CN114179053A - Remote-control intelligent tunneling robot for coal mine tunnel - Google Patents
Remote-control intelligent tunneling robot for coal mine tunnel Download PDFInfo
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- CN114179053A CN114179053A CN202111520485.3A CN202111520485A CN114179053A CN 114179053 A CN114179053 A CN 114179053A CN 202111520485 A CN202111520485 A CN 202111520485A CN 114179053 A CN114179053 A CN 114179053A
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- 230000005641 tunneling Effects 0.000 title claims abstract description 43
- 239000003245 coal Substances 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000000694 effects Effects 0.000 claims description 19
- 238000004140 cleaning Methods 0.000 claims description 4
- 230000010405 clearance mechanism Effects 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 3
- 238000005065 mining Methods 0.000 abstract description 3
- 239000004575 stone Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention relates to the technical field of tunneling robots, in particular to a remote-controlled intelligent tunneling robot for a coal mine tunnel, which comprises an instrument body and a tunneling head, the instrument body is provided with a crawler belt, the instrument body is provided with an operating mechanism for operating the tunneling direction of the tunneling head, the control mechanism comprises first clamping plates which are fixedly arranged on the upper surface of the instrument body, a circular rotating shaft is arranged between the first clamping plates, the round rotating shaft is movably sleeved with an equipment lifting frame, the side wall of the equipment lifting frame is fixedly provided with an inserted bar, the invention aims at the position needing mining through the heading head, the device realizes the adjustment of the tunneling direction of the tunneling head by controlling the starting of the first cylinder, thereby facilitating the exploitation of instruments to different positions.
Description
Technical Field
The application relates to the technical field of tunneling robots, in particular to a remote-controlled intelligent tunneling robot for coal mine tunnels.
Background
The tunnel excavation technology is developed from an early shield (also called shield suitable for soft soil layer excavation), is an engineering construction technology for underground excavation of tunnels, and is developed along with the development of modern transportation, underground engineering, mine exploitation, hydraulic engineering, municipal construction and electrical communication facilities.
As disclosed in the chinese patent: a tunneling robot control circuit is disclosed as follows: CN104615136A, the invention can control each motor of the robot to move independently, detect the current in real time, provide the function of instant information storage, can realize semi-autonomous control, improve the working efficiency, stability and safety of the robot, but when carrying out the tunnelling, the tunnelling head is easy to be blocked on the wall because the inner wall of the port is too hard, thus can not rotate, and the normal work of the instrument is influenced.
Disclosure of Invention
The invention aims to provide a remote-controlled intelligent tunneling robot for a coal mine roadway, which aims to solve the problems in the background technology.
The embodiment of the application adopts the following technical scheme:
the utility model provides a but remote control's intelligent tunnelling robot in coal mine tunnel, includes instrument body and tunnelling head, be provided with the track on the instrument body, be provided with the control mechanism who controls the tunnelling head tunnelling direction on the instrument body, control the mechanism and include first splint, first splint fixed mounting is at the upper surface of instrument body, be provided with circular pivot between the first splint, the movable sleeve is equipped with the equipment hoisting frame in this circular pivot, fixed mounting has the inserted bar on the lateral wall of equipment hoisting frame, the last fixed surface of instrument body installs two sets of second splint, movable mounting has first pivot between the second splint, fixed mounting has first cylinder in the first pivot, the output shaft fixed mounting of first cylinder has a first lantern ring, inserted bar activity block is in first lantern ring.
Preferably, a control part for controlling the expansion and contraction of the tunneling head is arranged on the equipment lifting frame; the control piece comprises a mounting plate, the mounting plate is fixedly mounted on an equipment lifting frame, a circular hole is formed in the mounting plate, two rectangular grooves are further formed in the mounting plate, the rectangular grooves are communicated with the circular hole, the rectangular grooves are formed in two sides of the circular hole, an engine is movably mounted in the circular hole, a tunneling head is fixedly mounted at the output end of the engine, two side columns are fixedly mounted on the side wall of the engine, a third sleeve ring is movably sleeved on each side column, a connecting long rod is fixedly mounted on the third sleeve ring, a fourth sleeve ring is fixedly mounted on the connecting long rod, two rotary columns are arranged at the joint of the equipment lifting frame and the mounting plate, a cam is fixedly mounted outside each rotary column, the two cams use the included angle generated by the center of the rotary column as a right angle, and a cylinder is fixedly mounted on each cam, the cylinder activity block is in the fourth cover intra-annular, fixed mounting has the rectangular plate on the lateral wall of cam, the second lantern ring is installed to the activity block in the rectangular plate, the center pin is installed to the activity block in the second lantern ring, fixed mounting has first connecting block on the lateral wall of equipment hoisting frame, fixed mounting has the second cylinder on the first connecting block, fixed mounting has the center pin on the cylinder push rod of second cylinder, the ring channel has been seted up on the rotary column, the activity block in the ring channel has circular stock, circular stock activity block is in equipment hoisting frame.
Preferably, an auxiliary mechanism for assisting instrument tunneling is arranged on the equipment lifting frame; the auxiliary mechanism comprises a swing rod, the swing rod is fixedly installed on the rotating column, and an impact plate is fixedly installed on the swing rod.
Preferably, the instrument body is provided with a cleaning mechanism for assisting the instrument to walk; clearance mechanism includes the second connecting block, second connecting block fixed mounting is on the lateral wall of instrument body, fixed mounting has the shovel board on the second connecting block, the hold up tank has been seted up on the shovel board, be provided with the motor in the shovel board, fixed mounting has power output shaft on the output shaft of motor, the outer fixed mounting of power output shaft has the fifth lantern ring, fixed mounting has five groups catch bars that are the circumference and distribute on the fifth lantern ring.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
firstly, when the device is used, a motor in an instrument body is started to drive a track to rotate, the instrument moves in a coal mine tunnel and moves to a specified position, a first air cylinder is started, the first air cylinder starts an air cylinder push rod with the first air cylinder to move, the movement of the air cylinder push rod of the first air cylinder drives a first sleeve ring to move upwards, the upward movement of the first sleeve ring drives a driving inserted bar to move upwards, so that an equipment lifting frame is driven to move upwards, the inserted bar and a first rotating shaft also rotate in a first sleeve ring and a second clamping plate to adapt to the rotation of the equipment lifting frame, the tunneling head is aligned to the position needing mining through the starting of the first air cylinder, the tunneling head is driven to rotate through the starting of an engine, the tunneling at the specified position is realized, the device realizes the adjustment of the tunneling head direction through controlling the starting of the first air cylinder, thereby facilitating the exploitation of the instrument to different locations.
Secondly, by starting the second cylinder, the starting of the second cylinder drives the cylinder push rod of the second cylinder to move back and forth, so as to drive the central shaft to rotate in the second sleeve ring, the back and forth movement of the cylinder push rod of the second cylinder also drives the rectangular plate to move upwards, the second sleeve ring also rotates in the rectangular plate along with the movement of the rectangular plate, the movement of the rectangular plate drives the cam and the rotary column to rotate in the mounting plate, the upward movement of the cam drives the cylindrical to move upwards, the cylindrical upward movement drives the connecting long rod to move upwards, the upward movement of the connecting long rod drives the third sleeve ring to move forwards, the forward movement of the third sleeve ring drives the side column to move forwards, so as to drive the engine and the heading head to move towards the wall part in the circular hole, the side column can move in the rectangular groove, and the side column at the other end also moves forwards under the tensile force of the forward movement of the engine, thereby drive between the third lantern ring and the cam and tend to the horizontality, and under the spacing effect of circular stock, the rotary column pivoted stability is higher, prevents that the rotary column from breaking away from the orbit, and this device drives the flexible of engine through the start-up of second cylinder, like this when the driving head is tunnelled to coal mine tunnel, the driving head is difficult to the block in coal mine tunnel, when reducing the tunnelling, the damage probability of driving head to improve the result of use of instrument.
Third, under the effect of second cylinder thrust, the rotary column can take place to rotate, and the rotation of rotary column drives the rotation of swinging arms, and the rotation of swinging arms can drive the strikeing board and reciprocate, the strikeing board can strike ground, let ground level more, and the downstream of one end rotary column, let connecting rod and cam approach level, and the connecting rod and the cam approach level of the other end, can drive strikeing board rebound, two strikeing boards can crisscross reciprocate like this, realize striking to ground, this device reciprocates through the strikeing board, strike ground, prevent subaerial arch, influence the walking route of instrument, and strikeing board and track are in same horizontal position, make things convenient for the track to remove subaerial.
Its four, through starting the motor in the shovel board, drive power output shaft's rotation, power output shaft's rotation drives the rotation of the fifth lantern ring, when the instrument starts, the walking of instrument can drive the removal of shovel board, the removal of shovel board can be shoveled subaerial unnecessary stone, make things convenient for the walking of instrument, and the rotation of catch bar can be colluded the stone, let the stone remove on the hold up tank, and when the instrument will be through concave ground, the catch bar can push away the stone on the hold up tank, fill the pit through the stone, make things convenient for the walking of instrument.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic structural diagram of the control mechanism of the present invention;
FIG. 4 is a schematic structural view of the cleaning mechanism of the present invention;
FIG. 5 is a schematic view of a control member according to the present invention;
FIG. 6 is a schematic view of a second cylinder according to the present invention;
FIG. 7 is an exploded view of the control member of the present invention;
FIG. 8 is a side view of the structural control member of the present invention.
In the figure: 1. an instrument body; 2. a crawler belt; 11. a first splint; 12. a second splint; 13. a first rotating shaft; 14. a first cylinder; 15. a first collar; 16. inserting a rod; 17. an equipment lifting frame; 21. a second cylinder; 22. a first connection block; 23. a central shaft; 24. a second collar; 25. a rectangular plate; 26. a cam; 27. a cylinder; 31. mounting a plate; 32. a rectangular groove; 33. a circular hole; 34. an engine; 35. a side post; 36. a third collar; 37. connecting a long rod; 38. a fourth collar; 41. an annular groove; 42. a round long rod; 43. a swing lever; 44. an impact plate; 45. turning the column; 46. a heading head; 51. a second connecting block; 52. a shovel plate; 53. a storage tank; 54. a power take-off shaft; 55. a fifth collar; 56. a push rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, 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 application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 8, a remote-controllable intelligent tunneling robot for a coal mine roadway comprises an instrument body 1 and a tunneling head 46, wherein a crawler 2 is arranged on the instrument body 1, a control mechanism for controlling the tunneling direction of the tunneling head 46 is arranged on the instrument body 1, the control mechanism comprises a first clamp plate 11, the first clamp plate 11 is fixedly arranged on the upper surface of the instrument body 1, a circular rotating shaft is arranged between the first clamp plates 11, the movable sleeve is equipped with equipment hoisting frame 17 in this circular pivot, and fixed mounting has inserted bar 16 on equipment hoisting frame 17's the lateral wall, and the last fixed surface of instrument body 1 installs two sets of second splint 12, and movable mounting has first pivot 13 between the second splint 12, and fixed mounting has first cylinder 14 on the first pivot 13, and the output shaft fixed mounting of first cylinder 14 has first lantern ring 15, and the movable block of inserted bar 16 is in first lantern ring 15.
When the device is used, a motor in the instrument body 1 is started, the crawler belt 2 is driven to rotate, the instrument moves in a coal mine tunnel, and after the instrument moves to a specified position, the first air cylinder 14 is started, the first air cylinder 14 starts an air cylinder push rod with the first air cylinder 14 to move, the movement of the air cylinder push rod of the first air cylinder 14 drives the first sleeve ring 15 to move upwards, the upward movement of the first sleeve ring 15 drives the insertion rod 16 to move upwards, so that the equipment lifting frame 17 is driven to move upwards, the insertion rod 16 and the first rotating shaft 13 also rotate in the first sleeve ring 15 and the second clamping plate 12 to adapt to the rotation of the equipment lifting frame 17, the tunneling head 46 is aligned to a position to be mined by starting the first air cylinder 14, the tunneling head 46 is driven to rotate by starting the engine 34, the tunneling head 46 is driven to drive to rotate at the specified position, and the device controls the starting of the first air cylinder 14, the heading direction of the heading head 46 can be adjusted, so that the mining at different positions by the instrument is facilitated.
A control part for controlling the expansion and contraction of the tunneling head 46 is arranged on the equipment lifting frame 17; the control part comprises a mounting plate 31, the mounting plate 31 is fixedly arranged on an equipment lifting frame 17, a circular hole 33 is arranged on the mounting plate 31, the mounting plate 31 is also provided with two rectangular grooves 32, the rectangular grooves 32 are communicated with the circular hole 33, the rectangular grooves 32 are arranged on two sides of the circular hole 33, an engine 34 is movably arranged in the circular hole 33, a tunneling head 46 is fixedly arranged on the output end of the engine 34, two side columns 35 are fixedly arranged on the side wall of the engine 34, a third sleeve ring 36 is movably sleeved on each side column 35, a connecting long rod 37 is fixedly arranged on the third sleeve ring 36, a fourth sleeve ring 38 is fixedly arranged on the connecting long rod 37, two rotary columns 45 are arranged at the joint of the equipment lifting frame 17 and the mounting plate 31, a cam 26 is fixedly arranged outside each rotary column 45, an included angle generated by the centers of the rotary columns 45 is a right angle, a cylinder 27 is fixedly arranged on each cam 26, cylinder 27 activity block is in fourth lantern ring 38, fixed mounting has rectangular plate 25 on the lateral wall of cam 26, second lantern ring 24 is installed to activity block in rectangular plate 25, center pin 23 is installed to activity block in the second lantern ring 24, fixed mounting has first connecting block 22 on the lateral wall of equipment hoisting frame 17, fixed mounting has second cylinder 21 on first connecting block 22, fixed mounting has center pin 23 on the cylinder push rod of second cylinder 21, the ring channel 41 has been seted up on the rotary column 45, activity block has circular stock 42 in the ring channel 41, circular stock 42 activity block is in equipment hoisting frame 17.
By activating the second cylinder 21, the activation of the second cylinder 21 drives the cylinder rod of the second cylinder 21 to move back and forth, thereby driving the central shaft 23 to rotate in the second collar 24, while the back and forth movement of the cylinder rod of the second cylinder 21 also drives the rectangular plate 25 to move upward, the second collar 24 also rotates in the rectangular plate 25 along with the movement of the rectangular plate 25, and the movement of the rectangular plate 25 drives the cam 26 and the rotary column 45 to rotate in the mounting plate 31, the upward movement of the cam 26 drives the upward movement of the cylinder 27, the upward movement of the cylinder 27 drives the upward movement of the connecting rod 37, the upward movement of the connecting rod 37 drives the third collar 36 to move forward, the forward movement of the third collar 36 drives the forward movement of the side column 35, thereby driving the engine 34 and the heading head 46 to move toward the wall part in the circular hole 33, the side column 35 will move in the rectangular groove 32, and the side post 35 of the other end also moves forward under the pulling force effect that engine 34 moved forward, thereby drive and tend to the horizontality between third lantern ring 36 and the cam 26, and under the spacing effect of circular stock 42, the pivoted stability of rotary post 45 is higher, prevent that rotary post 45 from breaking away from the orbit, this device is through the start-up of second cylinder 21, drive the flexible of engine 34, when tunnelling head 46 is to the coal mine tunnel like this, tunnelling head 46 is difficult to the block in the coal mine tunnel, when reducing the tunnelling, the damage probability of tunnelling head 46, thereby improve the result of use of instrument.
An auxiliary mechanism for assisting instrument tunneling is arranged on the equipment lifting frame 17; the auxiliary mechanism comprises a swinging rod 43, the swinging rod 43 is fixedly arranged on a rotating column 45, and an impact plate 44 is fixedly arranged on the swinging rod 43.
Under the effect of second cylinder 21 cylinder thrust, the rotary column 45 can take place to rotate, and the rotation of rotary column 45 drives the rotation of swinging arms 43, and the rotation of swinging arms 43 can drive strikeing plate 44 and reciprocate, strikeing plate 44 can strike ground, let ground level more, and the downstream of one end rotary column 45, let connect stock 37 and cam 26 approach level, and the connection stock 37 and the cam 26 approach level of the other end, can drive strikeing plate 44 rebound, two strikeing plates 44 can crisscross reciprocate like this, the realization is to striking on ground, this device passes through strikeing plate 44 and reciprocates, strike ground, prevent subaerial arch, influence the walking route of instrument, and strikeing plate 44 and track 2 are in same horizontal position, make things convenient for track 2 to remove subaerial.
The instrument body 1 is provided with a cleaning mechanism for assisting the instrument to walk; clearance mechanism includes second connecting block 51, and second connecting block 51 fixed mounting is on the lateral wall of instrument body 1, and last fixed mounting has shovel 52 on the second connecting block 51, has seted up hold up tank 53 on the shovel 52, is provided with the motor in the shovel 52, and fixed mounting has power output shaft 54 on the output shaft of motor, and power output shaft 54 outer fixed mounting has the fifth lantern ring 55, and fixed mounting has five groups catch bar 56 that are the circumference and distribute on the fifth lantern ring 55.
Through starting the motor in the shovel board 52, drive the rotation of power output shaft 54, the rotation of power output shaft 54 drives the rotation of the fifth lantern ring 55, when the instrument starts, the walking of instrument can drive the removal of shovel board 52, the removal of shovel board 52 can be shoveled subaerial unnecessary stone, make things convenient for the walking of instrument, and the rotation of catch bar 56 can be colluded the stone, let the stone move on hold up tank 53, and when the instrument will pass through concave ground, catch bar 56 can push away the stone on the hold up tank 53, fill up the pit through the stone, make things convenient for the walking of instrument.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. The utility model provides a but remote control's intelligent tunnelling robot in coal mine tunnel, includes instrument body (1) and tunnelling head (46), be provided with track (2) on instrument body (1), its characterized in that: the instrument body (1) is provided with a control mechanism for controlling the tunneling direction of the tunneling head (46), the control mechanism comprises first clamping plates (11), the first clamping plates (11) are fixedly arranged on the upper surface of the instrument body (1), a circular rotating shaft is arranged between the first clamping plates (11), an equipment lifting frame (17) is movably sleeved on the round rotating shaft, an inserted rod (16) is fixedly arranged on the side wall of the equipment lifting frame (17), two groups of second clamping plates (12) are fixedly arranged on the upper surface of the instrument body (1), a first rotating shaft (13) is movably arranged between the second clamping plates (12), a first cylinder (14) is fixedly arranged on the first rotating shaft (13), a first lantern ring (15) is fixedly installed on an output shaft of the first air cylinder (14), and the inserted rod (16) is movably clamped in the first lantern ring (15);
a control part for controlling the expansion and contraction of the tunneling head (46) is arranged on the equipment lifting frame (17);
an auxiliary mechanism for assisting instrument tunneling is arranged on the equipment lifting frame (17);
the instrument body (1) is provided with a cleaning mechanism for assisting the instrument to walk.
2. The remote-controllable intelligent tunneling robot for coal mine tunnels according to claim 1, wherein: the control piece includes mounting panel (31), mounting panel (31) fixed mounting is on equipment hoisting frame (17), circular port (33) have been seted up on mounting panel (31), two rectangular channel (32) have still been seted up in mounting panel (31), rectangular channel (32) and circular port (33) are linked together, and rectangular channel (32) set up the both sides at circular port (33).
3. The remote-controllable intelligent tunneling robot for coal mine tunnels according to claim 2, wherein: movable mounting has engine (34) in circular port (33), fixed mounting has tunnelling head (46) on the output of engine (34), fixed mounting has two side post (35) on the lateral wall of engine (34), every it is equipped with third lantern ring (36) all to move about on side post (35), fixed mounting has connecting long pole (37) on the third lantern ring (36), fixed mounting has fourth lantern ring (38) on connecting long pole (37).
4. The remote-controllable intelligent tunneling robot for coal mine tunnels according to claim 3, wherein: the junction of equipment hoisting frame (17) and mounting panel (31) is provided with two rotary columns (45), every rotary column (45) outer equal fixed mounting have a cam (26), two cam (26) use the contained angle that rotary column (45) center produced be the right angle, every equal fixed mounting has cylinder (27) on cam (26), cylinder (27) activity block is in the fourth lantern ring (38).
5. The remote-controllable intelligent tunneling robot for coal mine tunnels according to claim 4, wherein: fixed mounting has rectangular plate (25) on the lateral wall of cam (26), the second lantern ring (24) is installed to activity block in rectangular plate (25), center pin (23) are installed to activity block in second lantern ring (24), fixed mounting has first connecting block (22) on the lateral wall of equipment hoisting frame (17), fixed mounting has second cylinder (21) on first connecting block (22), fixed mounting has center pin (23) on the cylinder push rod of second cylinder (21).
6. The remote-controllable intelligent tunneling robot for coal mine tunnels according to claim 4, wherein: an annular groove (41) is formed in the rotating column (45), a round long rod (42) is movably clamped in the annular groove (41), and the round long rod (42) is movably clamped in the equipment lifting frame (17).
7. The remote-controllable intelligent tunneling robot for coal mine tunnels according to claim 1, wherein: the auxiliary mechanism comprises a swinging rod (43), the swinging rod (43) is fixedly installed on a rotating column (45), and an impact plate (44) is fixedly installed on the swinging rod (43).
8. The remote-controllable intelligent tunneling robot for coal mine tunnels according to claim 1, wherein: clearance mechanism includes second connecting block (51), second connecting block (51) fixed mounting is on the lateral wall of instrument body (1), fixed mounting has shovel board (52) on second connecting block (51).
9. The remote controllable intelligent tunneling robot for coal mine tunnels according to claim 8, wherein: the shovel plate (52) is provided with a storage tank (53), a motor is arranged in the shovel plate (52), and a power output shaft (54) is fixedly mounted on an output shaft of the motor.
10. The remote controllable intelligent tunneling robot for coal mine tunnels according to claim 9, wherein: a fifth lantern ring (55) is fixedly installed outside the power output shaft (54), and five groups of push rods (56) which are distributed circumferentially are fixedly installed on the fifth lantern ring (55).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111520485.3A CN114179053B (en) | 2021-12-13 | 2021-12-13 | Remotely controllable intelligent tunneling robot for coal mine tunnel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111520485.3A CN114179053B (en) | 2021-12-13 | 2021-12-13 | Remotely controllable intelligent tunneling robot for coal mine tunnel |
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| CN114179053A true CN114179053A (en) | 2022-03-15 |
| CN114179053B CN114179053B (en) | 2024-04-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770533A (en) * | 2022-04-13 | 2022-07-22 | 煤炭科学研究总院有限公司 | Emergency rescue auxiliary robot |
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| CN207829885U (en) * | 2018-01-16 | 2018-09-07 | 王子礼 | A kind of coal mine development machine shovel board |
| CN111946362A (en) * | 2020-08-25 | 2020-11-17 | 鄢德恒 | Auxiliary device for rapid tunneling of coal mine tunnel |
| CN112483117A (en) * | 2020-12-16 | 2021-03-12 | 三一重型装备有限公司 | Development machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114770533A (en) * | 2022-04-13 | 2022-07-22 | 煤炭科学研究总院有限公司 | Emergency rescue auxiliary robot |
| CN114770533B (en) * | 2022-04-13 | 2024-03-29 | 煤炭科学研究总院有限公司 | Emergency rescue auxiliary robot |
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