CN112922594A - Mining robot under complicated operating mode - Google Patents
Mining robot under complicated operating mode Download PDFInfo
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- CN112922594A CN112922594A CN202110133051.1A CN202110133051A CN112922594A CN 112922594 A CN112922594 A CN 112922594A CN 202110133051 A CN202110133051 A CN 202110133051A CN 112922594 A CN112922594 A CN 112922594A
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- 238000005065 mining Methods 0.000 title claims abstract description 118
- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 230000005641 tunneling Effects 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims abstract description 7
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 14
- 239000011664 nicotinic acid Substances 0.000 claims description 12
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 7
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 7
- 239000003245 coal Substances 0.000 abstract description 40
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 6
- 230000002265 prevention Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 229910052500 inorganic mineral Inorganic materials 0.000 description 3
- 239000011707 mineral Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000010405 clearance mechanism Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/08—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for adjusting parts of the machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/10—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for slewing parts of the machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mining robot under a complex working condition, which comprises a machine body and a traveling mechanism and is characterized in that a PLC central control system and a power supply module are arranged in the machine body, an exploitation mechanism, a tunneling obstacle clearing mechanism and a detection early warning device are arranged at the upper part of the machine body, controllers are arranged on the exploitation mechanism and the tunneling obstacle clearing mechanism, and the controllers are respectively connected with the PLC central control system arranged in the machine body through communication lines. The invention solves the problems that the existing mining robot has single function and low mining efficiency, and coal bed collapse is easily caused in the mining process. The thin coal seam unmanned mining method has the advantages that unmanned mining of the thin coal seam under complex working conditions with small space and rugged tunnels is realized, manual mining operation under high-risk working conditions under the coal mine is reduced, the safety operation degree and the accident prevention and control capacity of coal mining are improved, the coal mining risk level is reduced, coal mine man-reduction and efficiency improvement are facilitated, the labor intensity of workers is reduced, and the mining efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of mining machinery, and particularly relates to a mining robot under complex working conditions.
Background
For a long time, China is always the first coal producing country and consuming country in the world, and coal plays a significant role in the high-speed development of economy in China. However, due to the complex situation of the harsh environment in the mine, the problems of methane gas, carbon monoxide, carbon powder dust raising, collapse and the like threaten the safety of miners and constructors all the time, and mineral mining work is always an industry with high risk and high risk.
With the continuous development of mining technology, mineral exploitation work gradually depends on manual exploitation from the traditional method to mechanical and semi-automatic exploitation. For mining of thick coal seams and abundant mineral resources, a large-scale coal mining machine is mainly adopted for mechanized flow mining operation at present. However, for a mining area with a relatively thin coal seam, a small space and a rugged tunnel, the mining area is not suitable for large-scale coal mining machinery, and at present, mining is mainly carried out manually, so that the risk degree is very high.
In order to solve the above problems, publication No. CN109057790A discloses a mining robot, which comprises a lower disc body, wherein the bottom of the lower disc body is provided with a plurality of crawler wheels; the top of the lower tray body is connected with an upper tray body, two ends of the upper tray body are provided with link mechanisms, the link mechanisms are connected with a hydraulic impact mechanism, and the output end of the hydraulic impact mechanism is connected with a punch; the front part of the upper disc body is provided with a hook claw, the upper disc body is provided with a driving shaft and a driven shaft, a second driving motor is arranged on the side of the supporting frame, a motor shaft of the second driving motor is connected with a speed reducer, and the driving motor drives the conveying belt to transmit the mined coal to the conveying hopper.
The existing mining robot has the problems of single function, low mining efficiency and easiness in causing mining layer collapse by depending on an impact mechanism to carry out impact mining. In order to improve the mining efficiency under the complicated operating mode, design a function many, mining efficiency is high, and can adapt to the space little, and the mining robot under the rugged operating mode in tunnel becomes the present problem that awaits solution urgently.
Disclosure of Invention
The invention aims to provide a mining robot under a complex working condition, and solves the problems that the existing mining robot is single in function, low in mining efficiency and easy to cause coal seam collapse in a mining process.
In order to solve the problems, the technical scheme adopted by the invention is as follows: the utility model provides a mining robot under complicated operating mode, includes organism and advancing mechanism, its characterized in that, the inside of organism sets up PLC central control system and power module, and organism upper portion is equipped with mining mechanism, tunnelling obstacles removing mechanism and surveys early warning device, all be provided with the controller on mining mechanism and the tunnelling obstacles removing mechanism, the controller is respectively through the inside PLC central control system who sets up of communication line connection fuselage.
As a further optimization, the present invention is further improved in the following aspects:
the travelling mechanism comprises a driving wheel and a travelling auxiliary mechanism, a rack is arranged between the driving wheel and the machine body, and the driving wheel is arranged at the bottom of the rack; a swing mechanism is further arranged between the machine body and the machine frame, and the machine body is mounted at the upper part of the swing mechanism; the walking auxiliary mechanism is arranged on two sides of the machine body.
The slewing mechanism comprises a slewing body and a slewing table, wherein telescopic vertical columns are arranged at the centers of the slewing body and the slewing table, the slewing body is installed on the machine frame, and the slewing table is installed on the upper portion of the slewing body.
The walking assisting mechanism comprises a plurality of bionic limbs which are correspondingly arranged on two sides of the body; the bionic limb comprises a leg, an inner limb and an outer limb, and a driving motor for driving the leg, the inner limb and the outer limb to move is arranged at the joint of the leg, the inner limb and the outer limb.
The upper part of the machine body is provided with a trapezoidal table, the trapezoidal table is provided with two stages of steps and is divided into a first-stage trapezoidal table surface and a second-stage trapezoidal table surface, and the mining mechanism, the tunneling obstacle clearing mechanism and the detection early warning device are arranged on the trapezoidal table.
The mining mechanism be shearer loader, including middle organism, left cutting drum and right cutting drum, left rocking arm and right rocking arm, left cutting drum and right cutting drum correspond respectively and install on left rocking arm and right rocking arm, left rocking arm and right rocking arm and middle organism between correspond respectively and be provided with left connecting piece and right connecting piece, left rocking arm and right rocking arm connect on middle organism through the connecting piece respectively, left rocking arm and right rocking arm and left connecting piece and right connecting piece junction set up drive left rocking arm and right rocking arm pivoted rotating electrical machines.
The left connecting piece and the right connecting piece are of a herringbone structure, and the left connecting piece and the right connecting piece respectively comprise a first connecting end, a second connecting end and a third connecting end.
The first connecting end of the left connecting piece is connected with the left rocker arm, the second connecting end of the left connecting piece is connected to the left side of the middle machine body through a hinge, a first oil cylinder is arranged between the third connecting end of the left connecting piece and the middle machine body, one end of the first oil cylinder is hinged to the third connecting end, and the other end of the first oil cylinder is connected to the middle machine body.
The first connecting end of the right connecting piece is connected with the right rocker arm, the second connecting end of the right connecting piece is connected to the right side of the middle machine body through a hinge, a second oil cylinder is arranged between the third connecting end of the right connecting piece and the middle machine body, one end of the second oil cylinder is hinged to the third connecting end of the right connecting piece, and the other end of the second oil cylinder is connected to the middle machine body.
The tunneling obstacle clearing mechanism comprises a first driving motor, a movable arm, a bucket rod and a bucket, one end of the movable arm is connected to the power output end of the first driving motor, the other end of the movable arm is connected with the bucket rod, a rotating shaft and a second driving motor for driving the bucket rod to rotate relative to the movable arm are arranged at the joint of the movable arm and the bucket rod, the bucket is installed at one end, far away from the movable arm, of the bucket rod, and an angle adjusting rod for adjusting the angle of the bucket is arranged between the bucket and the bucket rod.
The detection early warning device set up the middle part at trapezoidal platform, detection early warning device include installing support and protective housing, inside methane sensor, carbon monoxide sensor, temperature sensor, alarm and the dustproof camera of setting up of protective housing, methane sensor, carbon monoxide sensor, temperature sensor, alarm and dustproof camera respectively through communication line connection PLC central control system.
The PLC central control system comprises a PLC central controller, a signal transmitting module and a signal receiving module, wherein the signal transmitting module is respectively connected with the PLC central controller.
The invention has the beneficial effects that:
(1) the mining robot under the complex working condition is provided with the mining mechanism, the tunneling and obstacle clearing mechanism and the detection early warning device at the upper part, so that automatic mining under the safe working condition is realized.
(2) The mining robot is provided with the detection early warning device, the working condition of a mining area can be detected in real time, the acquired data signals are transmitted to the PLC central control system, and when the condition that the working condition of the mining area is not suitable for operation is detected, the PLC central control system can timely control the mining mechanism and the tunneling obstacle clearing mechanism to stop operation, so that the mining robot can be ensured to carry out mining operation under a safe working condition, and safety accidents and unnecessary loss caused by the safety accidents are avoided.
(3) The mining mechanism adopts the roller coal mining machine, the rocker arm of the coal mining machine rotates in a control mode of combining the oil cylinder and the rotary motor, the oil cylinder realizes the small-angle rotation of the rocker arm, the rotary motor can realize the large-angle rotation of the rocker arm, and the multi-angle mining in the range reached by the rocker arm can be realized according to the specific coal bed conditions.
(4) The invention is provided with the tunneling obstacle clearing mechanism which has the functions of coal mining, clearing obstacles in a tunnel mining area and transferring the mined coal to a transport vehicle, and the long arm and the bucket rod of the tunneling obstacle clearing mechanism are controlled by the driving motor, so that the long arm and the bucket rod can rotate greatly in multiple angles, the use requirements of the tunneling obstacle clearing mechanism under different conditions can be met, and in addition, the tunneling obstacle clearing mechanism can also be used as a supporting device under emergency conditions.
(5) The invention adopts the structural design of matching the mining mechanism and the tunneling obstacle clearing mechanism, meets the mining requirements of different coal seams of low, medium and high, and because the invention is mainly designed aiming at the mining of thin coal seams, the design of the length of the rocker arm of the drum shearer is not too long generally due to the limitation of space, the coal mining range of the drum shearer is the range reached by the rocker arm, for some low coal seams and high coal seams which are beyond the range of the length of the rocker arm and appear in a mining area, the tunneling obstacle clearing mechanism can carry out mining operation, effectively makes up the defects of the mining mechanism, and realizes the omnibearing unmanned mining.
(6) The invention realizes unmanned mining work of the thin coal seam under complex working conditions of smaller space and rugged tunnel, reduces manual mining operation under high-risk working conditions under the coal mine, improves the safety operation degree and the accident prevention and control capability of coal mining, reduces the coal mining risk level, is beneficial to reducing the number of people and improving the efficiency of the coal mine, lightens the labor intensity of workers and greatly improves the mining efficiency.
Drawings
Fig. 1 is a structural schematic diagram of the bionic limb of the invention when unfolded.
Fig. 2 is a schematic structural view of the bionic limb of the invention when retracted.
Fig. 3 is a left side view of fig. 2.
Fig. 4 is a schematic structural view of a shearer loader according to the present invention.
Fig. 5 is a working state diagram of the tunneling obstacle clearing mechanism after being turned upwards.
Fig. 6 is a working state diagram of the tunneling obstacle clearing mechanism after being turned to the right ground.
Fig. 7 is a folding state diagram of the tunneling obstacle clearing mechanism.
FIG. 8 is a working state diagram of a shearer of the drum type after the tunneling obstacle clearing mechanism is folded.
Fig. 9 is a schematic structural view of the rack of the present invention.
Fig. 10 is a schematic structural view of the telescopic column of the present invention.
In the figure: 1-machine body, 101-trapezoidal table, 2-roller shearer, 21-middle machine body, 22-left cutting roller, 23-right cutting roller, 24-left rocker arm, 25-right rocker arm, 26-left connecting piece, 27-right connecting piece, 28-first oil cylinder, 29-second oil cylinder, 3-tunneling obstacle clearing mechanism, 31-first driving motor and 32-movable arm, 33-a bucket rod, 34-a bucket, 35-a second driving motor, 4-a detection early warning device, 41-a mounting bracket, 42-a protective shell, 5-a crawler wheel, 6-a bionic limb, 61-a leg, 62-an inner limb, 63-an outer limb, 7-a rack, 8-a revolving body, 9-a revolving platform and 10-a telescopic upright column.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the following explains the present solution by way of specific embodiments and with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the mining robot under complex working conditions comprises a machine body 1 and a traveling mechanism, wherein a PLC central control system, a mining explosion-proof battery and an external power interface are arranged inside the machine body, the PLC central control system comprises a PLC central controller, a signal transmitting module and a signal receiving module, and the signal transmitting module is respectively connected with the PLC central controller. The mining explosion-proof battery is used for temporary power supply or temporary emergency power supply when the mining robot enters a mining area.
The upper portion of the machine body 1 is provided with a trapezoidal table 101, and a main body of the mining robot comprises a roller coal cutter 2, a tunneling obstacle clearing mechanism 3 and a detection early warning device 4 which are arranged on the trapezoidal table.
The controller is connected with a PLC central controller arranged in the machine body through communication lines and used for controlling the shearer drum 2 and the tunneling obstacle clearing mechanism to execute different mining operations.
The advancing mechanism comprises two crawler wheels 5 and four bionic limbs 6, a rack 7 is arranged between the crawler wheels 5 and the machine body 1, the crawler wheels 5 are installed at the bottom of the rack 7 and used for driving the mining robot to move, and the crawler wheels are driven by a motor.
In the embodiment, four bionic limbs 6 are correspondingly arranged at the end parts of two sides of the machine body 1; the bionic limb 6 comprises a leg 61, an inner limb 62 and an outer limb 63, and a driving motor for driving the leg, the inner limb and the outer limb to move is arranged at the joint of the leg 61, the inner limb 62 and the outer limb 63. In the mining process, when the tunnel space is small or the road surface is rugged, the four bionic limbs are unfolded to assist the mining robot to move left and right and back and forth.
As shown in fig. 9 and 10, in the mining operation process of the mining robot, the angle of the machine body needs to be adjusted at any time according to the condition of the cutting surface, in order to meet the cutting requirements under different conditions of the mining robot, a swing mechanism is further arranged between the machine body 1 and the machine frame 7, the swing mechanism comprises a swing body 8 and a swing table 9, the swing body 8 is installed on the machine frame 7, the swing table 9 is installed on the upper portion of the swing body 8, and the machine body 1 is installed on the upper portion of the swing table 9.
In the mining process, the situation that the crawler wheels are blocked by coal blocks or obstacles and cannot move is sometimes encountered, in order to improve the obstacle crossing capability of the robot, the telescopic upright post 10 is arranged at the centers of the revolving body 8 and the revolving platform 9, and when the crawler wheels are buried or the obstacles are blocked and cannot move, the telescopic upright post 10 can jack the machine body and can be matched with the four bionic limbs 6 arranged at the two sides of the machine body 1 to rapidly separate from the obstacles.
As shown in fig. 4 and 8, the shearer loader 2 is a main mining mechanism of the mining robot, and includes a middle body 21, a left cutting drum 22, a right cutting drum 23, a left rocker arm 24 and a right rocker arm 25, the left cutting drum 22 and the right cutting drum 23 are respectively and correspondingly installed on the left rocker arm 24 and the right rocker arm 25, a left connecting member 26 and a right connecting member 27 are respectively and correspondingly arranged between the left rocker arm 24 and the middle body 21 and between the right rocker arm 25 and the middle body 21, the left rocker arm 24 and the right rocker arm 25 are respectively connected to the middle body 21 through the left connecting member 26 and the right connecting member 27, and a rotary motor for driving the left rocker arm 24 and the right rocker arm 25 to rotate is arranged at the connection position of the left rocker arm 24 and the right rocker arm 25 and the left connecting member 26.
The left connecting piece 26 and the right connecting piece 27 are of herringbone structures, and the left connecting piece 26 and the right connecting piece 27 respectively comprise a first connecting end, a second connecting end and a third connecting end.
The first connecting end of the left connecting piece 26 is connected with the left rocker arm 24, the second connecting end of the left connecting piece 26 is connected to the left side of the middle machine body 21 through a hinge, a first oil cylinder 28 is arranged between the third connecting end of the left connecting piece 26 and the middle machine body, one end of the first oil cylinder 28 is hinged with the third connecting end, and the other end of the first oil cylinder 28 is connected to the middle machine body 21.
The first connecting end of the right connecting piece 27 is connected with the right rocker arm 25, the second connecting end of the right connecting piece 27 is connected to the right side of the middle machine body 21 through a hinge, a second oil cylinder 29 is arranged between the third connecting end of the right connecting piece 27 and the middle machine body 21, one end of the second oil cylinder 29 is hinged to the third connecting end of the right connecting piece 27, and the other end of the second oil cylinder is connected to the middle machine body 21.
In the process of mining by the drum shearer, when the left and right swing arms swing slightly, the mining requirement can be met, and firstly, the angle of the rocker arm is adjusted by the first oil cylinder and the second oil cylinder to mine. When the small-amplitude swing cannot meet the mining requirement, the rotary motor is started and is matched with the first oil cylinder and the second oil cylinder to realize the large-range swing of the rocker arm for mining.
According to the invention, the rocker arm of the drum shearer disclosed by the invention is rotated in a control mode of combining the oil cylinder and the rotary motor, the oil cylinder realizes the small-angle rotation of the rocker arm, the rotary motor can realize the large-angle rotation of the rocker arm, and the multi-angle mining in the range reached by the rocker arm can be realized according to the specific coal bed conditions.
The tunneling and obstacle removing mechanism 3 includes a first drive motor 31, a boom 32, an arm 33, and a bucket 34.
One end of the movable arm 32 is connected to the power output end of the first driving motor 31, and the first driving motor drives the movable arm to rotate to different angles according to mining requirements. The other end of the boom 32 is connected to an arm 33, and a pivot and a second driving motor 35 for driving the arm to rotate relative to the boom are provided at the connection between the boom 32 and the arm 33. The bucket is installed on one end of the bucket rod far away from the movable arm, and an angle adjusting rod for adjusting the angle of the bucket is arranged between the bucket and the bucket rod.
As shown in fig. 5 and 6, the boom and the dipper of the tunneling obstacle clearance mechanism rotate at different angles, so that different functions can be realized, and the tunneling obstacle clearance mechanism in the present embodiment has functions of high and low coal seam mining, supporting protection, clearing obstacles in a tunnel mining area and transferring mined coal to a transport vehicle.
The long arm and the bucket rod of the tunneling obstacle clearing mechanism are controlled by the driving motor, so that the long arm and the bucket rod can rotate at multiple angles to a large extent, the use requirements of the tunneling obstacle clearing mechanism under different conditions are met, and in addition, the tunneling obstacle clearing mechanism can also be used as a supporting device under emergency conditions.
As shown in fig. 7, the tunneling obstacle clearing mechanism can be folded and retracted when not in use, so that the occupied mining space is reduced, and the drum shearer can obtain larger mining space.
The invention adopts the structural design of the matching of the mining mechanism and the tunneling obstacle clearing mechanism, meets the mining requirements of different coal seams of low, medium and high, has limited mining space of a thin coal seam, cannot be too long due to the design of the length of the rocker arm of the drum shearer limited by the space, can mine the coal seam in the range where the rocker arm is mined by the drum shearer, can mine some low coal seams and high coal seams which exceed the length range of the rocker arm in a mining area, effectively makes up the defects of the drum shearer, and realizes the omnibearing unmanned mining.
Survey early warning device is for the safe operation of guarantee mining robot, survey early warning device 4 and set up the middle part at trapezoidal platform 101, survey early warning device 4 include installing support 41 and protective housing 42, protective housing is inside to be set up methane sensor, carbon monoxide sensor, temperature sensor and alarm and dustproof camera, methane sensor, carbon monoxide sensor, temperature sensor and alarm and dustproof camera satisfy the requirement of intercommunication through communication line connection PLC central control system respectively.
The foregoing is only a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the invention, and such modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. The utility model provides a mining robot under complicated operating mode, includes organism and advancing mechanism, its characterized in that, the inside of organism sets up PLC central control system and power module, and organism upper portion is equipped with mining mechanism, tunnelling obstacles removing mechanism and surveys early warning device, all be provided with the controller on mining mechanism and the tunnelling obstacles removing mechanism, the controller is respectively through the inside PLC central control system who sets up of communication line connection fuselage.
2. The mining robot under the complex working condition as claimed in claim 1, wherein a trapezoidal table is arranged on the upper portion of the machine body, two steps are arranged on the trapezoidal table, the trapezoidal table is divided into a first-stage trapezoidal table top and a second-stage trapezoidal table top, and the mining mechanism, the tunneling obstacle clearing mechanism and the detection early warning device are mounted on the trapezoidal table.
3. The mining robot under the complex working condition as claimed in claim 1, wherein the travelling mechanism comprises a driving wheel and a walking auxiliary mechanism, a frame is arranged between the driving wheel and the machine body, and the driving wheel is mounted at the bottom of the frame; a swing mechanism is further arranged between the machine body and the machine frame, and the machine body is mounted at the upper part of the swing mechanism; the walking auxiliary mechanism is arranged on two sides of the machine body.
4. The mining robot under the complex working condition as claimed in claim 3, wherein the slewing mechanism comprises a slewing body and a slewing table, a telescopic upright column is arranged at the centers of the slewing body and the slewing table, the slewing body is mounted on the machine frame, and the slewing table is mounted on the upper portion of the slewing body.
5. The mining robot under the complex working condition as claimed in claim 3, wherein the walking assisting mechanism comprises a plurality of bionic limbs which are correspondingly arranged on two sides of the machine body; the bionic limb comprises a leg, an inner limb and an outer limb, and a driving motor for driving the leg, the inner limb and the outer limb to move is arranged at the joint of the leg, the inner limb and the outer limb.
6. The mining robot as claimed in claim 1 or 2, wherein the mining mechanism is a shearer loader, and comprises a middle body, a left cutting drum, a right cutting drum, a left rocker arm and a right rocker arm, the left cutting drum and the right cutting drum are correspondingly mounted on the left rocker arm and the right rocker arm respectively, a left connecting piece and a right connecting piece are correspondingly arranged between the left rocker arm and the middle body respectively, the left rocker arm and the right rocker arm are connected to the middle body respectively through connecting pieces, and rotary motors for driving the left rocker arm and the right rocker arm to rotate are arranged at the joints of the left rocker arm and the right rocker arm and the left connecting piece and the right connecting piece.
7. The mining robot under the complex working condition as claimed in claim 6, wherein the left connecting piece and the right connecting piece are of a herringbone structure, and each of the left connecting piece and the right connecting piece comprises three connecting ends, namely a first connecting end, a second connecting end and a third connecting end; the first connecting end of the left connecting piece is connected with the left rocker arm, the second connecting end of the left connecting piece is connected to the left side of the middle machine body through a hinge, a first oil cylinder is arranged between the third connecting end of the left connecting piece and the middle machine body, one end of the first oil cylinder is hinged to the third connecting end, and the other end of the first oil cylinder is connected to the middle machine body; the first connecting end of the right connecting piece is connected with the right rocker arm, the second connecting end of the right connecting piece is connected to the right side of the middle machine body through a hinge, a second oil cylinder is arranged between the third connecting end of the right connecting piece and the middle machine body, one end of the second oil cylinder is hinged to the third connecting end of the right connecting piece, and the other end of the second oil cylinder is connected to the middle machine body.
8. The mining robot under the complex working condition as claimed in claim 1 or 2, wherein the tunneling obstacle clearing mechanism comprises a first driving motor, a movable arm, an arm and a bucket, one end of the movable arm is connected to the power output end of the first driving motor, the other end of the movable arm is connected to the arm, a revolving shaft and a second driving motor for driving the arm to rotate relative to the movable arm are arranged at the joint of the movable arm and the arm, the bucket is installed at one end, away from the movable arm, of the arm, and an angle adjusting rod for adjusting the angle of the bucket is arranged between the bucket and the arm.
9. The mining robot under the complex working condition according to claim 1 or 2, characterized in that the detection early warning device is arranged in the middle of the trapezoidal table and comprises a mounting bracket and a protective shell, a methane sensor, a carbon monoxide sensor, a temperature sensor, an alarm and a dustproof camera are arranged in the protective shell, and the methane sensor, the carbon monoxide sensor, the temperature sensor, the alarm and the dustproof camera are respectively connected with the PLC central control system through communication lines.
10. The mining robot under the complex working condition as claimed in claim 1, wherein the PLC central control system comprises a PLC central controller, a signal transmitting module and a signal receiving module, wherein the signal transmitting module is respectively connected with the PLC central controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110133051.1A CN112922594B (en) | 2021-02-01 | 2021-02-01 | Mining robot under complicated operating mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110133051.1A CN112922594B (en) | 2021-02-01 | 2021-02-01 | Mining robot under complicated operating mode |
Publications (2)
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