CN113898352A - Broken integration robot of four-arm intelligence anchor fortune - Google Patents

Abstract

The invention discloses a four-arm intelligent anchoring and transporting integrated robot which comprises a main frame, a receiving part, a discharging part, a crushing mechanism, a conveying mechanism, a front anchoring and protecting mechanism and a rear anchoring and protecting mechanism, wherein the receiving part is connected with the front side of the main frame in a swinging manner along the up-down direction; the discharging part is connected with the rear side of the main frame in a swinging manner along the up-down direction; the crushing mechanism is positioned between the material receiving part and the material discharging part in the front-back direction; the discharging part, the main frame and the receiving part form a conveying trough together; the front anchoring and protecting mechanism comprises a front drill frame, a front left drill and a front right drill, the front drill frame is connected with the main frame, and the front left drill and the front right drill are movably arranged on the front drill frame; the rear anchoring and protecting mechanism comprises a rear drill frame, a rear left drill and a rear right drill, and each of the rear left drill and the rear right drill is movably arranged on the rear drill frame. The four-arm intelligent anchoring and transporting integrated robot provided by the embodiment of the invention can effectively improve the coal seam roadway excavation operation efficiency.

Description

Broken integration robot of four-arm intelligence anchor fortune

Technical Field

The invention relates to the technical field of coal mining, in particular to a four-arm intelligent anchoring and transporting integrated robot.

Background

With the rapid development of coal mining technology, the operating efficiency of the tunneling and anchoring machine for the tunneling operation of the thin seam roadway is greatly improved, and the operating efficiency of the existing rear matched equipment matched with the tunneling and anchoring machine is lower, so that the operating efficiency of the tunneling operation of the thin seam roadway is limited.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the embodiment of the invention provides a four-arm intelligent anchoring and transporting integrated robot capable of improving the coal seam roadway excavation operation efficiency.

The four-arm intelligent anchoring and transporting integrated robot provided by the embodiment of the invention comprises:

a main frame;

the receiving part is connected with the front side of the main frame in a swinging manner along the up-down direction;

the discharging part is connected with the rear side of the main frame in a swinging manner along the up-down direction;

the crushing mechanism is arranged on the main rack and is positioned between the receiving part and the discharging part in the front-back direction;

the driving end of the conveying mechanism is matched with the discharging part, the driven end of the conveying mechanism is matched with the receiving part, and the discharging part, the main frame and the receiving part form a conveying groove;

the front anchoring and protecting mechanism comprises a front drill frame, a front left drill and a front right drill, the front drill frame is connected with the main frame, and the front left drill and the front right drill are movably arranged on the front drill frame; and

the rear anchoring and protecting mechanism comprises a rear drill frame, a rear left drill and a rear right drill, the rear drill frame is connected with the main frame, and each of the rear left drill and the rear right drill is movably arranged on the rear drill frame.

According to the four-arm intelligent anchoring and transporting integrated robot provided by the embodiment of the invention, the coal seam roadway excavation operation efficiency can be effectively improved.

In some embodiments, the rear anchoring mechanism is movably disposed on the main frame in a front-to-rear direction.

In some embodiments, the rear drill rig frame comprises:

a horizontal outer sleeve movably disposed on the main frame in a front-rear direction;

the left horizontal inner sleeve is movably arranged in the horizontal outer sleeve along the left-right direction, the rear left drilling machine comprises a rear left drilling machine frame, and the rear left drilling machine frame is connected with the left horizontal inner sleeve; and

the right horizontal inner sleeve barrel is movably arranged in the horizontal outer sleeve barrel along the left-right direction, the rear right drilling machine comprises a rear right drilling machine frame, and the rear right drilling machine frame is connected with the right horizontal inner sleeve barrel.

In some embodiments, the vehicle further includes a left running gear and a right running gear, the left running gear and the right running gear being provided at a distance in a left-right direction, each of the left running gear and the right running gear being connected to the main frame, each of the left running gear and the right running gear being a crawler-type running gear, the crawler-type running gear including:

the crawler frame is connected with the main frame;

the driving chain wheel and the guide wheel are arranged at intervals along the front-rear direction;

the crawler belt is wound on the driving chain wheel and the guide wheel; and

motor and walking are with the reduction gear, the walking with the reduction gear shell of reduction gear with the track frame links to each other, the walking with the input shaft of reduction gear with the motor links to each other, the walking with the output shaft of reduction gear with drive sprocket links to each other, so that pass through motor drive sprocket rotates, the motor with the walking is arranged along the fore-and-aft direction with the reduction gear, wherein be equipped with the access panel on the track frame, so that expose the motor.

In some embodiments, the axis of the input shaft is perpendicular to the axis of the output shaft.

In some embodiments, the delivery mechanism comprises:

the left driving chain wheel and the left driven chain wheel are arranged at intervals along the front-rear direction;

the left driving device is connected with the left driving chain wheel;

the left driving chain wheel and the right driving chain wheel are arranged at intervals along the left-right direction, and the left driven chain wheel and the right driven chain wheel are arranged at intervals along the left-right direction;

the right driving device is connected with the right driving chain wheel;

the left scraper chain is wound on the left driving chain wheel and the left driven chain wheel;

the right scraper chain is wound on the right driving chain wheel and the right driven chain wheel; and

the left end of each of the scraping plates is connected with the left scraping plate chain, and the right end of each of the scraping plates is connected with the right scraping plate chain.

In some embodiments, the delivery mechanism further comprises:

the left driving shaft is connected with the left driving device, the left part of the left driving chain wheel is sleeved on the left driving shaft in a rotation stopping way, a left shaft shoulder is arranged on the left driving shaft, and the left shaft shoulder abuts against the left end face of the left driving chain wheel;

the right driving shaft is connected with the right driving device, the right part of the right driving chain wheel is sleeved on the right driving shaft in a rotation stopping way, a right shaft shoulder is arranged on the right driving shaft, and the right shaft shoulder is abutted against the right end surface of the right driving chain wheel;

an intermediate shaft on which each of a right portion of the left drive sprocket and a left portion of the right drive sprocket is spline-sleeved; and

the middle cover plate is detachably sleeved on the middle shaft, the left end of the middle cover plate abuts against the right end face of the left driving chain wheel, and the right end of the middle cover plate abuts against the left end face of the right driving chain wheel.

In some embodiments, the crushing mechanism comprises:

the crushing rack is connected with the main rack;

the crushing device comprises a motor and a friction torque limiter, wherein a reducer shell of the reducer for crushing is connected with a crushing rack; and

and the speed reducer for crushing is connected with the crushing disc so as to drive the crushing disc to rotate by using the motor.

In some embodiments, the receiving portion comprises:

the hopper frame is connected with the front side of the main frame in a swinging manner along the up-down direction; and

the hopper, the hopper sets up on the hopper frame, the hopper is the octagon hopper.

In some embodiments, the front anchor handling mechanism further comprises a front left anchor feeder cooperating with the front left drill rig to convey the cable rope to the front left drill rig, and a front right anchor feeder cooperating with the front right drill rig to convey the cable rope to the front right drill rig;

the rear anchor protection mechanism further comprises a rear left anchor feeder and a rear right anchor feeder, the rear left anchor feeder is matched with the rear left drilling machine so as to convey the anchor cable to the rear left drilling machine, and the rear right anchor feeder is matched with the rear right drilling machine so as to convey the anchor cable to the rear right drilling machine.

Drawings

Fig. 1 is a schematic structural diagram of a four-arm intelligent anchoring-breaking integrated robot according to an embodiment of the invention.

Fig. 2 is a schematic structural view of the travel mechanism in fig. 1.

Fig. 3 is an enlarged view at a in fig. 2.

Fig. 4 is a schematic structural view of the walking speed reducer of fig. 2.

Fig. 5 is a schematic structural view of the receiving portion in fig. 1.

Fig. 6 is a partial schematic view of the conveyor mechanism of fig. 1.

Fig. 7 is a schematic view of the structure at the drive shaft in fig. 6.

Fig. 8 is a partial structural schematic view of the crushing mechanism of fig. 1.

Fig. 9 is a schematic structural view of the rear anchoring mechanism in fig. 1.

Reference numerals:

a four-arm intelligent anchoring and breaking integrated robot 100;

a main frame 1; a guide rail 101;

a receiving part 2; a hopper frame 201; a connecting lug 2011; a hopper 202;

a discharge section 3;

a crushing mechanism 4; a crusher frame 401; a motor 402; a friction torque limiter 403; a reduction gear 404 for crushing; a crushing disk 405; a cutting pick 406;

a front anchor protection mechanism 5;

a rear anchor protection mechanism 6; a rear drill frame 601; a horizontal outer sleeve 6011; a slide 60111; a left horizontal inner sleeve 6012; a right horizontal inner sleeve 6013; a rear left drill 602; a rear left drill stand 6021; a rear left swing cylinder 6022; a rear right drill 603; a rear right rig frame 6031;

a left traveling mechanism 7; a track frame 701; an access panel 7011; a motor 702; a drive sprocket 703; a walking speed reducer 704; track cover 705; a track 706; a guide wheel 707;

a right traveling mechanism 8; a track frame 801; (ii) a A motor 802; a drive sprocket 803; a speed reducer 804 for walking; the reducer case 8041; an input shaft 8042; an output shaft 8043; a track cover plate 805; a track 806; a guide wheel 807;

a conveying mechanism 9; a left drive sprocket 901; a right drive sprocket 902; a left scraper chain 903; a right flight chain 904; a squeegee 905; a left drive 906; a right drive 907; a drive shaft 908; a left drive shaft 9081; a right drive shaft 9082; a middle shaft 9083; a middle cover plate 9084; a first cover portion 90841; a bolt 90842;

an electrical system 10;

a hydraulic system 11.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

As shown in fig. 1 to 9, a four-arm intelligent anchoring and breaking integrated robot 100 according to an embodiment of the present invention includes a main frame 1, a receiving portion 2, a discharging portion 3, a crushing mechanism 4, a conveying mechanism 9, a front anchoring and protecting mechanism 5, and a rear anchoring and protecting mechanism 6.

The receiving portion 2 is connected to the front side of the main frame 1 so as to be swingable in the up-down direction. In other words, the receiving portion 2 is hinged to the main frame 1. The discharging section 3 is swingably connected to the rear side of the main frame 1 in the up-down direction. In other words, the discharge section 3 is hinged to the main frame 1. The crushing mechanism 4 is provided on the main frame 1, and the crushing mechanism 4 is located between the receiving portion 2 and the discharging portion 3 in the front-rear direction. The driving end (rear end) of the conveying mechanism 9 is matched with the discharging part 3, the driven end (front end) of the conveying mechanism 9 is matched with the receiving part 2, and the main frame 1, the discharging part 3 and the receiving part 2 form a material conveying groove.

According to the four-arm intelligent anchoring and breaking integrated robot 100 provided by the embodiment of the invention, the material receiving part 2 can be used for receiving materials sent by tunneling equipment, and the conveying mechanism 9 is used for conveying the materials from the material receiving part 2 to the discharging part 3 positioned at the rear side of the main frame 1. And, in the material transportation process, can utilize crushing mechanism 4 to carry out the breakage to the material. Therefore, the material receiving part 2, the crushing mechanism 4, the conveying mechanism 9 and the discharging part 3 can be used for transferring mined materials.

The front anchoring mechanism 5 comprises a front drill frame, a front left drill and a front right drill, the front drill frame is connected with the main frame 1, and the front left drill and the front right drill are movably arranged on the front drill frame. The rear anchor mechanism 6 includes a rear drill frame 601, a rear left drill 602, and a rear right drill 603, the rear drill frame 601 is connected to the main frame 1, and each of the rear left drill 602 and the rear right drill 603 is movably provided on the rear drill frame 601.

According to the four-arm intelligent anchoring and transporting integrated robot 100 provided by the embodiment of the invention, the anchoring and the protecting of the roadway can be realized by utilizing the front anchoring and protecting mechanism 5 and the rear anchoring and protecting mechanism 6. And the front anchoring and protecting mechanism 5 and the rear anchoring and protecting mechanism 6 can synchronously operate, thereby improving the anchoring and protecting efficiency of the roadway. Therefore, the roadway can be quickly anchored and protected by the front anchoring and protecting mechanism 5 and the rear anchoring and protecting mechanism 6.

Therefore, the four-arm intelligent anchoring and transporting integrated robot 100 can simultaneously realize synchronous operation of material transportation and roadway anchoring and protecting, and when the four-arm intelligent anchoring and transporting integrated robot 100 is used as a rear supporting device, the whole operation efficiency of coal seam roadway tunneling operation can be effectively improved.

Therefore, the four-arm intelligent anchoring and transporting integrated robot 100 can effectively improve the coal seam roadway excavation operation efficiency.

The four-arm intelligent anchoring, transporting and breaking integrated robot 100 provided by the embodiment of the invention can be matched with an anchor digging machine, a reversed loader, a stepping self-moving type tail and a conveyor for use, and realizes mechanical and automatic operation of coal dropping, coal loading, supporting, breaking and coal transporting.

In some embodiments, the four-arm smart anchor breaking integrated robot 100 further includes a left travel mechanism 7 and a right travel mechanism 8, each of the left travel mechanism 7 and the right travel mechanism 8 being connected to the main frame 1. The left and right traveling mechanisms 7 and 8 are provided at intervals in the left-right direction, and each of the left and right traveling mechanisms 7 and 8 is a crawler-type traveling mechanism.

The crawler type traveling mechanism includes a track frame 701(801), a motor 702(802), a drive sprocket 703(803), a guide wheel 707(807), a track 706(806), and a traveling speed reducer 704 (804). Track frame 701(801) is connected to main frame 1, drive sprocket 703(803) and guide wheel 707(807) are provided at a distance in the front-rear direction, and track 706(806) is wound around drive sprocket 703(803) and guide wheel 707 (807). Reducer case 8041 of walking reducer 704(804) is connected to track frame 701(801), the input shaft of walking reducer 704(804) is connected to motor 702(802), and the output shaft of walking reducer 704(804) is connected to drive sprocket 703(803) so that drive sprocket 703(803) is driven by motor 702(802) to rotate. The motor 702(802) and the walking speed reducer 704(804) are arranged in the front-rear direction, wherein an access window 7011 is provided on the track frame 701(801) so as to expose the motor 702 (802).

For example, as shown in fig. 2 and 3, the left travel mechanism 7 includes a track frame 701, a motor 702, a drive sprocket 703, a travel speed reducer 704, a guide wheel 707, and a track 706. The track frame 701 is connected to the main frame 1, a drive sprocket 703 is provided on the front side of a guide wheel 707, and a track 706 is wound around the drive sprocket 703 and the guide wheel 707. The motor 702 is attached to the track frame 701, and the input shaft of the travel speed reducer 704 is connected to the motor 702 in a transmission manner, so that the travel speed reducer 704 can be driven to rotate by the motor 702. The output shaft of the travel reducer 704 is drivingly connected to the drive sprocket 703, so that the travel reducer 704 rotates the drive sprocket 703, the drive sprocket 703 moves the crawler 706, and the crawler 706 rotates the guide wheel 707.

The right travel mechanism 8 includes a track frame 801, a motor 802, a drive sprocket 803, a travel reducer 804, a guide wheel 808, and a track 806. Crawler frame 801 is connected to main frame 1, drive sprocket 803 is provided on the front side of guide wheel 808, and crawler 806 is wound around drive sprocket 803 and guide wheel 808. The motor 802 is attached to the track frame 801, and the input shaft 8042 of the walking speed reducer 804 is connected to the motor 802 in a transmission manner, so that the motor 802 can drive the walking speed reducer 804 to rotate. An output shaft 8043 of the traveling reduction gear 804 is drivingly connected to the driving sprocket 803, so that the driving sprocket 803 is rotated by the traveling reduction gear 804, the crawler 806 is moved by the driving sprocket 803, and the guide wheel 808 is rotated by the crawler 806.

Therefore, the four-arm intelligent anchor breaking integrated robot 100 can be driven to move by the left traveling mechanism 7 and the right traveling mechanism 8. The left traveling mechanism 7 and the right traveling mechanism 8 adopt crawler-type traveling mechanisms, and have the advantages of simple structure, low height, light weight, small ground pressure, difficulty in causing the crushing of a bottom plate and the like.

In the related art, the motor and the speed reducer for walking are arranged in the inner and outer directions, and the motor is arranged inside the speed reducer for walking. When overhauing the motor, the maintainer need creep into between left running gear and the right running gear to bowing in the below of main frame 1, just can overhaul the motor, and the inconvenient operation of overhauing that overhauls, and there is great potential safety hazard that hinders the maintainer.

In the four-arm intelligent anchoring and breaking integrated robot 100 according to the embodiment of the present invention, the motor 702(802) and the walking reducer 704(804) are arranged in the front-rear direction, and the track frame 701(801) is provided with the access window 7011 so that the motor 702(802) is exposed to the outside. Specifically, the access panel 7011 of the left travel mechanism 7 is provided on the left side of the track frame 701, so that the motor 702 can be exposed from the left side of the four-arm smart anchor breaking integrated robot 100; the access panel of the right traveling mechanism 8 is provided on the right side of the track frame 801 so that the motor 802 can be exposed from the right side of the four-armed smart anchor breaking integrated robot 100.

Therefore, when the motor 702(802) is overhauled, an overhaul worker only needs to overhaul from the overhaul window corresponding to the motor 702(802), and does not need to drill between the left travelling mechanism 7 and the right travelling mechanism 8, so that the motor 702(802) is convenient to overhaul, and the safety is high.

Therefore, compared with the related art, the four-arm intelligent anchoring and breaking integrated robot 100 provided by the embodiment of the invention further has the advantages of convenience in disassembly, assembly and maintenance of the motor 702(802) and the like.

Optionally, the walking reducer 804 includes an input shaft 8042 and an output shaft 8043, and the axis of the input shaft 8042 is perpendicular to the axis of the output shaft 8043.

For example, as shown in fig. 3 and 4, the travel reduction gear 804 of the right travel mechanism 8 includes an input shaft 8042 and an output shaft 8043, the axis of the input shaft 8042 extends in the front-rear direction, and the axis of the output shaft 8043 extends in the left-right direction. The input shaft 8042 is connected to the motor 802, and the output shaft 8043 is connected to the drive sprocket 803.

Thus, the motor 802 is disposed behind the travel speed reducer 804, and the motor 802 and the travel speed reducer 804 are conveniently arranged in the left-right direction.

Alternatively, the track frame 701(801) is of a frame-type structure as a whole, the track frame 701(801) defines a motor installation space, the motor 702(802) is installed in the motor installation space, and the walking speed reducer 704(804) is disposed outside the motor installation space.

Optionally, motor 702(802) is a hydraulic motor.

Alternatively, the output shaft of the traveling reduction gear 704 and the drive sprocket 703 form a drive sprocket shaft, and the output shaft 8043 of the traveling reduction gear 804 and the drive sprocket 803 form a drive sprocket shaft.

As shown in fig. 3 and 4, the input shaft 8042 and a part of the output shaft 8043 of the reduction gear 804 for traveling are rotatably provided in the reduction gear case 8041. A portion of the input shaft 8042 outside the reducer case 8041 is connected to the motor 802, and a portion of the output shaft 8043 outside the reducer case 8041 is connected to the drive sprocket 803.

Optionally, the left travel mechanism 7 further comprises a track cover 705, the track cover 705 being provided on the track frame 701, and the right travel mechanism 8 further comprises a track cover 805, the track cover 805 being provided on the track adjuster 801.

Thereby, the control device and the like of the four-arm smart anchor/break integrated robot 100 can be provided on the crawler cover 705 (805). For example, the operation table of the front anchor guard 5 and the operation table of the rear anchor guard 6 are provided on the track cover 705; electrical system 10 is disposed on track cover 805. The hydraulic system 11 of the four-arm intelligent anchoring and breaking integrated robot 100 can be arranged on the main frame 1 or the crawler cover 705.

As shown in fig. 5, the receiver 2 includes a hopper frame 201 and a hopper 202, and the hopper frame 201 is swingably connected to the front side of the main frame 1 in the up-down direction. In other words, the hopper frame 201 is hinged to the main frame 1. The hopper 202 is arranged on the hopper frame 201, and the hopper 202 is an octagonal hopper 202.

The octagonal hopper 202 has a large receiving area, and is convenient for receiving materials conveyed by the tunneling equipment.

Optionally, the front side of the hopper frame 201 is provided with a connecting lug 2011, the connecting lug 2011 is provided with a hinge hole, and the pin shaft passes through the hinge hole and is connected with the main frame 1, so that the hopper frame 201 is hinged to the main frame 1. The hopper 202 can swing up and down, and the requirement of fluctuation working conditions of the coal seam roadway is conveniently met. In some embodiments, as shown in fig. 6 and 7, the conveying mechanism 9 includes a left drive sprocket 901, a left drive 906, a right drive sprocket 902, a right drive 907, a left driven sprocket, a right driven sprocket, a left scraper chain 903, a right scraper chain 904, and a plurality of scraper chains.

The left drive sprocket 901 and the left driven sprocket are disposed at a distance in the front-rear direction, and the left drive 906 is connected to the left drive sprocket 901 so as to drive the left drive sprocket 901 to rotate by the left drive 906. The right drive sprocket 902 and the right driven sprocket are disposed at intervals in the front-rear direction, the left drive sprocket 901 and the right drive sprocket 902 are disposed at intervals in the left-right direction, the left driven sprocket and the right driven sprocket are disposed at intervals in the left-right direction, and the right drive 907 is connected to the right drive sprocket 902 so as to drive the right drive sprocket 902 to rotate by the right drive 907.

The left scraper chain 903 is wound around a left drive sprocket 901 and a left driven sprocket, and the right scraper chain 904 is wound around a right drive sprocket 902 and a right driven sprocket. The scraper chains are arranged at intervals in the front-rear direction, the left end of each of the scraper chains is connected with the left scraper chain 903, and the right end of each of the scraper chains is connected with the right scraper chain 904.

Alternatively, a left driving sprocket 901, a left driving device 906, a right driving sprocket 902 and a right driving device 907 are provided on the discharging part 3, and a left driven sprocket and a right driven sprocket are provided on the receiving part 2.

When the conveying mechanism 9 operates, the left scraper chain 903 and the right scraper chain 904 move, so that materials can be conveyed from the receiving part 2 to the discharging part 3 by the scraper chains. The left drive sprocket 901 and the right drive sprocket 902 are driven by the left drive device 906 and the right drive device 907, respectively, to drive the left scraper chain 903 and the right scraper chain 904 to move, so that the power for driving the left drive sprocket 901 and the power for driving the right drive sprocket 902 are both small, and therefore, the left drive device 906 and the right drive device 907 can be small in size, thereby being beneficial to reducing the overall height.

Optionally, the left drive 906 and the right drive 907 are motors.

Optionally, left scraper chain 903 and right scraper chain 904 are bushing chains. Therefore, the transportation height can be reduced so as to meet the requirements of thin coal seams and short-distance transportation.

Optionally, the conveying mechanism 9 further comprises a scraper chain tensioning device.

Alternatively, the hopper 202 is provided with a material guiding chute, which has a higher end and a lower end, the bottom of the material guiding chute is gradually inclined downwards along the direction from the higher end to the lower end, and the lower end is arranged adjacent to the conveying mechanism 9. Therefore, the material in the hopper 202 can conveniently flow to the conveying mechanism 9 along the set direction by using the material guide chute.

Optionally, the receiving portion 2 further includes a disturbance chain, a tensioning cylinder, and a tail shaft assembly, the disturbance chain is disposed at an outlet of the hopper 202, the tail shaft assembly is movably disposed on the hopper frame 201 along the front-back direction, a cylinder body of the tensioning cylinder is connected to the hopper frame 201, and a piston rod of the tensioning cylinder is connected to the tail shaft assembly so as to drive the tail shaft assembly to move along the front-back direction by using the tensioning cylinder, thereby tensioning the left scraper chain 903 and the right scraper chain 904.

In some embodiments, as shown in fig. 6 and 7, the delivery mechanism 9 further includes a left drive shaft 9081, a right drive shaft 9082, an intermediate shaft 9083, and an intermediate cover plate 9084. Among them, the left drive shaft 9081, the right drive shaft 9082, and the intermediate shaft 9083 form a drive shaft 908 of the conveyance mechanism 9.

The left driving shaft 9081 is connected with the left driving device 906, the left part of the left driving chain wheel 901 is sleeved on the left driving shaft 9081 in a rotation stopping manner, a left shaft shoulder is arranged on the left driving shaft 9081, and the left shaft shoulder abuts against the left end face of the left driving chain wheel 901. Therefore, the left driving sprocket 901 can rotate along with the left driving shaft 9081, and the left driving sprocket 901 is limited towards the left direction.

The right driving shaft 9082 is connected with a right driving device 907, the right part of the right driving chain wheel 902 is sleeved on the right driving shaft 9082 in a rotation stopping manner, a right shaft shoulder is arranged on the right driving shaft 9082, and the right shaft shoulder abuts against the right end face of the right driving chain wheel 902. Thus, the right drive sprocket 902 can rotate with the right drive shaft 9082, and the right drive sprocket 902 is restrained in the right direction.

Each of the right portion of the left drive sprocket 901 and the left portion of the right drive sprocket 902 is slip fit over the jackshaft 9083. Thus, the middle shaft 9083 can rotate with the left drive sprocket 901 and the right drive sprocket 902.

The middle cover plate 9084 is detachably sleeved on the middle shaft 9083, the left end of the middle cover plate 9084 abuts against the right end face of the left driving sprocket 901, and the right end of the middle cover plate 9084 abuts against the left end face of the right driving sprocket 902. Therefore, the middle cover plate 9084 is used for limiting the left driving sprocket 901 in the right direction, and the right driving sprocket 902 is limited in the left direction, so that the left driving sprocket 901 and the right driving sprocket 902 are axially positioned.

In the related art, when the left drive sprocket 901 and the right drive sprocket 902 need to be repaired or replaced, the left drive shaft 9081, the right drive shaft 9082, the intermediate shaft 9083, the left drive sprocket 901, and the right drive sprocket 902 need to be removed together. After maintenance or replacement, the left driving shaft 9081, the right driving shaft 9082, the intermediate shaft 9083, the left driving sprocket 901 and the right driving sprocket 902 are mounted to the corresponding positions of the conveying mechanism 9 together.

According to the four-arm intelligent anchoring and transporting integrated robot 100 disclosed by the embodiment of the invention, when the left driving chain wheel 901 and the right driving chain wheel 902 need to be maintained or replaced, the middle cover plate 9084 is detached, so that the left driving chain wheel 901 can slide to the middle shaft 9083 towards the right, the right driving chain wheel 902 can slide to the middle shaft 9083 towards the left, the left driving chain wheel 901 can leave the left driving shaft 9081, the right driving chain wheel 902 can leave the right driving shaft 9082, the middle shaft 9083 is separated from the left driving shaft 9081 and the middle shaft 9083 is separated from the right driving shaft 9082, and at the moment, the left driving chain wheel 901, the right driving chain wheel 902 and the middle shaft 9083 can be detached from the conveying mechanism 9 together. The left drive sprocket 901 and the right drive sprocket 902 are then repaired and replaced.

Therefore, compared with the related art, the four-arm intelligent anchoring and breaking integrated robot 100 provided by the embodiment of the invention has the advantages that the left driving chain wheel 901 and the right driving chain wheel 902 are convenient to maintain and replace.

Optionally, as shown in fig. 7, the intermediate cover 9084 comprises a first cover portion 90841 and a second cover portion, the first cover portion 90841 and the second cover portion being removably connected by bolts 9084290842.

Alternatively, the first cover plate portion 90841 and the second cover plate portion are arranged symmetrically in the up-down direction.

In some embodiments, as shown in fig. 8, the crushing mechanism 4 includes a crushing frame 401, a motor 402, a friction torque limiter 403, a reduction gear 404 for crushing, and a crushing disk 405, the crushing frame 401 being connected to the main frame 1, a reduction gear case of the reduction gear 404 being connected to the crushing frame 401, and the friction torque limiter 403 being connected to each of the motor 402 and the reduction gear 404. The crushing reducer 404 is connected to a crushing disk 405 so that the crushing disk 405 is rotated by a motor 402.

The crushing mechanism 4 is driven by a motor 402, and compared with hydraulic driving, the crushing overload capacity is high, and the efficiency is high.

Optionally, the crushing mechanism 4 further comprises picks 406, the picks 406 being provided on a crushing disc 405, forming a disc pick 406 crushing mechanism 4.

Therefore, the crushing mechanism 4 adopts a disc type crushing form, so that the crushing mechanism 4 has the advantages of small volume, large coal passing amount and easiness in adjusting the crushing block degree.

In some embodiments, the rear anchoring mechanism 6 is movably disposed on the main frame 1 in the front-rear direction.

By moving the rear anchor guard mechanism 6 in the front-rear direction, the front-rear distance adjustment of the front anchor guard mechanism 5 and the rear anchor guard mechanism 6 can be achieved.

Alternatively, as shown in fig. 1 and 9, the main frame 1 is provided with a guide rail 101 extending in the front-rear direction, the rear anchor mechanism 6 includes a rear drill frame 601, the rear drill frame 601 is provided with a slide 60111, and the slide 60111 is movably provided on the guide rail 101 in the front-rear direction so that the rear anchor mechanism 6 moves in the front-rear direction.

Optionally, the drilling rig further comprises a back-and-forth movement cylinder, wherein the back-and-forth movement cylinder comprises a fixed part and a telescopic part, the telescopic part is movably arranged in the fixed part along the back-and-forth direction, the fixed part is connected with the main frame 1, and the telescopic part is connected with the rear drill frame 601, so that the back-and-forth movement cylinder is used for driving the rear anchoring mechanism 6 to move along the back-and-forth direction.

In some embodiments, the rear drill rig 601 includes a horizontal outer sleeve 6011, a left horizontal inner sleeve 6012, and a right horizontal inner sleeve 6013, the horizontal outer sleeve 6011 being movably disposed on the main frame 1 in the front-rear direction.

For example, as shown in fig. 9, a slider 60111 is provided on the horizontal outer sleeve 6011, and the slider 60111 is provided movably in the front-rear direction on the guide rail 101 of the main frame 1.

A left horizontal inner sleeve 6012 is movably disposed in the left-right direction inside the horizontal outer sleeve 6011, and a rear left drill rig 602 includes a rear left drill stand 6021, and the rear left drill stand 6021 is connected to the left horizontal inner sleeve 6012. The right horizontal inner sleeve 6013 is movably disposed in the horizontal outer sleeve 6011 in the left-right direction, the rear right drill rig 603 includes a rear right drill rig frame 6031, and the rear right drill rig frame 6031 is connected to the right horizontal inner sleeve 6013.

Thus, the left-right distance adjustment of the rear left drill 602 and the rear right drill 603 can be achieved by moving the left horizontal inner sleeve 6012 and the right horizontal inner sleeve 6013 in the left-right direction.

Alternatively, rear left drill stand 6021 is swingably connected to left horizontal inner sleeve 6012 via rear left swing cylinder 6022, and rear right drill stand 6031 is swingably connected to right horizontal inner sleeve 6013 via rear right swing cylinder. Therefore, the rear left drill rig frame 6021 and the rear right drill rig frame 6031 can swing in the left-right direction, and the rear left drill rig 602 and the rear right drill rig 603 can be used for realizing roof anchoring and side wall anchoring.

Alternatively, the front left drill frame is swingably connected to the front drill frame by a front left swing cylinder, and the front right drill frame is swingably connected to the front drill frame by a front right swing cylinder. Therefore, the front left drilling machine frame and the front right drilling machine frame swing in the left-right direction, and the front left drilling machine and the front right drilling machine can be used for realizing roof anchoring and side wall anchoring.

Optionally, the front anchor protection mechanism 5 further comprises a front left anchor feeder cooperating with the front left drilling rig for conveying the cable rope to the front left drilling rig, and a front right anchor feeder cooperating with the front right drilling rig for conveying the cable rope to the front right drilling rig.

The rear anchor mechanism 6 further comprises a rear left anchor feeder cooperating with the rear left drill 602 for feeding the anchor rope to the rear left drill 602, and a rear right anchor feeder cooperating with the rear right drill 603 for feeding the anchor rope to the rear right drill 603.

Optionally, the front left anchor feeder is connected with the drill box of the front left drilling machine, so that the drill box of the front left drilling machine is used for driving the front left anchor feeder to convey the anchor rod; the front right anchor feeder is connected with a drilling box of a front right drilling machine so as to drive the front right anchor feeder to convey an anchor rod by using the drilling box of the front right drilling machine; the rear left anchor feeder is connected with the drill box of the rear left drilling machine 602 so as to drive the rear left anchor feeder to convey the anchor rod by using the drill box of the rear left drilling machine 602; the rear right anchor feeder is connected to the drill box of the rear right drill 603 so that the drill box of the rear right drill 603 is used to drive the rear right anchor feeder to feed the anchor rod.

Therefore, the anchor cable can be automatically conveyed, and the labor intensity and the industrial injury during the anchor cable conveying are reduced.

Optionally, the front anchoring and protecting mechanism 5 and the rear anchoring and protecting mechanism 6 are designed as a double telescopic sleeve and a guide column type two-stage large-stroke lifting device so as to meet the anchoring and protecting requirements of the laneways of the thin coal seam and the medium-thickness coal seam.

Optionally, the hydraulic system 11 is optimally designed, so that the system is stable in dynamic, safe, reliable, energy-saving and efficient to operate.

Optionally, the four-arm intelligent anchoring and breaking integrated robot 100 has two control modes, namely a local control mode and a remote control mode, and the number of operators is reduced.

Optionally, the electrical system 10 includes a distance measuring sensor and a proximity sensor, which are disposed around the four-arm intelligent anchoring and breaking integrated robot 100, so as to detect a spatial position in a roadway and a spatial position between adjacent devices (e.g., the front anchoring and protecting mechanism 5 and the rear anchoring and protecting mechanism 6) in real time, achieve intelligent linkage and intelligent position adjustment of the devices, and ensure safe and reliable operation between the devices.

Optionally, each actuator of the equipment (e.g., the front anchor protection mechanism 5 and the rear anchor protection mechanism 6) comprises a pressure sensor, a stroke sensor and an angle sensor so as to monitor the working state of each actuator in real time, thereby feeding back the operation parameters and the fault state of the equipment in real time.

Optionally, the electrical system 10 includes a remote controller, the remote controller can be used to perform wireless remote control on start-stop, walking, transportation, drilling rig actions and the like of the whole machine, and the wireless remote control and the manual operation of the machine have a mutual locking function to prevent misoperation.

Optionally, the electrical system 10 includes a personnel approach early warning system, so as to perform different operations such as approach warning and equipment shutdown respectively in the working area of the equipment according to the preset personnel permission, thereby improving the safety of the equipment operation.

The four-arm intelligent anchoring and transporting integrated robot 100 according to the embodiment of the invention has the following characteristics:

(1) the conveying mechanism 9 adopts dual drives, which is beneficial to reducing the volume of a driving device of the conveying mechanism 9 so as to reduce the height of the whole machine;

(2) the scraper chain adopts a sleeve chain, so that the height of the conveying groove is reduced, and the requirements of a thin coal seam and short-distance conveying are met;

(3) the driving shaft 908 of the conveying mechanism 9 is designed into a three-section split structure, so that the disassembly, the assembly and the maintenance are convenient;

(4) the crushing mechanism 4 adopts disc type cutting teeth 406 for crushing, the disc type crushing form is small in size, large in coal passing amount and easy to adjust the crushing block degree;

(5) the crushing mechanism 4 adopts the transmission form of the motor 402, the friction torque limiter 403 and the speed reducer, and has strong crushing overload capacity and high efficiency compared with hydraulic drive;

(6) the crawler-type travelling mechanism without thrust wheels is adopted, the travelling mechanism has simple structure, low height, light weight and small ground pressure, and the bottom plate is not easy to be broken;

(7) the speed reducer for walking and the motor are arranged along the front-back direction, so that the motor is convenient to disassemble, assemble and maintain;

(8) the hopper 202 is designed into an octagonal hopper and is provided with a material guide chute structure, and the hopper 202 can swing up and down to adapt to the fluctuating working condition requirement of the thin coal seam roadway;

(9) the front and rear anchoring mechanisms are designed into a left telescopic sleeve and a right telescopic sleeve, and guide column type two-stage large-stroke lifting devices meet the anchoring requirements of the laneways of the thin coal seam and the medium-thickness coal seam;

(10) the rear anchoring and protecting mechanism 6 is provided with a sliding guide rail 101, and the distance between the front anchoring and protecting mechanism 6 and the rear anchoring and protecting mechanism 6 can be infinitely adjusted;

(11) the airborne drill frame is provided with the drill box driving type anchor feeding device, so that the structure is novel and practical, and the labor intensity and the industrial injury condition during anchor cable feeding are reduced;

(12) the hydraulic system is optimally designed, and the system is stable in dynamic state, safe, reliable, energy-saving and efficient.

(13) The operation adopts two control modes of a local machine and a remote control, and the number of operators is reduced.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. The utility model provides a broken integration robot of four arm intelligence anchor fortune which characterized in that includes:

a main frame;

the receiving part is connected with the front side of the main frame in a swinging manner along the up-down direction;

the discharging part is connected with the rear side of the main frame in a swinging manner along the up-down direction;

the crushing mechanism is arranged on the main rack and is positioned between the receiving part and the discharging part in the front-back direction;

the driving end of the conveying mechanism is matched with the discharging part, the driven end of the conveying mechanism is matched with the receiving part, and the discharging part, the main frame and the receiving part form a conveying groove;

the front anchoring and protecting mechanism comprises a front drill frame, a front left drill and a front right drill, the front drill frame is connected with the main frame, and the front left drill and the front right drill are movably arranged on the front drill frame; and

the rear anchoring and protecting mechanism comprises a rear drill frame, a rear left drill and a rear right drill, the rear drill frame is connected with the main frame, and each of the rear left drill and the rear right drill is movably arranged on the rear drill frame.

2. The four-arm intelligent anchoring and breaking integrated robot according to claim 1, wherein the rear anchoring mechanism is movably arranged on the main frame in the front-rear direction.

3. The four-arm intelligent anchoring and breaking integrated robot according to claim 1, wherein the back drill rig comprises:

a horizontal outer sleeve movably disposed on the main frame in a front-rear direction;

the left horizontal inner sleeve is movably arranged in the horizontal outer sleeve along the left-right direction, the rear left drilling machine comprises a rear left drilling machine frame, and the rear left drilling machine frame is connected with the left horizontal inner sleeve; and

the right horizontal inner sleeve barrel is movably arranged in the horizontal outer sleeve barrel along the left-right direction, the rear right drilling machine comprises a rear right drilling machine frame, and the rear right drilling machine frame is connected with the right horizontal inner sleeve barrel.

4. A four-armed smart anchor and break integrated robot as claimed in any one of claims 1 to 3, further comprising a left running gear and a right running gear, the left running gear and the right running gear being disposed at a spacing in a left-right direction, each of the left running gear and the right running gear being connected to the main frame, each of the left running gear and the right running gear being a crawler running gear, the crawler running gear comprising:

the crawler frame is connected with the main frame;

the driving chain wheel and the guide wheel are arranged at intervals along the front-rear direction;

the crawler belt is wound on the driving chain wheel and the guide wheel; and

motor and walking are with the reduction gear, the walking with the reduction gear shell of reduction gear with the track frame links to each other, the walking with the input shaft of reduction gear with the motor links to each other, the walking with the output shaft of reduction gear with drive sprocket links to each other, so that pass through motor drive sprocket rotates, the motor with the walking is arranged along the fore-and-aft direction with the reduction gear, wherein be equipped with the access panel on the track frame, so that expose the motor.

5. The four-arm intelligent anchoring and breaking integrated robot according to claim 4, wherein the axis of the input shaft is perpendicular to the axis of the output shaft.

6. The four-arm intelligent anchoring and breaking integrated robot according to any one of claims 1-3, wherein the conveying mechanism comprises:

the left driving chain wheel and the left driven chain wheel are arranged at intervals along the front-rear direction;

the left driving device is connected with the left driving chain wheel;

the left driving chain wheel and the right driving chain wheel are arranged at intervals along the left-right direction, and the left driven chain wheel and the right driven chain wheel are arranged at intervals along the left-right direction;

the right driving device is connected with the right driving chain wheel;

the left scraper chain is wound on the left driving chain wheel and the left driven chain wheel;

the right scraper chain is wound on the right driving chain wheel and the right driven chain wheel; and

the left end of each of the scraping plates is connected with the left scraping plate chain, and the right end of each of the scraping plates is connected with the right scraping plate chain.

7. The four-arm intelligent anchoring and breaking integrated robot according to claim 6, wherein the conveying mechanism further comprises:

the left driving shaft is connected with the left driving device, the left part of the left driving chain wheel is sleeved on the left driving shaft in a rotation stopping way, a left shaft shoulder is arranged on the left driving shaft, and the left shaft shoulder abuts against the left end face of the left driving chain wheel;

the right driving shaft is connected with the right driving device, the right part of the right driving chain wheel is sleeved on the right driving shaft in a rotation stopping way, a right shaft shoulder is arranged on the right driving shaft, and the right shaft shoulder is abutted against the right end surface of the right driving chain wheel;

an intermediate shaft on which each of a right portion of the left drive sprocket and a left portion of the right drive sprocket is spline-sleeved; and

the middle cover plate is detachably sleeved on the middle shaft, the left end of the middle cover plate abuts against the right end face of the left driving chain wheel, and the right end of the middle cover plate abuts against the left end face of the right driving chain wheel.

8. The four-arm intelligent anchoring and breaking integrated robot according to any one of claims 1-3, wherein the breaking mechanism comprises:

the crushing rack is connected with the main rack;

the crushing device comprises a motor and a friction torque limiter, wherein a reducer shell of the reducer for crushing is connected with a crushing rack; and

and the speed reducer for crushing is connected with the crushing disc so as to drive the crushing disc to rotate by using the motor.

9. The four-arm intelligent anchoring and breaking integrated robot according to any one of claims 1-3, wherein the receiving portion comprises:

the hopper frame is connected with the front side of the main frame in a swinging manner along the up-down direction; and

the hopper, the hopper sets up on the hopper frame, the hopper is the octagon hopper.

10. The four-armed smart anchor breaking integrated robot according to any one of claims 1 to 3, wherein the front anchor guard mechanism further comprises a front left anchor feeder and a front right anchor feeder, the front left anchor feeder cooperating with the front left drilling rig to feed a cable rope to the front left drilling rig, the front right anchor feeder cooperating with the front right drilling rig to feed a cable rope to the front right drilling rig;

the rear anchor protection mechanism further comprises a rear left anchor feeder and a rear right anchor feeder, the rear left anchor feeder is matched with the rear left drilling machine so as to convey the anchor cable to the rear left drilling machine, and the rear right anchor feeder is matched with the rear right drilling machine so as to convey the anchor cable to the rear right drilling machine.

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