CN114179053B - Remotely controllable intelligent tunneling robot for coal mine tunnel - Google Patents
Remotely controllable intelligent tunneling robot for coal mine tunnel Download PDFInfo
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- CN114179053B CN114179053B CN202111520485.3A CN202111520485A CN114179053B CN 114179053 B CN114179053 B CN 114179053B CN 202111520485 A CN202111520485 A CN 202111520485A CN 114179053 B CN114179053 B CN 114179053B
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- 230000005641 tunneling Effects 0.000 title claims abstract description 61
- 239000003245 coal Substances 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000004140 cleaning Methods 0.000 claims description 7
- 238000011161 development Methods 0.000 claims description 5
- 239000004575 stone Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000030400 head development Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
-
- 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
-
- 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
Abstract
The invention relates to the technical field of tunneling robots, in particular to a remotely controllable intelligent tunneling robot for a coal mine roadway, which comprises an instrument body and a tunneling head, wherein a crawler belt is arranged on the instrument body, a control mechanism for controlling the tunneling direction of the tunneling head is arranged on the instrument body, the control mechanism comprises a first clamping plate, the first clamping plate is fixedly arranged on the upper surface of the instrument body, a circular rotating shaft is arranged between the first clamping plates, an equipment lifting frame is movably sleeved on the circular rotating shaft, and a plug rod is fixedly arranged on the side wall of the equipment lifting frame.
Description
Technical Field
The application relates to the technical field of tunneling robots, in particular to a remotely controllable intelligent tunneling robot for a coal mine roadway.
Background
The tunneling technology is developed by early shield (also known as shield suitable for soft soil tunneling) technology, is an engineering construction technology of underground tunneling, and is developed along with the development of modern transportation, underground engineering, mining, hydraulic engineering, municipal construction and electric communication facilities.
As disclosed in Chinese patent: tunneling robot control circuit, publication number: the invention can control each motor of the robot to independently move, detect current in real time, provide an instant information storage function, realize semi-autonomous control and improve the working efficiency, stability and safety of the robot, but when tunneling is carried out, the tunneling head is easy to block on the wall because the inner wall of the harbor channel is too hard, thereby being unable to rotate and affecting the normal operation of the instrument.
Disclosure of Invention
The invention aims to provide a remotely controllable intelligent tunneling robot for a coal mine tunnel, 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 colliery tunnel intelligent development robot, includes instrument body and development head, be provided with the track on the instrument body, be provided with the control mechanism who controls development head development direction on the instrument body, control mechanism includes first splint, first splint fixed mounting is at the upper surface of instrument body, be provided with circular pivot between the first splint, this circular pivot activity cover is equipped with equipment hoisting frame, fixed mounting has the inserted bar on the lateral wall of equipment hoisting frame, the upper surface fixed mounting of instrument body has 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 first lantern ring, inserted bar activity block is in first lantern ring.
Preferably, a control piece for controlling the extension and retraction of the tunneling head is arranged on the equipment lifting frame; the control piece comprises a mounting plate, mounting plate fixed mounting is on equipment lifting frame, the circular hole has been seted up on the mounting plate, two rectangular grooves have still been seted up to the mounting plate, rectangular groove and circular hole are linked together, and rectangular groove sets up the both sides at the circular hole, movable mounting has the engine in the circular hole, fixed mounting has the tunneling head on the output of engine, fixed mounting has two side posts on the lateral wall of engine, every equal movable sleeve is equipped with the third lantern ring on the side post, fixed mounting has the connection stock on the third lantern ring, fixed mounting has the fourth lantern ring on the connection stock, the junction of equipment lifting frame and mounting plate is provided with two swivel posts, every equal fixed mounting has a cam outside the swivel post, two the contained angle that the cam produced at the swivel post center is the right angle, every equal fixed mounting has the cylinder on the cam, cylinder movable block is in the fourth cover, fixed mounting has the rectangular plate on the lateral wall of cam, movable block installs the second lantern ring on the second lantern ring, movable block installs the second annular groove, the second movable block has the annular groove on the second annular groove, the movable block has the second annular groove is seted up on the second annular groove.
Preferably, an auxiliary mechanism for assisting instrument tunneling is arranged on the equipment lifting frame; the auxiliary mechanism comprises a swinging rod, the swinging rod is fixedly arranged on the rotating column, and an impact plate is fixedly arranged on the swinging rod.
Preferably, a cleaning mechanism for assisting the instrument to walk is arranged on the instrument body; the cleaning mechanism comprises a second connecting block, the second connecting block is fixedly arranged on the side wall of the instrument body, a shovel plate is fixedly arranged on the second connecting block, a storage tank is formed in the shovel plate, a motor is arranged in the shovel plate, a power output shaft is fixedly arranged on an output shaft of the motor, a fifth lantern ring is fixedly arranged outside the power output shaft, and five groups of pushing rods which are circumferentially distributed are fixedly arranged on the fifth lantern ring.
The above-mentioned at least one technical scheme that this application embodiment adopted can reach following beneficial effect:
firstly, when the device is used, the motor in the device body is started to drive the caterpillar band to rotate, the device is enabled to move in a coal mine tunnel and then to move to a designated position, the first cylinder is started to move by the cylinder push rod with the first cylinder, the movement of the cylinder push rod with the first cylinder drives the upward movement of the first lantern ring, the upward movement of the first lantern ring drives the plunger rod to move upward, thereby driving the upward movement of the device lifting frame, the plunger rod and the first rotating shaft also rotate in the first lantern ring and the second clamping plate to adapt to the rotation of the device lifting frame, the tunneling head is aligned to the position needing to be mined through the starting of the first cylinder, the rotation of the tunneling head is driven through the starting of the engine, the tunneling of the designated position is realized, and the device realizes the adjustment of the tunneling direction of the tunneling head through the starting of the control first cylinder, so that the exploitation of different positions of the device is convenient.
The second cylinder is started, the cylinder push rod of the second cylinder is driven to move back and forth by the start of the second cylinder, so that the central shaft is driven to move in the second lantern ring, the round trip of the cylinder push rod of the second cylinder also drives the rectangular plate to move upwards, the second lantern ring also follows the movement of the rectangular plate to rotate in the rectangular plate, the movement of the rectangular plate drives the cam and the rotating column to rotate in the mounting plate, the upward movement of the cam drives the upward movement of the cylinder, the upward movement of the cylinder drives the connecting long rod, the upward movement of the connecting long rod drives the third lantern ring to move forwards, the forward movement of the third lantern ring drives the side column to move forwards, the engine and the tunneling head are driven to move towards the wall part in the circular hole, the side column at the other end moves forwards under the pulling force of the forward movement of the engine, so that the third lantern ring and the cam are driven to tend to be in a horizontal state, the rotating column is higher in stability under the limiting effect of the circular long rod, the rotating column is prevented from being separated from the track, the driving device drives the engine to move forwards, and the tunneling head is driven to stretch out and draw back in the coal mine, and the tunneling head is prevented from being damaged by the tunneling head in the tunnel, and the tunneling device is easy to reduce tunneling probability of the tunneling head in the tunnel.
Thirdly, under the effect of second cylinder thrust, the steering column can take place to rotate, and the rotation of steering column drives the rotation of swinging arms, and the rotation of swinging arms can drive the impact board and reciprocate, the impact board can strike ground, let ground level more, and the downwardly moving of one end steering column, let the connection stock and cam approach the level, and the connection stock and the cam of the other end approach the level, can drive the impact board and reciprocate, two impact boards can crisscross reciprocate like this, realize the striking on ground, the device is through the upper and lower removal of impact board, strike ground, prevent that there is the arch on the ground, influence the walking path of instrument, and impact board and track are in same horizontal position, make things convenient for the track to remove subaerial.
Fourth, through the motor in the start shovel board, drive power take off's rotation, power take off's rotation drives the rotation of 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 with subaerial unnecessary stone scooping up, make things convenient for the walking of instrument, and the rotation of catch bar can collude the stone, let the stone remove on the bin, and when the instrument will pass through concave ground, the catch bar can push away the stone on the bin, fill up 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 embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a schematic diagram of the front structure of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of the control mechanism of the present invention;
FIG. 4 is a schematic view of a cleaning mechanism according to the present invention;
FIG. 5 is a schematic structural view of the control member of the present invention;
FIG. 6 is a schematic view of a second cylinder according to the present invention;
FIG. 7 is a schematic view of an exploded construction of the control member of the present invention;
fig. 8 is a schematic side view of a structural control member of the present invention.
In the figure: 1. an instrument body; 2. a track; 11. a first clamping plate; 12. a second clamping plate; 13. a first rotating shaft; 14. a first cylinder; 15. a first collar; 16. 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. a mounting plate; 32. rectangular grooves; 33. a circular hole; 34. an engine; 35. a side column; 36. a third collar; 37. connecting a long rod; 38. a fourth collar; 41. an annular groove; 42. a circular long rod; 43. a swinging rod; 44. an impingement plate; 45. a rotating column; 46. a tunneling head; 51. a second connection block; 52. a shovel plate; 53. a storage tank; 54. a power output shaft; 55. a fifth collar; 56. pushing the rod.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
Referring to fig. 1-8, a remotely controllable intelligent tunneling robot for a coal mine roadway comprises an instrument body 1 and a tunneling head 46, wherein a crawler belt 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 clamping plate 11, the first clamping plate 11 is 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 circular rotating shaft, a plunger 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, an output shaft of the first cylinder 14 is fixedly arranged on a first lantern ring 15, and the plunger 16 is movably clamped in the first lantern ring 15.
When the device is used, the motor in the instrument body 1 is started to drive the crawler belt 2 to rotate, the instrument is enabled to move in a coal mine tunnel and move to a designated position, the first cylinder 14 is started to move, the cylinder push rod with the first cylinder 14 is started to move by the first cylinder 14, the upward movement of the first sleeve ring 15 is driven by the upward movement of the first sleeve ring 15 to drive the inserting rod 16 to move upwards, the equipment lifting frame 17 is driven to move upwards, the inserting 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 where exploitation is required, the engine 34 is started to drive the tunneling head 46 to rotate by the starting of the first cylinder 14, the tunneling direction of the tunneling head 46 is regulated by controlling the starting of the first cylinder 14, and the tunneling head 46 is driven to realize the tunneling of different positions of the instrument.
The equipment lifting frame 17 is provided with a control piece for controlling the extension and retraction of the tunneling head 46; the control piece comprises a mounting plate 31, the mounting plate 31 is fixedly mounted on an equipment lifting frame 17, a circular hole 33 is formed in the mounting plate 31, two rectangular grooves 32 are formed in the mounting plate 31, the rectangular grooves 32 are communicated with the circular hole 33, the rectangular grooves 32 are formed in two sides of the circular hole 33, an engine 34 is movably mounted in the circular hole 33, a tunneling head 46 is fixedly mounted at the output end of the engine 34, two side columns 35 are fixedly mounted on the side wall of the engine 34, a third lantern ring 36 is movably sleeved on each side column 35, a connecting long rod 37 is fixedly mounted on the third lantern ring 36, a fourth lantern ring 38 is fixedly mounted 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 mounted outside each rotary column 45, an included angle generated by the center of the rotary columns 45 is a right angle, a cylinder 27 is fixedly mounted on each cam 26, a movable clamp of the cylinder 27 is mounted in the fourth lantern ring 38, a rectangular plate 25 is fixedly mounted on the side wall of the cam 26, a second clamping ring 24 is fixedly mounted on the second side wall of the second lifting frame 22, a rectangular block 22 is fixedly mounted on the second lifting frame 22, a second clamping ring 21 is fixedly mounted on the second lifting frame 22, a second lifting block 21 is fixedly clamped on the second lifting frame 22, a second lifting block 21 is fixedly mounted on the second lifting frame 22 is fixedly clamped on the second lifting frame 22, and is fixedly clamped on the second lifting frame 21, and is fixedly clamped cylinder 21.
By starting the second cylinder 21, the starting of the second cylinder 21 drives the cylinder push rod of the second cylinder 21 to move back and forth, thereby driving the central shaft 23 to rotate in the second lantern ring 24, the back and forth movement of the cylinder push rod of the second cylinder 21 also drives the upward movement of the rectangular plate 25, the second lantern ring 24 also follows the movement of the rectangular plate 25 to rotate in the rectangular plate 25, 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 long rod 37, the upward movement of the connecting long rod 37 drives the third lantern ring 36 to move forward, the forward movement of the third lantern ring 36 drives the side column 35 to move forward, thereby driving the engine 34 and the tunneling head 46 to move to the wall portion in the circular hole 33, the side column 35 also moves forward under the pulling force of the forward movement of the engine 34, thereby driving the third lantern ring 36 and the rotary column 45 to tend to be in a horizontal state in the mounting plate 31, the position of the circular long rod 42 moves upward, the upward movement of the cylinder 27 drives the rotary column 45 under the limiting action of the engine 34, the tunneling head 46 is prevented from being broken by the high probability of the tunneling device 46, and the tunneling effect of the tunneling device is prevented from being broken in the tunneling in the tunnel 46, and the tunneling device 46 is easy to be broken by the tunneling the tunnel 46.
An auxiliary mechanism for assisting instrument tunneling is arranged on the equipment lifting frame 17; the auxiliary mechanism comprises a swing rod 43, the swing rod 43 is fixedly arranged on a rotating column 45, and an impact plate 44 is fixedly arranged on the swing rod 43.
Under the action of the cylinder thrust of the second cylinder 21, the rotating column 45 rotates to drive the swinging rod 43 to rotate, the swinging rod 43 rotates to drive the impact plate 44 to move up and down, the impact plate 44 can strike the ground, the ground is smoother, one end of the rotating column 45 moves downwards, the connecting long rod 37 and the cam 26 approach to be horizontal, the connecting long rod 37 and the cam 26 at the other end approach to be horizontal, the impact plate 44 can be driven to move upwards, the two impact plates 44 can move up and down in a staggered mode, the ground is struck through the up-and-down movement of the impact plate 44, protrusions on the ground are prevented, the instrument walking path is affected, the impact plate 44 and the crawler 2 are located at the same horizontal position, and the crawler 2 can move on the ground conveniently.
The instrument body 1 is provided with a cleaning mechanism for assisting the instrument to walk; the cleaning mechanism comprises a second connecting block 51, the second connecting block 51 is fixedly arranged on the side wall of the instrument body 1, a shovel plate 52 is fixedly arranged on the second connecting block 51, a storage groove 53 is formed in the shovel plate 52, a motor is arranged in the shovel plate 52, a power output shaft 54 is fixedly arranged on an output shaft of the motor, a fifth lantern ring 55 is fixedly arranged outside the power output shaft 54, and five groups of pushing rods 56 which are circumferentially distributed are fixedly arranged on the fifth lantern ring 55.
Through the motor in the start shovel board 52, drive the rotation of power take off shaft 54, the rotation of power take off shaft 54 drives the rotation of fifth lantern ring 55, when the instrument starts, the walking of instrument can drive shovel board 52 and remove, the removal of shovel board 52 can be with the subaerial unnecessary stone scooping up, make things convenient for the walking of instrument, and the rotation of push rod 56 can be colluded the stone, let the stone remove on bin 53, and when the instrument will pass through concave ground, push rod 56 can push down the stone on the bin 53, fill the pit through the stone, make things convenient for the walking of instrument.
It will be appreciated by those skilled in the art that 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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (4)
1. The utility model provides a but remote control's colliery tunnel intelligent development robot, includes instrument body (1) and entry driving head (46), be provided with track (2), its characterized in that on instrument body (1): the device comprises an instrument body (1), and is characterized in that an operation mechanism for controlling the tunneling direction of a tunneling head (46) is arranged on the instrument body (1), the operation mechanism comprises a first clamping plate (11), the first clamping plate (11) is 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 circular rotating shaft, a plunger 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 air cylinder (14) is fixedly arranged on the first rotating shaft (13), a first sleeve ring (15) is fixedly arranged on the output shaft of the first air cylinder (14), and the plunger rod (16) is movably clamped in the first sleeve ring (15);
a control piece for controlling the extension and retraction 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);
a cleaning mechanism for assisting the instrument to walk is arranged on the instrument body (1);
the control piece comprises a mounting plate (31), the mounting plate (31) is fixedly mounted on the equipment lifting frame (17), a circular hole (33) is formed in the mounting plate (31), two rectangular grooves (32) are formed in the mounting plate (31), the rectangular grooves (32) are communicated with the circular hole (33), and the rectangular grooves (32) are formed in two sides of the circular hole (33);
an engine (34) is movably mounted in the circular hole (33), a tunneling head (46) is fixedly mounted at the output end of the engine (34), two side columns (35) are fixedly mounted on the side wall of the engine (34), a third collar (36) is movably sleeved on each side column (35), a connecting long rod (37) is fixedly mounted on the third collar (36), and a fourth collar (38) is fixedly mounted 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), the two cams (26) take an included angle generated by the centers of the rotary columns (45) as a right angle, a cylinder (27) is fixedly arranged on each cam (26), and the cylinder (27) is movably clamped in a fourth lantern ring (38);
a rectangular plate (25) is fixedly arranged on the side wall of the cam (26), a second lantern ring (24) is movably clamped in the rectangular plate (25), a central shaft (23) is movably clamped in the second lantern ring (24), a first connecting block (22) is fixedly arranged on the side wall of the equipment lifting frame (17), a second air cylinder (21) is fixedly arranged on the first connecting block (22), and a central shaft (23) is fixedly arranged on an air cylinder push rod of the second air cylinder (21);
an annular groove (41) is formed in the rotary 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);
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).
2. The remotely controllable intelligent tunneling robot for coal mine roadways according to claim 1, wherein: the cleaning mechanism comprises a second connecting block (51), the second connecting block (51) is fixedly arranged on the side wall of the instrument body (1), and a shovel plate (52) is fixedly arranged on the second connecting block (51).
3. The remotely controllable intelligent tunneling robot for coal mine roadways according to claim 2, characterized in that: the shovel plate (52) is provided with a storage groove (53), a motor is arranged in the shovel plate (52), and a power output shaft (54) is fixedly arranged on an output shaft of the motor.
4. A remotely controllable intelligent tunneling robot for coal mine roadways according to claim 3, characterized in that: the power output shaft (54) is fixedly provided with a fifth lantern ring (55), and five groups of pushing rods (56) distributed circumferentially are fixedly arranged on the fifth lantern ring (55).
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114179053A CN114179053A (en) | 2022-03-15 |
| CN114179053B true CN114179053B (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111520485.3A Active CN114179053B (en) | 2021-12-13 | 2021-12-13 | Remotely controllable intelligent tunneling robot for coal mine tunnel |
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| Country | Link |
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| CN (1) | CN114179053B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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|---|---|---|---|---|
| CN200982195Y (en) * | 2006-12-06 | 2007-11-28 | 娄底博盛科技有限公司 | Small-sized cantilevered tunneller for coal roadway |
| KR101530704B1 (en) * | 2015-03-30 | 2015-06-25 | 주식회사 스맥 | fire fighting robot having high waterproof property |
| CN106979015A (en) * | 2017-04-01 | 2017-07-25 | 江苏中机矿山设备有限公司 | A kind of climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus |
| CN206458476U (en) * | 2016-12-28 | 2017-09-01 | 江苏成盛交通工程有限公司 | A kind of efficient rock tunnel(ling) machine |
| WO2017202284A1 (en) * | 2016-05-23 | 2017-11-30 | 桂仲成 | Pavement autonomous detection intelligent apparatus, robot system and detection method |
| 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 |
-
2021
- 2021-12-13 CN CN202111520485.3A patent/CN114179053B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200982195Y (en) * | 2006-12-06 | 2007-11-28 | 娄底博盛科技有限公司 | Small-sized cantilevered tunneller for coal roadway |
| KR101530704B1 (en) * | 2015-03-30 | 2015-06-25 | 주식회사 스맥 | fire fighting robot having high waterproof property |
| WO2017202284A1 (en) * | 2016-05-23 | 2017-11-30 | 桂仲成 | Pavement autonomous detection intelligent apparatus, robot system and detection method |
| CN206458476U (en) * | 2016-12-28 | 2017-09-01 | 江苏成盛交通工程有限公司 | A kind of efficient rock tunnel(ling) machine |
| CN106979015A (en) * | 2017-04-01 | 2017-07-25 | 江苏中机矿山设备有限公司 | A kind of climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus |
| 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 |
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| CN114179053A (en) | 2022-03-15 |
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