CN113738355B - Thin coal seam mining robot - Google Patents
Thin coal seam mining robot Download PDFInfo
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- CN113738355B CN113738355B CN202111038665.8A CN202111038665A CN113738355B CN 113738355 B CN113738355 B CN 113738355B CN 202111038665 A CN202111038665 A CN 202111038665A CN 113738355 B CN113738355 B CN 113738355B
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- seam mining
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- mining robot
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- 239000003245 coal Substances 0.000 title claims abstract description 77
- 238000005065 mining Methods 0.000 title claims abstract description 52
- 238000005520 cutting process Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 15
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 239000002184 metal Substances 0.000 claims description 8
- 238000009423 ventilation Methods 0.000 claims description 6
- 230000036346 tooth eruption Effects 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 239000004484 Briquette Substances 0.000 claims 1
- 230000008676 import Effects 0.000 claims 1
- 238000000034 method Methods 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 7
- 238000010276 construction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000005553 drilling Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010009 beating Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003818 cinder Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Images
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
- E21C25/52—Machines incorporating two or more of the slitting means according to groups E21C25/02, E21C25/06, E21C25/16, E21C25/20 and E21C25/22
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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
- E21C25/08—Mountings for the rods or drums
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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
- E21C25/10—Rods; Drums
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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
- E21C25/56—Slitting by cutter cables or cutter chains or by tools drawn along the working face by cables or the like, in each case guided parallel to the face, e.g. by a conveyor or by a guide parallel to a conveyor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/68—Machines for making slits combined with equipment for removing, e.g. by loading, material won by other means
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/02—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices
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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
- 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
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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
- E21C35/08—Guiding the machine
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a thin coal seam mining robot, which comprises a vehicle body provided with a traveling mechanism, wherein the upper end of the vehicle body is rotatably connected with a supporting table through a rotary table, and the front end of the vehicle body is provided with a mechanical arm used for grabbing a material conveying mechanism; the supporting table is provided with a material conveying mechanism and a cutting mechanism, the material conveying mechanism can be used for construction in a splicing mode, the placement position of a vehicle body is not limited, the mining height of the vehicle body is not limited by the thickness of a coal bed, and the cutting mechanism can control the rocker arm to swing while guaranteeing efficient coal breaking so as to cut thin coal beds with different thicknesses.
Description
Technical Field
The invention relates to the field of thin coal seam mining, in particular to a thin coal seam mining robot.
Background
Under the background of promoting ecological civilization construction in modern society, the proportion of coal consumption in China in 2018 is reduced to 59%, and although the proportion of coal in energy consumption is reduced, the coal still serving as main energy is not changed for a long time. The coal industry in China is developed at a high speed, thick and medium-thick coal seams are less and less, in order to avoid resource waste, protect coal resources, improve the coal recovery rate and realize balanced mining of resources, the coal law in China has stipulated that coal seams are mined from thin coal seams, coal seams above 0.8m must be mined, and coal seams below 0.8m encourage mining.
Relevant statistics show that the reserves of the thin coal seam in China are rich, the ascertained recoverable reserves account for about 21 percent of the recoverable reserves of all coals, and the coal quality of the thin coal seam is good. In the mining of the thin coal seam, the labor intensity is high, the mechanization degree and the economic benefit are low, so that the phenomenon of 'thick mining and thin abandoning' generally exists in various mining areas, the huge waste of coal resources is not coordinated with the mining reserves, and the yield of the thin coal seam only accounts for about 10 percent of the national coal yield.
The conventional mechanical mining modes of the thin coal seam are mainly divided into three mining modes, namely roller shearer mining, coal plough mining and drill mining. They have different problems: firstly, the roller coal mining machine has insufficient power and violent vibration of the machine body, and the service life is reduced when a fault and gangue are encountered; secondly, the coal plough has poor coal seam applicability, small mining coal seam inclination angle, high underground mining condition requirement, limited installed power and can not mine coal seams with gangue or too hard coal (f is more than or equal to 4); and thirdly, the design of the drilling tool of the drilling and mining machine lacks theoretical guidance, the time consumption for changing and connecting the spiral conveying blade is long, the drilling tool has small one-time mining width, and the drilling tool has serious deviation during drilling and mining.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide the thin coal seam mining robot, the vehicle body of the robot can be placed in a roadway, the mining power of the robot is not limited by the thickness of the coal seam, and the cutting mechanism can control the rocker arm to swing while ensuring high-efficiency coal breaking so as to cut the thin coal seams with different thicknesses.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a thin coal seam mining robot which comprises a vehicle body provided with a traveling mechanism, wherein the upper end of the vehicle body is rotatably connected with a supporting platform through a rotary table; the front end of the vehicle body is provided with a mechanical arm for grabbing coal briquettes;
the support table is provided with a sliding seat capable of moving along the length direction of the support table and a first power mechanism for controlling the sliding seat to move;
the sliding seat is provided with two spiral conveying blades and a second power mechanism for controlling the spiral conveying blades to rotate, the spiral conveying blades are formed by splicing a plurality of sections of conveying blades, one ends of the spiral conveying blades, far away from the sliding seat, are connected with driving wheels through a transmission, and the two driving wheels are symmetrically arranged on two sides of the supporting platform;
a slewing bearing and a hydraulic motor for driving the slewing bearing to work are further fixed at one end, close to the driving wheel, of the support table, and the output end of the slewing bearing is fixedly connected with the rocker arm and drives the rocker arm to rotate;
one end of the rocker arm, which is far away from the slewing bearing, is rotatably connected with a driven wheel, a driving wheel arranged on the same side of the supporting table is connected with the driven wheel through a transmission chain, a main shaft rotating coaxially with the driven wheel is connected between the two driven wheels, and cutting teeth are arranged on the outer surface of the main shaft and the upper surface of the transmission chain.
Preferably, the first power mechanism comprises a hydraulic motor II fixed at two ends of the sliding seat, the output end of the hydraulic motor II is connected with a planetary reducer II, the output end of the planetary reducer II is connected with a gear, and racks meshed with the gear are arranged on two sides of the upper end of the supporting table.
Preferably, the second power mechanism comprises a hydraulic motor I fixed in the middle of the sliding seat, the output end of the hydraulic motor I is connected with a planetary reducer I, and the output end of the planetary reducer I is connected with a spiral conveying blade.
Preferably, be equipped with the first casing that is used for covering two auger delivery blades on the brace table, first casing is formed by the concatenation of a plurality of sections casing detachable, first casing is fixed with the second casing that is used for bearing the weight of the coal cinder at its one end of keeping away from the slide, still be equipped with a plurality of brackets that are used for supporting the second casing on the brace table.
Preferably, the both sides of brace table still are equipped with the sheet metal component that is used for covering water pipe or oil pipe, the sheet metal component is formed by the detachable concatenation of a plurality of sections panel beating units.
Preferably, the helical conveying blades are opposite in rotation direction and both are rotated to the middle of the supporting platform.
Preferably, the axis of the rotating track of the rocker arm is coincident with the axis of the main shaft.
Preferably, a plurality of cameras used for acquiring surrounding environment information are installed on the thin coal seam mining robot, and the cameras are connected with an external display.
Preferably, two groups of cutting picks which are arranged in a spiral shape are symmetrically arranged on the outer surface of the main shaft.
Preferably, a ventilation system is arranged on the supporting table and comprises two air inlet channels, one end of each air inlet channel is connected with the negative pressure fan and the air compressor respectively, the other end of each air inlet channel is provided with an air outlet channel, an air filter is arranged at the inlet of the negative pressure fan, and the two air outlet channels are arranged at one end close to the main shaft.
The invention has the beneficial effects that:
1) the thin coal seam mining robot has high adaptability, ensures high-efficiency coal breaking, controls the main shaft and the transmission chain to swing up and down through the rocker arm by the slewing bearing in the device, and cuts thin coal seams with different thicknesses by using the cutting teeth on the main shaft and the transmission chain.
2) The thin coal seam mining robot is not limited by the thickness of a coal seam like most coal mining machines in the prior art, the size of the whole machine of the existing coal mining machine cannot be too large, the installed power of a carried motor is low, and the placement position of a vehicle body in the robot is not limited, so that the size of the vehicle body and the installed power of the motor are not limited, and the mining height is not limited by the thickness of the coal seam.
(3) The thin coal seam mining robot provided by the invention realizes unmanned working face of mining work, provides good and safe working environment for workers, and meanwhile, the thin coal seam mining robot needs few operators for working, and can reduce labor cost.
(4) The first shell and the second shell play a supporting role to a certain extent, so that the hole collapse phenomenon is prevented, and the two shells have a guiding function, so that the deflection phenomenon of the spiral conveying blade is prevented.
(5) The first shell, the sheet metal part and the spiral conveying blade can be assembled quickly to extend the length, and can be assembled through the mechanical arm to realize the butt joint of the front device and the rear device quickly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a thin coal seam mining robot provided by an embodiment of the invention;
FIG. 2 is a schematic structural diagram (side view) of a thin coal seam mining robot provided in an embodiment of the invention;
fig. 3 is a schematic structural diagram of a feeding mechanism and a cutting mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic view of a connection between a supporting platform and a feeding mechanism according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a cutting mechanism according to an embodiment of the present invention;
fig. 6 is a schematic structural view (side view) of a cutting mechanism provided in an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a first power mechanism according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram (side view) of a first power mechanism according to an embodiment of the present invention.
Description of reference numerals:
1. 1-5 parts of a travelling mechanism, 2-1-1 parts of a rotary table, 2 parts of a support table, 3 parts of a mechanical arm, 2-2 parts of a material conveying mechanism, 2-3 parts of a cutting mechanism, 2-1-1 parts of a hydraulic motor I, 2-1-2 parts of a slide seat, 2-1-3 parts of a planetary reducer I, 2-1-4 parts of a rack, 2-1-6 parts of a bracket, 2-1-7 parts of a hydraulic motor II, 2-1-8 parts of a planetary reducer II, 2-1-9 parts of a gear, 2-3-1 parts of a second shell, 2-3-2 parts of a spiral conveying blade, 2-3-3 parts of a hydraulic motor, 2-3-4 parts of a rotary support, 2-3-5 parts of a cutting tooth, 2-3-6 parts of a main shaft, 2-3-7 parts of a transmission, 2-3-8 parts of a rocker arm, 2-3-9 parts of a transmission chain, 2-3-10 parts of a driven wheel, 2-3-11 parts of a driving wheel, 2-4 parts of a ventilation system, 2-4-1 parts of an air inlet channel, 2-4-2 parts of an air outlet channel, 2-4-3 parts of an air compressor, 2-4-4 parts of a negative pressure fan, 2-4-5 parts of an air filter.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 8, the thin coal seam mining robot comprises a vehicle body provided with a traveling mechanism 1, wherein the upper end of the vehicle body is rotatably connected with a support platform 2 through a rotary table 1-5;
the supporting platform 2 is provided with a material conveying mechanism 2-2 and a cutting mechanism 2-3, the material conveying mechanism 2-2 comprises a sliding seat 2-1-2 movably arranged on the supporting platform 2, and the supporting platform 2 is also provided with a first power mechanism for controlling the sliding seat 2-1-2 to move along the length direction of the sliding seat; the front end of the vehicle body is provided with a mechanical arm 3 for grabbing the material conveying mechanism;
the first power mechanism comprises hydraulic motors II 2-1-7 fixed at two ends of the sliding seat 2-1-2, the output ends of the hydraulic motors II 2-1-7 are connected with planetary speed reducers II 2-1-8, the output ends of the planetary speed reducers II 2-1-8 are connected with gears 2-1-9, and racks 2-1-4 meshed with the gears 2-1-9 are arranged on two sides of the upper end of the supporting platform 2.
The two spiral conveying blades 2-3-2 and a second power mechanism for controlling the spiral conveying blades 2-3-2 to rotate are arranged on the sliding seat 2-1-2, the second power mechanism comprises a hydraulic motor I2-1-1 fixed in the middle of the sliding seat 2-1-2, the output end of the hydraulic motor I2-1-1 is connected with a planetary reducer I2-1-3, and the output end of the planetary reducer I2-1-3 is connected with the spiral conveying blades 2-3-2.
The spiral conveying blade 2-3-2 is formed by splicing a plurality of sections of conveying blades;
the cutting mechanism 2-3 comprises two driving wheels 2-3-11 which are symmetrically arranged at two sides of the front end of the support platform 2, and one end of the spiral conveying blade 2-3-2, which is far away from the sliding seat 2-1-2, is connected with the driving wheels 2-3-11 through a speed changer 2-3-7 and drives the driving wheels to rotate;
a slewing bearing 2-3-4 and a hydraulic motor 2-3-3 for driving the slewing bearing 2-3-4 to work are further fixed at one end, close to the driving wheel 2-3-11, of the support table 2, and the output end of the slewing bearing 2-3-4 is fixedly connected with a rocker arm 2-3-8 and drives the rocker arm to rotate;
one end of the rocker arm 2-3-8, which is far away from the slewing bearing 2-3-4, is rotatably connected with a driven wheel 2-3-10, a driving wheel 2-3-11 and the driven wheel 2-3-10 which are arranged on the same side of the supporting platform 2 are in transmission connection through a transmission chain 2-3-9, a main shaft 2-3-6 which rotates coaxially with the driven wheel is connected between the two driven wheels 2-3-10, and cutting teeth 2-3-5 are arranged on the outer surface of the main shaft 2-3-6 and the upper surface of the transmission chain 2-3-9.
The supporting table 2 is provided with a first shell used for covering two spiral conveying blades 2-3-2, the first shell is formed by splicing a plurality of sections of shell units in a detachable mode, one end, far away from the sliding seat 2-1-2, of the first shell is fixedly provided with a second shell 2-3-1 used for bearing coal briquettes, and the supporting table 2 is further provided with a plurality of brackets 2-1-6 used for supporting the second shell 2-3-1.
The both sides of brace table 2 still are equipped with the sheet metal component that is used for covering water pipe or oil pipe, the sheet metal component is formed by a plurality of sections panel beating units through the detachable mode concatenation.
The spiral conveying blades 2-3-2 are opposite in rotation direction and both rotate to the middle part of the supporting platform 2.
The thin coal seam mining robot is provided with a plurality of cameras for acquiring surrounding environment information, and the cameras are connected with an external display
Two groups of spiral cutting teeth 2-3-5 with opposite rotating directions are symmetrically arranged on the outer surface of the main shaft 2-3-6.
The air-conditioning unit is characterized in that a ventilation system 2-4 is arranged on the supporting platform 2, the ventilation system 2-4 comprises two air inlet channels 2-4-1, one end of each of the two air inlet channels 2-4-1 is connected with a negative pressure fan 2-4-4 and an air compressor 2-4-3, the other end of each of the two air inlet channels 2-4-1 is provided with an air outlet channel 2-4-2, an inlet of the negative pressure fan 2-4-4 is provided with an air filter 2-4-5, and the two air outlet channels 2-4-2 are arranged at one end close to the main shaft 2-3-6.
The working principle is as follows: after the thin coal seam mining robot reaches a working area, an operator looks at a real-time image transmitted by a camera at a safe position to control the height of one end of a main shaft 2-3-6 and a transmission chain 2-3-9 by adjusting the swing angle of a rocker arm 2-3-8 in front of a cutting mechanism 2-3 to cut coal seams with different thicknesses, coal is conveyed out of a hole of the coal seam from the hole by a conveying mechanism 2-2, coal is mined inwards by continuously prolonging the length of a spiral conveying blade 2-3-2 in the conveying mechanism 2-2, the coal mining height is continuously adjusted by the main shaft 2-3-6 in front of the cutting mechanism 2-3 in the cutting process, and the coal is cut by autorotation.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A thin coal seam mining robot comprises a vehicle body provided with a traveling mechanism (1), wherein the upper end of the vehicle body is rotatably connected with a supporting table (2) through a rotary table (1-5); the front end of the vehicle body is provided with a mechanical arm (3); the method is characterized in that: the support table (2) is provided with a sliding seat (2-1-2) capable of moving along the length direction of the support table and a first power mechanism for controlling the sliding seat (2-1-2) to move;
the two spiral conveying blades (2-3-2) and a second power mechanism for controlling the spiral conveying blades (2-3-2) to rotate are arranged on the sliding seat (2-1-2), the spiral conveying blades (2-3-2) are formed by splicing a plurality of sections of conveying blades, one end of each spiral conveying blade, far away from the sliding seat (2-1-2), is connected with a driving wheel (2-3-11) through a speed changer (2-3-7), and the two driving wheels (2-3-11) are symmetrically arranged on two sides of the supporting table (2);
a slewing bearing (2-3-4) and a hydraulic motor (2-3-3) for driving the slewing bearing (2-3-4) to work are further fixed at one end, close to the driving wheel (2-3-11), of the supporting table (2), and the output end of the slewing bearing (2-3-4) is fixedly connected with a rocker arm (2-3-8) and drives the rocker arm to rotate;
one end of the rocker arm (2-3-8) far away from the slewing bearing (2-3-4) is rotatably connected with a driven wheel (2-3-10), a driving wheel (2-3-11) arranged on the same side of the supporting platform (2) is in transmission connection with the driven wheel (2-3-10) through a transmission chain (2-3-9), a main shaft (2-3-6) rotating coaxially with the driven wheel is connected between the two driven wheels (2-3-10), cutting picks (2-3-5) are arranged on the outer surface of the main shaft (2-3-6) and the upper surface of the transmission chain (2-3-9), the slewing bearing (2-3-4) controls the swinging of the main shaft (2-3-6) and the transmission chain (2-3-9) through the rocker arm (2-3-8), thereby cutting thin coal seams of different thicknesses.
2. A thin coal seam mining robot as claimed in claim 1 wherein: the first power mechanism comprises hydraulic motors II (2-1-7) fixed at two ends of the sliding seat (2-1-2), the output ends of the hydraulic motors II (2-1-7) are connected with planetary speed reducers II (2-1-8), the output ends of the planetary speed reducers II (2-1-8) are connected with gears (2-1-9), and racks (2-1-4) meshed with the gears (2-1-9) are arranged on two sides of the upper end of the supporting platform (2).
3. A thin coal seam mining robot as claimed in claim 1 wherein: the second power mechanism comprises a hydraulic motor I (2-1-1) fixed in the middle of the sliding seat (2-1-2), the output end of the hydraulic motor I (2-1-1) is connected with a planetary reducer I (2-1-3), and the output end of the planetary reducer I (2-1-3) is connected with a spiral conveying blade (2-3-2).
4. A thin coal seam mining robot as claimed in claim 1 wherein: the coal briquette conveying device is characterized in that a first shell used for covering two spiral conveying blades (2-3-2) is arranged on the supporting table (2), the first shell is formed by splicing a plurality of sections of shells in a detachable mode, a second shell (2-3-1) used for bearing coal briquettes is fixed at one end, far away from the sliding seat (2-1-2), of the first shell, and a plurality of brackets (2-1-6) used for supporting the second shell (2-3-1) are further arranged on the supporting table (2).
5. A low seam mining robot as claimed in claim 4 wherein: the two sides of the supporting table (2) are also provided with sheet metal parts used for covering the water pipe or the oil pipe, and the sheet metal parts are formed by detachably splicing a plurality of sections of sheet metal units.
6. A thin coal seam mining robot as claimed in claim 1 wherein: the two spiral conveying blades (2-3-2) are opposite in rotating direction and turning direction and both rotate to the middle of the supporting platform (2).
7. A thin coal seam mining robot as claimed in claim 1 wherein: the axis of the rotating track of the rocker arm (2-3-8) is superposed with the axis of the main shaft (2-3-6).
8. A thin coal seam mining robot as claimed in claim 1 wherein: the thin coal seam mining robot is provided with a plurality of cameras for acquiring surrounding environment information, and the cameras are connected with an external display.
9. A low seam mining robot as claimed in claim 1 wherein: two groups of cutting teeth (2-3-5) which are spirally arranged are symmetrically arranged on the outer surface of the main shaft (2-3-6).
10. A thin coal seam mining robot as claimed in claim 1 wherein: be equipped with ventilation system (2-4) on brace table (2), ventilation system (2-4) include two inlet air channel (2-4-1), negative pressure fan (2-4-4) and air compressor machine (2-4-3) are connected respectively to one end wherein of two inlet air channel (2-4-1), and the other end of two inlet air channel (2-4-1) all is equipped with air-out passageway (2-4-2), and negative pressure fan (2-4-4) import is equipped with air cleaner (2-4-5), and two air-out passageways (2-4-2) all are established in the one end that is close to main shaft (2-3-6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111038665.8A CN113738355B (en) | 2021-09-06 | 2021-09-06 | Thin coal seam mining robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111038665.8A CN113738355B (en) | 2021-09-06 | 2021-09-06 | Thin coal seam mining robot |
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| CN113738355A CN113738355A (en) | 2021-12-03 |
| CN113738355B true CN113738355B (en) | 2022-08-05 |
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| CN114135285B (en) * | 2021-12-06 | 2022-09-23 | 东北大学 | Thin vein mining robot |
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|---|---|---|---|---|
| CN102562055A (en) * | 2010-12-30 | 2012-07-11 | 三一重型装备有限公司 | Rocker arm and roller transmission structure of roller coal-mining machine |
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| CN103924970A (en) * | 2014-05-05 | 2014-07-16 | 湖南科技大学 | Two-arm and four-roller coal mining machine |
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| CN111188615A (en) * | 2019-11-10 | 2020-05-22 | 胡立宇 | Coal mining depth adjustable coal mining machine |
| CN111206927A (en) * | 2019-12-31 | 2020-05-29 | 太重煤机有限公司 | Cutting device of coal mining machine and design method thereof |
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| CN102562055A (en) * | 2010-12-30 | 2012-07-11 | 三一重型装备有限公司 | Rocker arm and roller transmission structure of roller coal-mining machine |
| CN103670401A (en) * | 2013-12-31 | 2014-03-26 | 袁伟昊 | Self-walking drum shearer capable of drilling bidirectionally |
| CN103924970A (en) * | 2014-05-05 | 2014-07-16 | 湖南科技大学 | Two-arm and four-roller coal mining machine |
| CN210460653U (en) * | 2019-08-15 | 2020-05-05 | 天地科技股份有限公司上海分公司 | Two-stage rocker arm cutting device |
| CN111188615A (en) * | 2019-11-10 | 2020-05-22 | 胡立宇 | Coal mining depth adjustable coal mining machine |
| CN111206927A (en) * | 2019-12-31 | 2020-05-29 | 太重煤机有限公司 | Cutting device of coal mining machine and design method thereof |
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