CN208416589U - A kind of coal mine drilling anchor robot - Google Patents
A kind of coal mine drilling anchor robot Download PDFInfo
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- CN208416589U CN208416589U CN201821115250.XU CN201821115250U CN208416589U CN 208416589 U CN208416589 U CN 208416589U CN 201821115250 U CN201821115250 U CN 201821115250U CN 208416589 U CN208416589 U CN 208416589U
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Abstract
The utility model discloses a kind of coal mine drilling anchor robots, including robot body, net arranging mechanism, drilling anchor mechanism and control module, the robot body includes body, creeper undercarriage and hoofing part mechanism, the net arranging mechanism includes mechanical arm mechanism and grabs net manipulator, slipping mechanism is provided on the robot body, drilling anchor mechanism includes anchor pole case, chassis, chain transfer mechanism and drilling anchor mechanism.The utility model is designed reasonably integrates creeper undercarriage, net arranging mechanism, drilling anchor mechanism, realizes automation, the intelligence of suspension roof support, improves support efficiency.
Description
Technical field
The utility model belongs to timbering technology in coal mine field, and in particular to a kind of coal mine drilling anchor robot.
Background technique
With the rapid development of science and technology, the intelligence of coal mining has become important developing direction.In recent years,
Fully-mechanized mining working automation, intelligent paces are constantly accelerated, and propose to the production capacity and fltting speed of fully mechanized workface
Stern challenge, this requires the speed of digging supporting also to accelerate therewith.Currently, most domestic coal mine is in terms of operation is protected in digging
Mechanization is realized in part, and the driving in tunnel is carried out using development machine, is propped up using brill, windlass tool or drilling anchor all-in-one machine
Shield, lies substantially in personnel with machine operation state, but drilling anchor speed seriously lags driving speed, and working environment is poor, and labour is strong
Degree is big, and drivage efficiency is low, it cannot be guaranteed that the schedule requirement of fully mechanized mining, directly affects safe, the highly efficient and productive exploitation of coal.
In recent years, although many research teams conduct in-depth research in terms of fully mechanized workface automation both at home and abroad,
But it is successfully applied to produce actual automation, intelligent fully mechanized workface is also rarely reported.It can be seen that being directed to underground coal mine
The problems such as poor operating environment existing for artificial lapping, artificial drilling anchor, large labor intensity, low support efficiency are needed when suspension roof support,
There is an urgent need to a kind of drilling anchor robots compact-sized, that performance is stable, intelligence degree is high to replace existing drilling anchor mechanical, effectively
Underground coal mine support efficiency is improved, underground work personnel labor intensity is reduced, liberates the productive forces to greatest extent, and realizes coal mine
The automation of fully mechanized workface supporting.
Utility model content
The technical problem to be solved by the utility model is in view of the deficiency of the prior art, provide a kind of coal mine
Drilling anchor robot, it is reasonable and easy to operate to design, and integrates creeper undercarriage, net arranging mechanism, drilling anchor mechanism, realizes anchor
Automation, the intelligence of bar supporting can be effectively improved working environment, reduce labor intensity, guarantee production safety, improve supporting
Efficiency, it is practical.
In order to solve the above technical problems, the technical solution adopted in the utility model is: a kind of coal mine drilling anchor robot, it is special
Sign is: including robot body, the net arranging mechanism being mounted on the robot body and drilling anchor device, and to the machine
The control module that device human body, the net arranging mechanism and drilling anchor mechanism are controlled, the robot body include body,
Two groups are symmetrically mounted on the creeper undercarriage of body two sides and drive the hoofing part mechanism of the creeper undercarriage rotation,
The supporting mesh library held for supporting mesh is provided on the body, the net arranging mechanism includes the mechanical arm machine being mounted on body
It structure and is mounted on the mechanical arm mechanism end and grabs net manipulator, the body to what supporting mesh in supporting mesh library was grabbed
On be provided with for drilling anchor mechanism sliding slipping mechanism；
Drilling anchor device includes the anchor pole case being mounted on body, the chassis being mounted on body, is mounted on chassis
And it chain transfer mechanism that the anchor pole slid out from anchor pole case is transmitted and treats supporting position and is drilled and anchor is installed
Drilling anchor mechanism of bar, drilling anchor mechanism includes hydraulic telescopic machanism, the borehole drill construction that is mounted on the hydraulic telescopic machanism
With the anchor pole frame being mounted on the borehole drill construction, and the anchor pole on the chain transfer mechanism is installed on anchor pole frame
Upper bolt manipulator and the dress anchor pole manipulator that the anchor pole on the anchor pole frame bore dress, the hydraulic telescopic machanism and institute
It states slipping mechanism to be fixedly connected, the borehole drill construction includes the drilling rod feed mechanism being mounted on the hydraulic telescopic machanism, peace
Drilling machine and drilling rod manipulator on the drilling rod feed mechanism, and the drilling rod being mounted on the drilling rod manipulator, institute
The bottom surface for stating anchor pole case is provided with discharge port, and the discharge port is located at the chain transfer mechanism close to one end of the anchor pole case
Top, the chassis is provided with anchor pole slot far from one end of the anchor pole case；
The control module includes controller, and the input of the controller is terminated with first pressure sensor, second pressure
Sensor, third pressure sensor, the 4th pressure sensor, infrared distance measurement module, the hoofing part mechanism, mechanical arm machine
Structure grabs net manipulator, the chain transfer mechanism, upper bolt manipulator, the hydraulic telescopic machanism, dress anchor pole manipulator, bores
Bar manipulator and drilling machine are controlled by controller.
Above-mentioned a kind of coal mine drilling anchor robot, it is characterised in that: the mechanical arm mechanism includes successively being rotatablely connected
First segment mechanical arm, second segment mechanical arm and third section mechanical arm, and the driving first segment mechanical arm, second segment mechanical arm
With the mechanical arm rotating drive mechanism of third section mechanical arm rotation, the mechanical arm rotating drive mechanism includes driving first segment machine
The third of first steering engine of tool arm rotation, the second steering engine of driving second segment mechanical arm rotation and driving third section mechanical arm rotation
Steering engine；
The end of the third section mechanical arm, which is provided with, grabs net regulating mechanism for grab the installation of net manipulator, and the net of grabbing is adjusted
Section mechanism include the first regulating member of end for being mounted on third section mechanical arm, be mounted on described first reconcile feature bottom the
Two regulating members and the manipulator mounting plate that second regulating member bottom is arranged in, the net manipulator of grabbing is two groups symmetrical
It is mounted on the gripper of manipulator installation board ends, first regulating member includes being rotatablely connected with third section mechanical arm tail end
Rotor plate and driving rotor plate rotation the 4th steering engine, second regulating member includes be mounted on rotor plate bottom the 5
Steering engine and the middle connecting plate being sequentially connected with the 5th steering engine output shaft, the middle connecting plate and the fixed company of manipulator mounting plate
It connects, and the middle connecting plate is overlapped with the center line of manipulator mounting plate, driving institute is provided in the manipulator mounting plate
State the 6th steering engine of gripper folding, first steering engine, the second steering engine, third steering engine, the 4th steering engine and the 5th steering engine and the
Six steering engines are controlled by controller.
A kind of above-mentioned coal mine drilling anchor robot, it is characterised in that: the creeper undercarriage include driving wheel mounting plate,
It is mounted on the front driving wheel and rear drive sprocket and between front driving wheel and rear drive sprocket of driving wheel installation board ends
Crawler belt, is provided with the supporting mechanism that two rows are supported crawler belt between the front driving wheel and rear drive sprocket, and upper and lower two
The supporting mechanism is arranged in being laid staggeredly, supporting mechanism described in every row includes multiple being laid in together by front driving wheel to rear drive sprocket
The support wheel shaft installed for support wheel, the driving wheel mounting plate and machine are arranged on the body for support wheel on one horizontal plane
Body one side is laid in parallel.
Above-mentioned a kind of coal mine drilling anchor robot, it is characterised in that: the chain transfer mechanism includes two and is arranged the bottom of at
In frame and in the gear shaft of horizontal parallel laying, multiple the chain pitch wheel mechanisms and driving uniformly distributed along gear shaft length direction
The gear shaft driving mechanism of the gear shaft rotation, the gear shaft driving mechanism are controlled by controller, and the chassis is remote
One end from anchor pole case is provided with recessed portion, and the anchor pole slot is surrounded by the recessed portion with baffle；
The anchor pole frame includes central axis, multiple is arranged the anchor pole chuck clamped on center shaft and for anchor pole and driving institute
The anchor pole frame driving mechanism that central axis drives the rotation of anchor pole chuck is stated, multiple anchor pole folders are evenly equipped on the circumference of the anchor pole chuck
Mouthful, the anchor pole frame driving mechanism is connect with central shaft driven, and the anchor pole frame driving mechanism is controlled by controller.
Above-mentioned a kind of coal mine drilling anchor robot, it is characterised in that: the drilling rod feed mechanism includes being mounted on the liquid
Pressure telescoping mechanism on uncovered drill rod box, along uncovered drill rod box length direction lay feeding fixed piston rod and be mounted on feeding
Feeding hydrocylinder on fixed piston rod, sliding is provided with drilling machine pallet, the bottom of the drilling machine pallet on the uncovered drill rod box
Portion is fixedly connected with the feeding hydrocylinder, and the drilling machine is located on drilling machine pallet, and the output of the controller is terminated with control
The feeding solenoid valve of feeding hydrocylinder oil inlet.
Above-mentioned a kind of coal mine drilling anchor robot, it is characterised in that: the slipping mechanism includes along body width direction cloth
If sliding fixed piston rod, the sliding hydraulic cylinder that is mounted on sliding fixed piston rod and be fixedly connected with hydraulic cylinder is slided
Sliding seat is provided with the slippage slot for sliding seat sliding on the body, and the bottom of the hydraulic telescopic machanism is mounted on sliding
On seat, the output of the controller is terminated with the sliding solenoid valve of control sliding hydraulic cylinder oil inlet.
Compared with the prior art, the utility model has the following advantages:
1, used coal mine drilling anchor robot architecture is simple, design is reasonable and easy to operate, and cost is relatively low.
2, creeper undercarriage is arranged in used coal mine drilling anchor robot, and one side creeper undercarriage can be as support
Part is able to bear the weight of the net arranging mechanism being arranged on robot body and drilling anchor device, and is convenient for during bearing weight,
Complete machine is set steadily, rapidly, safely to walk；The contact area on another aspect creeper undercarriage and ground is big, so increasing
Big complete machine reduces sinkage, in addition, due to the shoe on creeper undercarriage in handling capacity soft, on muddy road surface
Installation form friction pattern is taken, so ground can firmly be caught on the road surfaces such as water, ice or upward slope, will not be trackslipped, further more, due to
For crawler bearing length on creeper undercarriage up to 4 meters~6 meters, support wheel center is higher, so by trench, hang down wall
Ability is stronger, adapts in underground coal mine complex road condition.
3, anchor pole case is arranged in used coal mine drilling anchor robot, and the anchor pole in anchor pole case is slid by discharge port enters chain
Transport mechanism, and be sent in anchor pole slot by chain transfer mechanism, upper bolt manipulator is installed in the anchor pole in anchor pole slot
On anchor pole frame, upper bolt movement is completed, it is easy to operate, and staff's participation is not needed, labor intensity is small.
4, the supporting mesh promotion of crawl is moved to supporting position by net arranging mechanism in used coal mine drilling anchor robot
It arranges net, so as to complete the installation of supporting mesh, saves manpower.
5, after drilling rod manipulator adjusts drilling rod to boring requirement position in used coal mine drilling anchor robot, drilling rod feeding
Mechanism drives drilling machine and drilling rod feeding, realizes the drilling for position of arranging net, upper bolt manipulator is by rockbolt installation to be installed in drilling rod
On feed mechanism, anchor pole feeding is driven by drilling rod feed mechanism, completes the installation of anchor pole, to be anchored to supporting mesh, section
Human-saving improves underground coal mine support efficiency.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model coal mine drilling anchor robot.
Fig. 2 is the structural schematic diagram of the utility model coal mine drilling anchor robot net arranging mechanism.
Fig. 3 is the structural schematic diagram of the utility model coal mine drilling anchor robot slipping mechanism and robot body.
Fig. 4 is the structural schematic diagram of the utility model coal mine drilling anchor robot chain transfer mechanism.
Fig. 5 is the structural schematic diagram of drilling anchor mechanism of the utility model coal mine drilling anchor robot (removing hydraulic telescopic machanism).
Fig. 6 is the structural schematic diagram of the utility model coal mine drilling anchor robot anchor pole frame.
Fig. 7 is the structural schematic diagram of the utility model coal mine drilling anchor robot anchor pole chuck.
Fig. 8 is the schematic block circuit diagram of the utility model coal mine drilling anchor robot.
Description of symbols:
1-chassis；2-anchor pole casees；3-mechanical arm mechanisms；
4-grab net manipulator；5-supporting meshs；6-supporting mesh libraries；
7-creepers undercarriage；7-1-front driving wheel；7-2-rear drive sprocket；
7-3-crawler belt；7-4-support wheel；7-5-support wheel shaft；
7-6-driving wheel mounting plate；8-bodies；9-conveyer chains；
10-anchor pole slots；11-baffles；12-anti-explosion box bodies；
13-first pressure sensors；14-gear pedestals；15-second pressure sensors；
16-support plates；17-gear shafts；18-locating slots；
19-third pressure sensors；20-anchor pole chucks；21-gears；
22-central axises；23-anchor pole framves；24-the four pressure sensor；
25-drilling machines；26-drilling machine pallets；27-feeding fixed piston rods；
28-sliding seats；29-drilling rod manipulators；30-drilling rods；
31-slipping mechanisms；32-round tube holes；33-upper bolt manipulators；
34-sliding fixed piston rods；35-telescopic hydraulic cylinders；36-anchor pole clip slots；
37-sector open portions；38-uncovered drill rod box；39-sliding hydraulic cylinders；
41-borehole drill constructions；42-sliding solenoid valves；44-dress anchor pole manipulators；
45-telescoping electromagnetic valves；47-vertical bars；48-limit sleeves；
49-infrared distance measurement modules；50-controllers；
54-slippage slots；55-the five frequency converter；56-the five fire-proof motor；
60-third frequency converters；61-round crawl pedestals；62-locating parts；
63-grippers；64-middle connecting plates；65-rotor plates；
The 4th rotation axis of 65-1-；66-the four frequency converter；67-the four fire-proof motor；
68-the first frequency converter；69-the first fire-proof motor；
70-the second frequency converter；71-the second fire-proof motor；72-the first steering engine；
73-first segment mechanical arms；73-1-first rotating shaft；74-the second steering engine；
75-second segment mechanical arms；The second shaft of 75-1-；76-third steering engines；
77-third section mechanical arms；77-1-third shaft；78-the four steering engine；
79-manipulator mounting plates；80-the five steering engine；81-feeding solenoid valves；
82-the six steering engine；83-cup dollies；85-third fire-proof motors；
87-feeding hydrocylinders.
Specific embodiment
As illustrated in figures 1 and 8, a kind of coal mine drilling anchor robot, including robot body, it is mounted on the robot body
On net arranging mechanism and drilling anchor device, and the robot body, the net arranging mechanism and drilling anchor mechanism are controlled
The control module of system, the robot body include 8, two groups of body 7 and of creeper undercarriage for being symmetrically mounted on 8 two sides of body
The hoofing part mechanism of the rotation of creeper undercarriage 7 is driven, is provided with the supporting held for supporting mesh 5 on the body 8
Net library 6, the net arranging mechanism include the mechanical arm mechanism 3 being mounted on body 8 and be mounted on 3 end of mechanical arm mechanism and
Net manipulator 4 is grabbed to what supporting mesh 5 in supporting mesh library 6 was grabbed, is provided on the body 8 and is slid for drilling anchor mechanism
Slipping mechanism 31；
Drilling anchor device includes the anchor pole case 2 being mounted on body 8, the chassis 1 being mounted on body 8, is mounted on bottom
It the chain transfer mechanism that is transmitted on frame 1 and to the anchor pole slid out from anchor pole case 2 and treats supporting position and is drilled simultaneously
Drilling anchor mechanism of anchor pole is installed, drilling anchor mechanism includes hydraulic telescopic machanism, the brill that is mounted on the hydraulic telescopic machanism
Holes mechanism 41 and the anchor pole frame 23 being mounted on the borehole drill construction, and the anchor pole on the chain transfer mechanism is installed in
Upper bolt manipulator 33 on anchor pole frame 23 and the dress anchor pole manipulator 44 that the anchor pole on the anchor pole frame 23 bore dress, institute
It states hydraulic telescopic machanism to be fixedly connected with the slipping mechanism, the borehole drill construction 41 includes being mounted on the hydraulic telescopic machanism
On drilling rod feed mechanism, the drilling machine 25 that is mounted on the drilling rod feed mechanism and drilling rod manipulator 29, and be mounted on institute
The drilling rod 30 on drilling rod manipulator 29 is stated, the bottom surface of the anchor pole case 2 is provided with discharge port, and the discharge port is located at the chain
Transport mechanism is provided with anchor pole far from one end of the anchor pole case 2 close to the top of one end of the anchor pole case 2, the chassis 1
Slot 10；
The control module includes controller 50, and the input of the controller 50 is terminated with first pressure sensor 13,
Two pressure sensors 15, third pressure sensor 19, the 4th pressure sensor 24, infrared distance measurement module 49, the hoofing part
Mechanism, mechanical arm mechanism 3 grab net manipulator 4, the chain transfer mechanism, upper bolt manipulator 33, the hydraulically extensible machine
Structure, dress anchor pole manipulator 44, drilling rod manipulator 29 and drilling machine 25 are controlled by controller 50.
In the present embodiment, anti-explosion box body 12 is provided on the body 8, the controller 50 is placed on anti-explosion box body 12
It is interior.
In the present embodiment, the controller 50 is FX3GA-60MT-CM Mitsubishi PLC module.
In the present embodiment, the inclined surface that can be gone up and down and place for anchor pole is provided in the anchor pole case 2.
As shown in Fig. 2, in the present embodiment, the mechanical arm mechanism 3 include the first segment mechanical arm 73 being successively rotatablely connected,
Second segment mechanical arm 75 and third section mechanical arm 77, and the driving first segment mechanical arm 73, second segment mechanical arm 75 and the
The mechanical arm rotating drive mechanism of three sections of mechanical arms 77 rotation, the mechanical arm rotating drive mechanism include that driving first segment is mechanical
The second steering engine 74 and 77 turns of third section mechanical arm of driving of the first steering engine 72, the driving rotation of second segment mechanical arm 75 that arm 73 rotates
Dynamic third steering engine 76；
The end of the third section mechanical arm 77, which is provided with, grabs net regulating mechanism for grab the installation of net manipulator 4, described to grab
Net regulating mechanism includes the first regulating member of end for being mounted on third section mechanical arm 77, is mounted on first conciliation component bottom
Second regulating member in portion and the manipulator mounting plate 79 that second regulating member bottom is set, it is described to grab net manipulator 4
The gripper 63 at 79 both ends of manipulator mounting plate is symmetrically mounted on for two groups, first regulating member includes mechanical with third section
The 4th steering engine 78 that the rotor plate 65 and driving rotor plate 65 of 77 end of arm rotation connection rotate, second regulating member include
It is mounted on the 5th steering engine 80 of 65 bottom of rotor plate and the middle connecting plate 64 with the transmission connection of 80 output shaft of the 5th steering engine, it is described
Middle connecting plate 64 is fixedly connected with manipulator mounting plate 79, and the center of the middle connecting plate 64 and manipulator mounting plate 79
Line is overlapped, and the 6th steering engine 82 for driving the gripper 63 to open and close, first rudder are provided in the manipulator mounting plate 79
Machine 72, the second steering engine 74, third steering engine 76, the 4th steering engine 78 and the 5th steering engine 80 and the 6th steering engine 82 are carried out by controller 50
Control.
As shown in Fig. 2, the first segment mechanical arm 73 is mounted on body 8 by the round pedestal 61 that grabs in the present embodiment
On, the first segment mechanical arm 73 is rotatablely connected by first rotating shaft 73-1 and round crawl pedestal 61, and the second segment is mechanical
Arm 75 is rotatablely connected by the second shaft 75-1 and first segment mechanical arm 73, and the third section mechanical arm 77 passes through third shaft
77-1 and second segment mechanical arm 75 are rotatablely connected, and the rotor plate 65 passes through the 4th rotation axis 65-1 and 77 turns of third section mechanical arm
Dynamic connection.
In the present embodiment, the first steering engine 72 and first rotating shaft 73-1 is sequentially connected, second steering engine 74 and second
Shaft 75-1 transmission connection, the third steering engine 76 and third shaft 77-1 are sequentially connected, the 4th steering engine 78 and the 4th turn
Moving axis 65-1 transmission connection.
In the present embodiment, rotation setting finite place piece 62 in the gripper 63, the locating part 62 is by gripper 63
It is tilted gradually downward outside to gripper 63, the first pressure sensor 13 is mounted on the locating part 62 and protrudes into gripper 63 1
On the upper surface at end, the second pressure sensor 15 is mounted on the upper surface that the locating part 62 stretches place 63 one end of gripper.
In the present embodiment, first pressure sensor 13 is set, is when grabbing supporting mesh 5 for gripper 63, supporting mesh 5 pushes away
Dynamic locating part 62 protrudes into 63 one end of gripper and is rotated up, so that first pressure sensor 13 is extruded, first pressure sensor
13 generate pressure signal, firmly grasp so that the pressure signal detected according to first pressure sensor 13 can be obtained to supporting mesh 5, with
Gripper 63 is set to provide accurate grasp, guarantee supporting mesh 5 stablizes crawl.
In the present embodiment, the second pressure sensor 15 is set, is to drive gripper in the mechanical arm mechanism
During 63 declines, when the bottom of gripper 63 is butted on supporting mesh 5, if gripper 63 continues to decline, supporting mesh 5
It pushes locating part 62 to stretch out 63 one end of gripper to be rotated up, so that second pressure sensor 15 is extruded, second pressure sensing
Device 15 generates pressure signal, detects pressure signal according to second pressure sensor 15, judges that supporting mesh 5 produces gripper 63
Raw extruding force, then gripper 63 drops to accurate crawl position.
In the present embodiment, the first regulating mechanism is set, is to be driven on rotor plate 65 under the rotation of the 4th steering engine 78
Lower rotation is parallel to each other with adjusting rotor plate 65 with supporting mesh 5, so that it is guaranteed that four grippers of 79 bottom of manipulator mounting plate
Plane locating for 63 bottoms is parallel to each other with supporting mesh 5；Second regulating mechanism is set, is in order under the rotation of the 5th steering engine 80
Manipulator mounting plate 79 is driven to rotate, so that the center line of two groups of grippers 63 is overlapped with the length centerline of supporting mesh 5, thus
Gripper 63 is accurately positioned.
As shown in figure 3, the creeper undercarriage 7 includes driving wheel mounting plate 7-6, is mounted on driving in the present embodiment
Take turns the both ends mounting plate 7-6 front driving wheel 7-1 and rear drive sprocket 7-2 and wound on front driving wheel 7-1 and rear drive sprocket 7-2 it
Between crawler belt 7-3, be provided with what two rows were supported crawler belt 7-3 between the front driving wheel 7-1 and rear drive sprocket 7-2
Supporting mechanism, for supporting mechanism described in two rows in being laid staggeredly, supporting mechanism described in every row includes multiple by front driving wheel 7-1
It is laid in the support wheel 7-4 in same level to rear drive sprocket 7-2, the branch installed for support wheel 7-4 is set on the body 8
Wheel shaft 7-5 is supportted, the driving wheel mounting plate 7-6 is laid with 8 one side of body in parallel.
In the present embodiment, the length of the crawler belt 7-3 is 4 meters~6 meters.
In the present embodiment, creeper undercarriage 7 is set, one side creeper undercarriage 7 can be used as supporting element, be able to bear
The weight of the net arranging mechanism and drilling anchor mechanism that are arranged on robot body, and convenient for making during bearing weight
Complete machine can steady, rapidly, safely walk, with；The contact area on another aspect creeper undercarriage and ground is big, adapts to
In underground coal mine complex road condition.
In the present embodiment, the setting of crawler belt 7-3 is to increase complete machine because the contact area on crawler belt 7-3 and ground is big and exist
Handling capacity soft, on muddy road surface, reduces sinkage；And it is provided with form friction pattern on crawler belt 7-3, so can be in water, ice
Or ground can be firmly caught on the road surfaces such as upward slope, it will not trackslip；In addition, leading to since crawler belt 7-3 ground contact length is up to 4 meters~6 meters
It is stronger to cross trench, the ability of barrier, is adapted to underground coal mine complex road condition.
In the present embodiment, supporting mechanism described in two rows is on the one hand to row's supporting mechanism pair in being laid staggeredly
Crawler belt 7-3 inside upper part is supported, and lower row's supporting mechanism is supported crawler belt 7-3 lower inside, makes crawler belt 7-3 and ground
It comes into full contact with, guarantees the stability of mechanism, and be laid staggeredly and efficiently reduce the quantity of support wheel；On the other hand, front driving wheel
Or the driving force of rear drive sprocket can be transferred on multiple support wheels, so that support wheel 7-4 is rotated, auxiliary propulsion entirety
It is mobile.
As shown in Figure 4 and Figure 6, in the present embodiment, the chain transfer mechanism includes two and is arranged in chassis 1 and is in water
Gear shaft 17, multiple chain pitch wheel mechanisms uniformly distributed along 17 length direction of gear shaft and the driving tooth that average row is laid
The gear shaft driving mechanism that wheel shaft 17 rotates, the gear shaft driving mechanism are controlled by controller 50, and the chassis 1 is separate
One end of anchor pole case 2 is provided with recessed portion, and the anchor pole slot 10 is surrounded by the recessed portion and baffle 11；
The anchor pole frame 23 includes central axis 22, multiple anchor pole chucks 20 being set on central axis 22 and clamp for anchor pole
With the anchor pole frame driving mechanism for driving the central axis 22 that anchor pole chuck 20 is driven to rotate, on the circumference of the anchor pole chuck 20
Multiple anchor pole clamping opening are furnished with, the anchor pole frame driving mechanism and central axis 22 are sequentially connected, and the anchor pole frame driving mechanism is by controlling
Device 50 processed is controlled.
In the present embodiment, the chain pitch wheel mechanism includes two 21 Hes of the gear being fixedly mounted on two gear shafts 17
The conveyer chain 9 being sequentially connected between two gears 21, the spacing in the conveyer chain 9 between two neighboring chain hook are equal to anchor pole
Diameter, the height of the chain hook is greater than the diameter of anchor pole.
In the present embodiment, the gear pedestal 14 installed for gear shaft 17 is provided on the chassis 1.
In the present embodiment, the uncovered drill rod box 38 is provided with support plate 16, the support plate far from one end of drilling machine 25
16 top is provided with the locating slot 18 of cooperation drilling rod 30 or anchor pole.
In the present embodiment, setting is set in each vertical bar 47 there are two vertical bar 47 on the uncovered drill rod box 38
It is equipped with the limit sleeve 48 for being set with and stretching out for central axis 22, the spacing between two limit sleeves 48 is less than the length of anchor pole.
As shown in fig. 7, the anchor pole chuck 20 is provided centrally with the round tube hole installed for central axis 22 in the present embodiment
32, the circumferencial direction of the anchor pole chuck 20 is evenly distributed with multiple anchor pole clip slots 36, and the anchor pole chuck 20 has sector open portion 37.
In the present embodiment, the quantity of the anchor pole clip slot 36 is 12.
In the present embodiment, sector open portion 37 is arranged, and is in order to avoid interfering vertical bar 47, anchor pole frame 23, upper bolt machine
The installation of tool hand 33 and dress anchor pole manipulator 44.
In the present embodiment, the setting of anchor pole slot 10 is in order to carry out storage storage to the anchor pole on conveyer chain 9, so that anchor
The position of bar is capable of fixing, and is accurately grabbed convenient for the anchor pole that the dress anchor pole manipulator 44 transmits conveyer chain 9.
In the present embodiment, the gear shaft driving mechanism is the first fire-proof motor 69 being sequentially connected with gear shaft 17, institute
The output for stating controller 50 is terminated with the first frequency converter 68 controlled the first fire-proof motor 69.
In the present embodiment, the supporting mesh 5 is rectangle supporting mesh.
In the present embodiment, the anchor pole frame driving mechanism is the second fire-proof motor 71 being sequentially connected with central axis 22, institute
The output for stating controller 50 is terminated with the second frequency converter 70 controlled the second fire-proof motor 71.
In the present embodiment, during actual use, the drilling machine 25 is hydraulic drill rig, is provided with drilling machine in the drilling machine 25
Hydraulic cylinder, the output of the controller are terminated with the drilling machine solenoid valve of control drilling machine hydraulic cylinder oil inlet.
As shown in Figure 3 and Figure 5, in the present embodiment, the drilling rod feed mechanism includes being mounted on the hydraulic telescopic machanism
On uncovered drill rod box 38, along 38 length direction of uncovered drill rod box lay feeding fixed piston rod 27 and be mounted on feeding fix
Feeding hydrocylinder 87 on piston rod 27, sliding is provided with drilling machine pallet 26, the drilling machine pallet on the uncovered drill rod box 38
26 bottom is fixedly connected with the feeding hydrocylinder 87, and the drilling machine 25 is located on drilling machine pallet 26, the controller 50
Output is terminated with the feeding solenoid valve 81 of control 87 oil inlet of feeding hydrocylinder.
In the present embodiment, the slipping mechanism includes the sliding fixed piston rod 34 laid along 8 width direction of body, installation
In the sliding hydraulic cylinder 39 slid on fixed piston rod 34 and the sliding seat 28 being fixedly connected with sliding hydraulic cylinder 39, the body
The slippage slot 54 slid for sliding seat 28 is provided on 8, the bottom of the hydraulic telescopic machanism is mounted on sliding seat 28, described
The output of controller 50 is terminated with the sliding solenoid valve 42 of control sliding 39 oil inlet of hydraulic cylinder.
In the present embodiment, the hydraulic telescopic machanism is telescopic hydraulic cylinder 35, and the fixing end of the telescopic hydraulic cylinder 35 is logical
It crosses cup dolly 83 to be mounted on sliding seat 28, is provided with what the driving telescopic hydraulic cylinder 35 rotated in the cup dolly 83
Third fire-proof motor 85, the output of the controller 50 are terminated with the third frequency converter 60 controlled third fire-proof motor 85.
In the present embodiment, the hoofing part mechanism includes preceding hoofing part mechanism and rear hoofing part mechanism, before described
Hoofing part mechanism includes the 4th frequency converter 66 and the 4th fire-proof motor 67 that connects with 66 output end of the 4th frequency converter, after described
Hoofing part mechanism includes the 5th frequency converter 55 and the 5th fire-proof motor 56 that connects with 55 output end of the 5th frequency converter, and described
The input terminal of four frequency converters 66 and the 5th frequency converter 55 connects with the output end of controller 50, the 4th fire-proof motor 67 with
Front driving wheel 7-1 transmission connection, the 5th fire-proof motor 56 and rear drive sprocket 7-2 are sequentially connected.
In the present embodiment, the output of the controller 50 is terminated with the telescoping electromagnetic valve of control 35 oil inlet of telescopic hydraulic cylinder
45。
In the present embodiment, first fire-proof motor 69, the second fire-proof motor 71 and third fire-proof motor 85 are DSB system
Column explosion-proof type three-phase asynchronous motor.
In the present embodiment, first frequency converter 68, the second frequency converter 70 and third frequency converter 60 are
MicroMaster440 SIEMENS S7-200.
In the present embodiment, first steering engine 72, the second steering engine 74, third steering engine 76, the 4th steering engine 78, the 5th steering engine 80
It is DS3115MG steering engine with the 6th steering engine 82.
In the present embodiment, infrared distance measurement module 49 is GP2D12 infrared distance measurement module.
When the utility model is specifically used, to any one when supporting position carries out bolting with wire mesh, controller 50 passes through the
Four frequency converters 66 control the rotation of the 4th fire-proof motor 67, and controller 50 controls 56 turns of the 5th fire-proof motor by the 5th frequency converter 55
Dynamic, the 4th fire-proof motor 67 and the rotation of the 5th fire-proof motor 56 drive front driving wheel 7-1 and rear drive sprocket 7-2 rotation, institute respectively
Stating front driving wheel 7-1 and rear drive sprocket 7-2 rotation drives the creeper undercarriage 7 to walk；Meanwhile infrared distance measurement module 49 is right
The distance between coal mine drilling anchor robot and development machine are detected, when the distance that infrared distance measurement module 49 detects is equal in advance
Setting apart from setting value when, controller 50 controls the hoofing part mechanism and stops working, and the creeper undercarriage 7 stops
Walking；Later, the anchor pole in anchor pole case 2 is slipped on the chain transfer mechanism from the discharge port, meanwhile, controller 50 is logical
It crosses the first frequency converter 68 and controls the rotation of the first fire-proof motor 69, the rotation of the first fire-proof motor 69 drives conveyer chain 9 to rotate, makes to transmit
Anchor pole on chain 9 is sent to anchor pole slot 10；4th pressure sensor 24 detects when having anchor pole in anchor pole slot 10 that controller 50 is controlled
Upper bolt manipulator 33 processed grabs the anchor pole in anchor pole slot 10, meanwhile, controller 50 is anti-by the second frequency converter 70 control second
Quick-fried motor 71 rotates, and 71 rotary middle spindle 22 of the second fire-proof motor rotation, the rotation of central axis 22 drives anchor pole frame 23 to rotate, so that
The anchor pole that upper bolt manipulator 33 grabs is installed in the anchor pole clip slot 36 on anchor pole frame 23, completes upper bolt operation；Then, it controls
Device 50 processed controls the first steering engine 72, the second steering engine 74 and third steering engine 76 and rotates, and declines mechanical arm mechanism 3, mechanical arm mechanism 3
Descent tape motivation machinery claw 63 declines, and is against the bottom of gripper 63 in supporting mesh library 6 on supporting mesh 5；Wherein, in gripper 63
After decline, controller 50 controls the 4th steering engine 78 and the rotation of the 5th steering engine 80, so that the center line of two groups of grippers 63 and supporting
The length centerline of net 5 is overlapped；When the pressure signal that second pressure sensor 15 detects, controller 50 passes through the 6th steering engine 82
Control 63 closed pair supporting mesh 5 of gripper is grabbed, and when first pressure sensor 13 detects pressure signal, realizes supporting mesh
5 crawl；Controller 50 controls the drive of mechanical arm mechanism 3 and grabs the lifting of net manipulator 4, until grabbing the supporting of the crawl of net manipulator 4
Net is reached to supporting position, completes to arrange net.
It stretches finally, controller 50 controls telescopic hydraulic cylinder 35 by telescoping electromagnetic valve 45, and controller 50 passes through sliding
The control of solenoid valve 42 sliding hydraulic cylinder 39 is moved along sliding fixed piston rod 34, and sliding hydraulic cylinder 39 is mobile to pass through 28 band of sliding seat
Dynamic telescopic hydraulic cylinder 35 is mobile, so that drilling anchor mechanism on telescopic hydraulic cylinder 35 is moved to position of arranging net；Wherein, flexible
In 35 adjustment process of hydraulic cylinder, controller 50 controls third fire-proof motor 85 by third frequency converter 60 and rotates, third anti-explosion electric
The rotation of machine 85 drives telescopic hydraulic cylinder 35 to rotate, and makes drilling anchor mechanism to position of arranging net convenient for adjusting；The control of controller 50 is bored
Bar manipulator 29 is installed on drilling rod 30 to drilling machine 25, and drilling rod 30 and the central axis of drilling machine 25 are located along the same line, controller
50 control drilling rod manipulators 29 are unclamped far from drilling rod 30；Then, controller 50 controls feeding hydrocylinder by feeding solenoid valve 81
87 move along feeding fixed piston rod 27, and feeding hydrocylinder 87 is mobile to drive drilling machine 25 and 30 feeding drilling of drilling rod, form anchor pole
Mounting hole；Controller 50 controls feeding hydrocylinder 87 by feeding solenoid valve 81 and moves backward along feeding fixed piston rod 27, into
It is moved backward to hydraulic cylinder 87 and drilling machine 25 and drilling rod 30 is driven to move backward, until drilling machine 25 is moved to initial position；Later, it controls
Device 50 processed controls drilling rod manipulator 29 and drilling rod 30 is moved to initial position；Wherein, the initial position of drilling machine 25 is positioned at uncovered
Drill rod box 38 is positioned at uncovered drill rod box 38 far from anchor pole frame 23 close to one end of telescopic hydraulic cylinder 35, the initial position of drilling rod 30
Side；The control dress anchor pole manipulator 44 of controller 50 clamps the anchor pole on anchor pole frame 23, and will fill anchor pole manipulator
44 clamping rockbolt installations on the drilling rod feed mechanism, and will be placed on the anchor pole on the drilling rod feed mechanism be known as to
Anchor pole is installed, the anchor pole to be installed and the central axis of drilling machine 25 is made to be located along the same line；Later, the control of controller 50 dress
Anchor pole manipulator 44 is unclamped far from the anchor pole to be installed；Controller 50 feeds solenoid valve 81 and controls feeding hydrocylinder 87 along feeding
Fixed piston rod 27 is mobile, and feeding hydrocylinder 87 is mobile to drive drilling machine 25 and the anchor pole feeding to be installed, until described wait pacify
Dress rockbolt installation in the rockbolt installation hole, completes the installation of anchor pole, realizes the anchoring of supporting mesh in step 502；Wherein, exist
After the installation of anchor pole, the reverse movement of feeding hydrocylinder 87 drives drilling machine 25 to be moved to initial position, completes supporting.
In the present embodiment, whether third pressure sensor 19 on the conveyer chain 9 to having anchor pole to examine in step 301
It surveys, and will test on the conveyer chain 9 that whether there is or not anchor pole signals to be sent to controller 50, when third pressure sensor 19 detects
When bolt stress signal, illustrate there is anchor pole on the conveyer chain 9, then controller 50 controls the rotation of conveyer chain 9 and carries out anchor pole
Transmission；When bolt stress signal is not detected in third pressure sensor 19, illustrate without anchor pole on the conveyer chain 9, so that anchor
Anchor pole in rod box 2 slides out.
In the present embodiment, it is described apart from setting value be 3 meters~5 meters.
In the present embodiment, it is arranged apart from 3 meters~5 meters of setting value, is on the one hand to guarantee coal mine drilling anchor robot away from pick
Into machine certain distance, facilitate the scaling operation of net arranging mechanism and drilling anchor device in coal mine drilling anchor robot；On the other hand be in order to
It avoids coal mine drilling anchor robot closer apart from driving face, the damage that accident causes coal mine drilling anchor robot occurs.
In conclusion design is reasonable and easy to operate, integrate creeper undercarriage, net arranging mechanism, drilling anchor mechanism, it is real
Automation, the intelligence of existing suspension roof support, can be effectively improved working environment, reduce labor intensity, guarantee production safety, improve
Support efficiency, it is practical.
The above is only the preferred embodiment of the utility model, not imposes any restrictions to the utility model, all
According to any simple modification to the above embodiments of the utility model technical spirit, change and equivalent structural changes, still
Belong in the protection scope of technical solutions of the utility model.
Claims (6)
1. a kind of coal mine drilling anchor robot, it is characterised in that: including robot body, the cloth being mounted on the robot body
Net mechanism and drilling anchor device, and to the control that the robot body, the net arranging mechanism and drilling anchor mechanism are controlled
Molding block, the robot body include body (8), two groups of creepers undercarriage (7) for being symmetrically mounted on body (8) two sides and
The hoofing part mechanism of the creeper undercarriage (7) rotation is driven, is provided on the body (8) and is held for supporting mesh (5)
Supporting mesh library (6), the net arranging mechanism includes the mechanical arm mechanism (3) that is mounted on body (8) and is mounted on the machinery
It arm mechanism (3) end and is grabbed net manipulator (4) to what supporting mesh (5) in supporting mesh library (6) was grabbed, on the body (8)
It is provided with the slipping mechanism (31) for drilling anchor mechanism sliding；
Drilling anchor device includes the anchor pole case (2) being mounted on body (8), the chassis (1) being mounted on body (8), installation
The chain transfer mechanism that is transmitted on chassis (1) and to the anchor pole slid out from anchor pole case (2) and treat supporting position into
Row drills and installs drilling anchor mechanism of anchor pole, and drilling anchor mechanism includes hydraulic telescopic machanism, is mounted on the hydraulically extensible machine
Borehole drill construction (41) on structure and the anchor pole frame (23) being mounted on the borehole drill construction, and will be on the chain transfer mechanism
The upper bolt manipulator (33) that is installed on anchor pole frame (23) of anchor pole and the anchor pole on the anchor pole frame (23) is subjected to brill dress
Dress anchor pole manipulator (44), the hydraulic telescopic machanism is fixedly connected with the slipping mechanism, borehole drill construction (41) packet
Include the drilling rod feed mechanism being mounted on the hydraulic telescopic machanism, the drilling machine (25) that is mounted on the drilling rod feed mechanism with
Drilling rod manipulator (29), and the drilling rod (30) being mounted on the drilling rod manipulator (29), the bottom surface of the anchor pole case (2) are set
It is equipped with discharge port, the discharge port is located at the chain transfer mechanism close to the top of one end of the anchor pole case (2), the bottom
Frame (1) is provided with anchor pole slot (10) far from one end of the anchor pole case (2)；
The control module includes controller (50), the input of the controller (50) be terminated with first pressure sensor (13),
Second pressure sensor (15), third pressure sensor (19), the 4th pressure sensor (24), infrared distance measurement module (49), institute
State hoofing part mechanism, mechanical arm mechanism (3), grab net manipulator (4), the chain transfer mechanism, upper bolt manipulator (33),
The hydraulic telescopic machanism, dress anchor pole manipulator (44), drilling rod manipulator (29) and drilling machine (25) are carried out by controller (50)
Control.
2. a kind of coal mine drilling anchor robot described in accordance with the claim 1, it is characterised in that: the mechanical arm mechanism (3) includes
First segment mechanical arm (73), second segment mechanical arm (75) and the third section mechanical arm (77) being successively rotatablely connected, and driving institute
State the mechanical arm rotate driving machine of first segment mechanical arm (73), second segment mechanical arm (75) and third section mechanical arm (77) rotation
Structure, the mechanical arm rotating drive mechanism include the first steering engine (72) of driving first segment mechanical arm (73) rotation, driving second
The third steering engine (76) of the second steering engine (74) and driving third section mechanical arm (77) rotation that section mechanical arm (75) rotates；
The end of the third section mechanical arm (77), which is provided with, grabs net regulating mechanism for grab net manipulator (4) installation, described to grab
Net regulating mechanism includes the first regulating member of end for being mounted on third section mechanical arm (77), is mounted on first regulating member
Second regulating member of bottom and the manipulator mounting plate (79) that second regulating member bottom is set, it is described to grab net machinery
Hand (4) is two groups of grippers (63) for being symmetrically mounted on manipulator mounting plate (79) both ends, first regulating member include with
The rotor plate (65) of third section mechanical arm (77) end rotation connection and the 4th steering engine (78) of driving rotor plate (65) rotation, institute
Stating the second regulating member includes being mounted on the 5th steering engine (80) of rotor plate (65) bottom and passing with the 5th steering engine (80) output shaft
The middle connecting plate (64) of dynamic connection, the middle connecting plate (64) are fixedly connected with manipulator mounting plate (79), and it is described in
Between connecting plate (64) be overlapped with the center line of manipulator mounting plate (79), driving institute is provided in the manipulator mounting plate (79)
State the 6th steering engine (82) of gripper (63) folding, first steering engine (72), the second steering engine (74), third steering engine (76), the
Four steering engines (78) and the 5th steering engine (80) and the 6th steering engine (82) are controlled by controller (50).
3. a kind of coal mine drilling anchor robot described in accordance with the claim 1, it is characterised in that: creeper undercarriage (7) packet
The front driving wheel (7-1) and rear drive sprocket (7-2) for including driving wheel mounting plate (7-6), being mounted on the both ends driving wheel mounting plate (7-6)
And the crawler belt (7-3) between front driving wheel (7-1) and rear drive sprocket (7-2), the front driving wheel (7-1) and after
It is provided with the supporting mechanism that two rows are supported crawler belt (7-3) between driving wheel (7-2), supports machine described in two rows
Structure in being laid staggeredly, supporting mechanism described in every row include it is multiple be laid in by front driving wheel (7-1) to rear drive sprocket (7-2) it is same
The support wheel shaft (7-5) installed for support wheel (7-4) is arranged on the body (8) for support wheel (7-4) on horizontal plane, described
Driving wheel mounting plate (7-6) is laid with body (8) one side in parallel.
4. a kind of coal mine drilling anchor robot described in accordance with the claim 1, it is characterised in that: the chain transfer mechanism includes two
A setting is interior in chassis (1) and is in the gear shaft (17) of horizontal parallel laying, multiple along the uniform cloth of gear shaft (17) length direction
If chain pitch wheel mechanism and drive the gear shaft driving mechanism of the gear shaft (17) rotation, the gear shaft driving mechanism by
Controller (50) is controlled, and the chassis (1) is provided with recessed portion, the anchor pole slot (10) far from the one end of anchor pole case (2)
It is surrounded by the recessed portion and baffle (11)；
The anchor pole frame (23) includes central axis (22), multiple anchor pole chucks being set on central axis (22) and clamp for anchor pole
(20) and the driving central axis (22) drives the anchor pole frame driving mechanism of anchor pole chuck (20) rotation, the anchor pole chuck (20)
Circumference on be evenly equipped with multiple anchor pole clamping opening, the anchor pole frame driving mechanism and central axis (22) are sequentially connected, the anchor pole frame
Driving mechanism is controlled by controller (50).
5. a kind of coal mine drilling anchor robot described in accordance with the claim 1, it is characterised in that: the drilling rod feed mechanism includes peace
Uncovered drill rod box (38) on the hydraulic telescopic machanism is fixed along the feeding that uncovered drill rod box (38) length direction is laid
Piston rod (27) and the feeding hydrocylinder (87) being mounted in feeding fixed piston rod (27) are sliding on the uncovered drill rod box (38)
Dynamic to be provided with drilling machine pallet (26), the bottom of the drilling machine pallet (26) is fixedly connected with the feeding hydrocylinder (87), described
Drilling machine (25) is located on drilling machine pallet (26), and the output of the controller (50) is terminated with control feeding hydrocylinder (87) oil inlet
It feeds solenoid valve (81).
6. a kind of coal mine drilling anchor robot described in accordance with the claim 1, it is characterised in that: the slipping mechanism includes along body
(8) the sliding fixed piston rod (34) of width direction laying, the sliding hydraulic cylinder being mounted in sliding fixed piston rod (34)
(39) and with sliding hydraulic cylinder (39) sliding seat (28) that is fixedly connected, be provided on the body (8) sliding for sliding seat (28)
The slippage slot (54) of shifting, the bottom of the hydraulic telescopic machanism are mounted on sliding seat (28), the output of the controller (50)
It is terminated with the sliding solenoid valve (42) of control sliding hydraulic cylinder (39) oil inlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821115250.XU CN208416589U (en) | 2018-07-15 | 2018-07-15 | A kind of coal mine drilling anchor robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821115250.XU CN208416589U (en) | 2018-07-15 | 2018-07-15 | A kind of coal mine drilling anchor robot |
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| Publication Number | Publication Date |
|---|---|
| CN208416589U true CN208416589U (en) | 2019-01-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821115250.XU Active CN208416589U (en) | 2018-07-15 | 2018-07-15 | A kind of coal mine drilling anchor robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108756968A (en) * | 2018-07-15 | 2018-11-06 | 西安科技大学 | A kind of coal mine Zuan Mao robots and method for protecting support |
| CN110454205A (en) * | 2019-07-31 | 2019-11-15 | 太原理工大学 | A kind of jumbolter of coal mine send lever apparatus automatically |
| CN114320401A (en) * | 2021-11-25 | 2022-04-12 | 中国煤炭科工集团太原研究院有限公司 | Anchor vehicle |
-
2018
- 2018-07-15 CN CN201821115250.XU patent/CN208416589U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108756968A (en) * | 2018-07-15 | 2018-11-06 | 西安科技大学 | A kind of coal mine Zuan Mao robots and method for protecting support |
| CN108756968B (en) * | 2018-07-15 | 2023-05-05 | 西安科技大学 | Coal mine drilling and anchoring robot and supporting method |
| CN110454205A (en) * | 2019-07-31 | 2019-11-15 | 太原理工大学 | A kind of jumbolter of coal mine send lever apparatus automatically |
| CN114320401A (en) * | 2021-11-25 | 2022-04-12 | 中国煤炭科工集团太原研究院有限公司 | Anchor vehicle |
| CN114320401B (en) * | 2021-11-25 | 2023-08-04 | 中国煤炭科工集团太原研究院有限公司 | Anchor protection vehicle |
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