraulic pump station and the oil tank provide hydraulic power for the whole system, the integrated control room is integrated with a control and monitoring unit of the whole system to monitor and cooperate with the operation of each subsystem, the 12-loop composition switch is responsible for connecting the electric and liquid pipelines of the system and has a clean water inlet pipe connector for water use of the drilling anchor robot, the tunneling robot and other systems, the sliding shoe moving mechanism is hinged with the anchor net transporting robot, and the relative position is finely adjusted by the hydraulic cylinders on both sides.
After the tunneling robot finishes tunneling, the system detects whether the drilling and anchoring robot finishes drilling and anchoring operation of one intercept, if so, the tunneling robot and the drilling and anchoring robot reset, the temporary support robot drags the whole fast tunneling system to advance by one intercept, after the anchor net transporting robot finishes automatic net laying operation, the tunneling robot starts cutting operation, and meanwhile, the drilling and anchoring robot carries out net jacking and side protection on a roadway to finish drilling and anchoring operation. The tunneling robot and the drilling and anchoring robot adopt a parallel operation mode, the transportation system and the ventilation and dust removal system run continuously to guarantee the quality of transportation and air environment, the safe empty-roof distance is ensured while the rapid tunneling is realized, and the tasks of a series of working procedures of tunneling and permanent supporting of a coal mine roadway are completed in a circulating and reciprocating manner; specifically, the method comprises the following steps: as shown in fig. 7, after the tunneling robot automatically completes a tunneling task with an intercept, the system enters a moving state, a state lamp flashes to remind a front-line worker to notice entering a safe position, the temporary support robot advances through a front-pulling and rear-pushing system, the tunneling robot starts a tunneling task with a next intercept, the drilling and anchoring robot starts anchor net support at the position, before drilling and anchoring the next anchor net support, the anchor net transport robot transports the folded anchor net of the second anchor net library to the chain type anchor net transport device 302 of the drilling and anchoring robot, the anchor net transport robot calculates the number of the anchor nets stored in the first anchor net library through a counter of the anchor net transport robot, when the number of the anchor nets is zero, the signal is sent to a mechanical arm mechanism to automatically supplement the anchor nets from the second anchor net library on the electro-hydraulic control platform to the first anchor net library, and an integrated control room of the electro-hydraulic control platform is responsible for state monitoring of the whole system and coordination and monitoring of each subsystem, and data is synchronously sent to an aboveground monitoring room, when the shift is changed, workers in the next shift and logistics workers supplement the anchor net and other materials through the mine conveying device, basic maintenance and system waste material box replacement are completed after the shift, a maintenance shift is arranged after fixed footage or shift is completed, system maintenance is carried out, and stable operation of the system is ensured.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (3)
1. The utility model provides a colliery intelligence tunnelling robot system which characterized in that: the intelligent tunneling robot system realizes accurate positioning based on inertial navigation and a digital total station, and comprises a transverse shaft type tunneling robot, a temporary support robot, an anchor drilling robot, an anchor net transporting robot, an electro-hydraulic control platform, a ventilation and dust removal system and a transporting system which are sequentially arranged in a coal mine tunnel;
the horizontal shaft type tunneling robot is positioned in a frame of the temporary support robot and is positioned at the forefront of the whole system, and the temporary support robot is used for moving forwards by pushing and pulling;
the drilling and anchoring robot, the anchor net transporting robot and the electro-hydraulic control platform are connected with the temporary support robot in series through hinges, move back and forth through front traction, and the left and right positions are finely adjusted through hydraulic cylinders on two sides of the hinges;
the drilling and anchoring robot is used for completing drilling and anchoring tasks of anchor net permanent support, three rows of drilling machines are installed on the drilling and anchoring robot, the permanent support can be completed at one time, all the drilling machines can rotate by 90 degrees and are finely adjusted front and back to realize support of all tops and side walls, and a sensor and a hydraulic servo system which are carried on the drilling and anchoring robot are utilized to realize human-assisted automatic drilling and automatic anchor net loading;
the anchor net transporting robot automatically surfs the net for the drilling and anchoring robot and replenishes the net for the first anchor net warehouse through the manipulator mechanism, the sensor and the hydraulic servo system;
the temporary robot comprises a temporary support robot I and a temporary support robot II, is used for realizing the timely support of surrounding rocks and the autonomous dragging of a robot system, and has the functions of advanced drilling, repairing and automatic deviation rectification;
the transportation system comprises a scraper conveyer, a floor belt type transfer conveyor or a floor scraper conveyor and a main transportation belt, coal excavated by the tunneling robot is transmitted to the floor belt type transfer conveyor through the scraper conveyer, and the floor belt type transfer conveyor transfers the coal to the main transportation belt and transports the coal out of the system; the temporary support robot I is hinged with the scraper conveyor and drives the scraper conveyor to move forwards, and the temporary support robot II is hinged with the floor belt type reversed loader or the floor scraper conveyor and drives the floor belt type reversed loader or the floor scraper conveyor to move forwards;
the ventilation and dust removal system sends fresh air to the front end through an external pipeline to directly reach the temporary support robot, the right-side customized rectangular pipeline is a fresh air sending pipeline and provides fresh air for workers, the right-side square pipeline is a dust removal port, and coal dust generated by cutting coal is taken away through negative pressure;
the transportation system drags the belt conveyor to move forwards through the walking self-moving tail and keeps synchronous with the coal and rock transportation system;
the electro-hydraulic control platform comprises a main frame, a second anchor net library, a hydraulic pump station, an oil tank, an integrated control room and a 12-loop composition switch and sliding shoe moving mechanism II, wherein the second anchor net library is used for storing anchor nets which cannot be stored in the first anchor net library, the hydraulic pump station and the oil tank provide hydraulic power for the whole system, the integrated control room is integrated with a control and monitoring unit of the whole system, the control and monitoring unit monitors and coordinates with the work of each subsystem, the 12-loop composition switch is used for connecting an electric-liquid pipeline of the system and is provided with a clean water inlet pipe connector for water use of a drilling anchor robot and a tunneling robot, the sliding shoe moving mechanism is hinged with the anchor net transporting robot, and the relative position is finely adjusted through hydraulic cylinders on two sides;
the drilling and anchoring robot comprises a machine body, a net spreading mechanism, a first gang drill, a second gang drill, a third gang drill, an anchor net conveying device, a moving structure, a side wall lifting working platform and a shield, wherein the machine body is hinged with a temporary support robot II, and the position is finely adjusted through hydraulic cylinders on two sides; the shield and the net spreading mechanism are used for opening a folded net reaching a preset position, drilling machines arranged on the first gang drill, the second gang drill and the third gang drill can move left and right and up and down and can rotate around a rotation center by 90 degrees, all the jumbolters have an angle fine adjustment function within a range of +/-5 degrees, one-key drilling and one-key anchoring functions can be realized after bolts are manually installed by utilizing sensors arranged on the drilling machines, all the jumbolters have an independent control function, and the top jumbolters have a sewage collection function; the anchor net transporting device is arranged on the top of the machine body and is parallel to the top of the anchor net transporting robot behind, the anchor net is transported to a preset position of the front section of the machine body from the top of the anchor net transporting robot through the rotary conveying device, the front end of the moving structure is hinged with the temporary support robot, and the rear end of the moving structure is hinged with a dragging oil cylinder of the anchor net transporting robot; the side slope lifting working platform can be lifted according to the needs of operators;
the anchor net transporting robot comprises a first anchor net warehouse, a material warehouse, a manipulator mechanism, a main frame and a sliding shoe moving mechanism I, wherein the first anchor net warehouse is used for storing folding anchor nets, the material warehouse is positioned below the first anchor net warehouse, the left side of the material warehouse is used for storing anchor rods, the right side of the material warehouse is used for storing screws and cover plates, the manipulator mechanism can stretch up and down and move back and forth and is used for transporting anchor nets to the first anchor net warehouse from a second anchor net warehouse on an electric hydraulic control platform or clamping the anchor nets to a chain type anchor net transporting device on the top of the anchor drilling robot from the first anchor net warehouse, the sliding shoe moving mechanism I is rigidly connected with the main frame and hinged with the front anchor drilling robot and the rear electric hydraulic control platform, and the anchor net transporting robot can automatically load the anchor nets onto the anchor drilling robot according to sensors and counters carried on the anchor net transporting robot and automatically supplement the anchor nets to the first anchor net warehouse.
2. The intelligent tunneling robot system for coal mines according to claim 1, wherein: the transverse shaft type tunneling robot comprises a transverse shaft cutting head, a cantilever, a pair of hydraulic cylinders and a sliding table base, wherein the transverse shaft cutting head is used for realizing efficient cutting, and a hydraulic motor servo system in the transverse shaft type tunneling robot can feed back the rotating speed and the hydraulic pressure in real time; the pair of hydraulic cylinders are used for providing power for the cantilever to swing up and down, and displacement sensors are arranged on the hydraulic cylinders to feed back the position of the cantilever in real time; the sliding table base is connected with the bottom of the temporary support robot I through a track, and the whole transverse shaft type tunneling robot can be driven to move back and forth through the sliding table base.
3. The intelligent tunneling robot system for coal mines according to claim 1, wherein: the temporary support robot I and the temporary support robot II advance through a front-pulling and rear-pushing traction system.
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| CN113325836A (en) * | 2021-04-21 | 2021-08-31 | 优兔创新有限公司 | Method for unmanned vehicle to execute task in task area and unmanned vehicle system |
| CN114458346B (en) * | 2022-02-14 | 2024-05-10 | 西安科技大学 | Automatic net spreading mechanism of rapid tunneling system |
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