CN209704611U - A kind of underground coal mine is taken a step supporting and drilling anchor robot in the air - Google Patents

Abstract

It takes a step in the air supporting and drilling anchor robot the utility model relates to a kind of underground coal mine, belong to coal mine machinery supporting and drilling anchor technical field, the underground coal mine of the utility model takes a step supporting in the air and drilling anchor robot includes drilling machine components, robot assemblies, branch protecting assembly, inner slider, framework platform, walking device I, walking device II, walking device III, walking device IV, walking device V, walking device VI, push-pull device at fixed, mobile device, detection system, control system, hydraulic system, vertical gyroscope system and remote controler, the levelness of vertical gyroscope system guarantee framework platform, control system ensure that safety.The utility model realizes long-distance remote control operation, realizes ground remote control, realizes unattended or few man on duty, reduces security risk.

Description

A kind of underground coal mine is taken a step supporting and drilling anchor robot in the air

Technical field

The utility model relates to coal mine machinery supporting and drilling anchor technical fields, step in the air more particularly to a kind of underground coal mine Walk supporting and drilling anchor robot.

Background technique

National Coal Mine Safety Supervision Bureau bulletin (2019 No. 1), specifies in " coal mine robot emphasis researches and develops catalogue " The R&D direction of underground tunneling roadway supporting robot and drilling anchor robot, underground supporting and drilling anchor mechanization, intelligence, nobody Change is the factors such as the increase of Future Development trend, especially cost of labor, the requirement of safety of coal mines, to intelligent, mechanization anchor The requirement of bar drill hole supporting is also higher and higher；Security risk, unattended or few man on duty are how reduced, is that coal mine is badly in need of solving Technical problem.

As equipment is constantly progressive with technology, comprehensive mechanized driving will be as the mainstream of future development and driving of coal mines Direction must not have other staff's operation in excavation operation before development machine, (generally when driving arrives predetermined distance 1000mm-2000mm), it is necessary to stop driving machine operation, the top plate meet head on to working face and two lateral walls carry out supporting, forbid empty top Operation, it is specified that unsupported back span from generally 300mm-800mm, when working face carries out supporting operation, development machine must cutterhead fall How ground and the locking that has a power failure, improve the speed of supporting, is current technical problem urgently to be solved.

Current main supporting and drilling anchor technique are as follows:

1) most of at present still using manually, the method taken is: development machine reserves the coal of 1500mm in front of meeting head on Layer platform, as manual operation platform, the cutterhead of development machine is fallen on platform, worker climb on platform carry out gib, Permanent support is carried out to two lateral walls and top side；After the completion of supporting, development machine cuts away the coal seam platform of remaining 1500mm, driving The cutterhead of machine lands, and two lateral wall remainders are carried out permanent support by worker.Existing main deficiency: worker working face into When row gib and permanent support operation, there are high falling, top plate and lateral wall country rocks to be caving the security risks such as hurt sb.'s feelings；Generally Using monomer jumbolter or roofboltier, frequently carried by artificial, non-cutting time length, large labor intensity, low efficiency.

2) development machine and roofboltier process integration, technology is relatively mature, and deficiency is: development machine is tunneled to certain Distance, it is necessary to repeatedly move backward to the left side (or right side) in tunnel by vehicle, give way for drill carriage, and got out of the way in boring head for drill carriage Construction space, by taking the tunnel 5000mm as an example, development machine outer dimension is generally long 10000mm, wide 3500mm, high 2000mm, Vehicle and by vehicle it is very troublesome, with duration, general 30 minutes to 60 minutes, working efficiency was low.

3) in major coal mine application, efficiency significantly improves digging and anchoring integrated machine recent years, existing main deficiency: pick Huge, the narrow space into body type, after installing anchor pole mechanical arm again especially on development machine, space is smaller, due to still people Work changes drilling rod, installation Anchor Agent, installation anchor pole, climbs work in narrow space, there is very big security risk；Because of work Make narrow space, working efficiency is low.

4) utility model patent " the comprehensive roofboltier of suspension type " of Patent No. 201410122231.X, Shen Qing Publication It on 09 30th, 2015 day, is primarily present deficiency: 1. needing first to beat anchor pole, fix the equipment, low efficiency；2. the machine front end does not have Add protective net, do not support temporarily, when artificial bit change and anchor pole, belongs to empty top operation, violate safety standard；3. drilling machine mechanism and Structure is complicated and unstable for drill boom, cannot achieve drilling, does not have practicability；4. it is too complicated to take a step in the air, and difficult to realize.

Mining construction the more digs the more deep due to mineral at present, and opposite production safety is also more and more important, especially underground coal mine, The gas contained in coal is inevitably mixed with the oxygen that construction personnel breathes, and gas density is high, is easy to happen explosion, In the presence of very big security risk；Due to the presence of coal mine gas, to underground equipment, electric elements, control system, power supply, Electric spark etc. has stringent requirement of explosion proof, but existing disclosed pit robot or roofboltier equipment, does not refer to also not having There is counter-measure, does not have practicability；Also frequent occurrence for the infiltration of heavy duty service, landslide phenomenon, grave danger constructor The life security of member replaces manual operation using robot under dangerous environment, is a development trend.

Since by coal mine gas, light, power supply, explosion-proof, dust-proof, waterproof, ground is rough and uneven in surface, environment is changeable not The influence of the factors such as rule, pit robot are studied seldom, are current domestic and international problems, and robot architecture and function is simple Change, solves the problems, such as that some is single, small investment, failure rate are low, safe and reliable, and being that those skilled in the art are urgently to be resolved asks Topic.

Utility model content

The purpose of the utility model is to overcome in place of the deficiencies in the prior art, disclose a kind of underground coal mine to take a step in the air Supporting and drilling anchor robot.

To achieve the above object, the utility model provides the following technical solutions:

A kind of underground coal mine is taken a step supporting and drilling anchor robot, including drilling machine components, robot assemblies, supporting group in the air Part, inner slider, framework platform, walking device I, walking device II, walking device III, walking device IV, walking device V, walking device VI, push-and-pull Device, mobile device, detection system, control system, hydraulic system, vertical gyroscope system and remote controler, the inner slider peace In framework platform, coupled by dovetail configuration, and front and back sliding is realized by push-pull device at fixed, the rear end of push-pull device at fixed is fixed In the rear end in the outside of framework platform two, the front end of push-pull device at fixed is fixed on the middle part in two outside of inner slider, the mobile device totally 6 Part is uniformly mounted on the upper surface of framework platform, and mobile device includes fixing seat, lead screw, nut seat and hydraulic motor, hydraulic system The hydraulic motor for controlling mobile device realizes that nut seat is mobile, walking device I, walking device II, walking device III, walking device IV, walking Device V and VI lower end of walking device are connect by flexible short circuit with nut seat, the lower end peace of the slewing equipment II of the robot assemblies Mounted in the middle part of inner slider front end, the III side rigging up component of slewing equipment of robot assemblies, the branch of the branch protecting assembly The bottom flange of support oil cylinder I is mounted on the upper surface of inner slider front end two sides, and the bottom flange of the support cylinder II of branch protecting assembly is symmetrically pacified Below the two sides of inner slider front end, the drilling machine components be mounted in the slewing equipments III of robot assemblies realize swing with It is conveniently adjusted the angle of bull stick and top plate, the vertical gyroscope system is mounted on the middle part of framework platform, vertical gyroscope system System is used for the levelness of detection framework platform, when being more than the specified deviation of setting, starts oil cylinder, adjust automatically guarantees frame The levelness of platform；The detection system includes infrared ray apart from detector, laser scanner, TOF camera, positioning system, red Outer linear distance detector is used to detect the specific location of anchor pole in order to walking device I, walking device II, walking device III, walking device IV, walking device V and walking device VI realize fine tuning；Laser scanner and TOF camera have record and memory function, and can be excellent Change path, for the anchor pole position under the same terms, movement can be settled at one go, high-efficient；Control system while and remote controler Long-distance remote control operation is realized in interlocking, by optical cable, is realized ground remote control, is reduced personnel in the pit, accomplishes nobody or few people's value It keeps, meets national security requirement and safety policy.

Preferably, the drilling machine components include drilling rod, hydraulic gripper, hydraulic clamping gyrator, slideway base and transmission dress It sets, the hydraulic gripper is mounted on the right end of slideway base, and hydraulic clamping gyrator is mounted on the left end of slideway base, and along cunning Road seat moves left and right；The utility model uses the technical principle of deep hole drilling equipment, domestic first to drilling machine components innovative design Wound, the radius of gyration is small, saves operating space, and light-weight, operation torque is small, and pivoted arm structure is compact and intensity is high；Drilling rod is from liquid The rear end of pressure clamping gyrator is fit into, and by hydraulic clamping gyrator auto-feed, realizes that punching, punching finish, automatically It retracts, next repetitive cycling, this does not have to stacks, improve work efficiency, in addition for space height especially suitable for long drill pipe The limited occasion of degree, can also clamp the drilling rod of front end by hydraulic gripper with stacks, when retracting, brill when preventing topping from helping People is pounded in bar whereabouts, there are security risk, is also prevented from when helping with beating and drops into hole under drilling rod.

Preferably, the robot assemblies include mechanical arm I, mechanical arm II, slewing equipment I, slewing equipment II, revolution horse Up to I, rotary motor II, slewing equipment III and rotary motor III, one end of the mechanical arm I connects slewing equipment I, and the other end connects Take back rotary device III；One end of mechanical arm II connects slewing equipment I, and the other end connects slewing equipment II；Mechanical arm I is to turn round dress I center flexible rotating is set, mechanical arm II is aerial to realize that distance is adjusted with the center flexible rotating of slewing equipment II.

Preferably, the branch protecting assembly is set as 2, and branch protecting assembly includes support cylinder I, top plate net, top flange, branch Support oil cylinder II and pedestal；Support cylinder I is mounted on the top of inner slider front end two sides, and support cylinder II is mounted on inner slider front end The lower section of two sides；Top plate net is fixed on top plate by support cylinder I, and support cylinder II withstands on the coal that 1500mm is reserved in front of meeting head on On layer platform, by HYDRAULIC CONTROL SYSTEM, main function is exactly the stretch pressure of support cylinder I and support cylinder II, stabilized interior Slide plate while realizing aerial supporting, realizes armature boring.

Preferably, walking device I includes that flexible short circuit, oil cylinder, universal joint, spring, hydraulic efficiency manipulator clamper and pressure pass Sensor, the lower end that flexibility is shorted are connect with nut seat, the cylinder base flanged joint of upper end and oil cylinder that flexibility is shorted, oil cylinder Piston rod part installs a guide sleeve, and guide sleeve is mounted on the cylinder body of oil cylinder, plays guiding role, bears oil cylinder certain Radial force, extend the service performance of oil cylinder, improve the reliability of product；The piston rod part of oil cylinder and universal joint lower end connect It connects, the upper end of universal joint is connect with the lower end of hydraulic efficiency manipulator clamper；The lower end flanges of spring and the piston rod part of oil cylinder Connection, the upper flanges of spring are connect with the lower end of hydraulic efficiency manipulator clamper；Hydraulic efficiency manipulator clamper include interior half cone watt, The inner hole of tapered sleeve, hydraulic package and pressure sensor I, the interior half cone watt of hydraulic efficiency manipulator clamper is greater than bolt diameter 3mm, liquid The upper end of the interior half cone watt of press mechanical pressing hand clamper is provided with 55 degree of taper holes, and pressure sensor is mounted on hydraulic efficiency manipulator clamper In the degree taper hole of interior half cone watt, the pressure sensor I of hydraulic efficiency manipulator clamper is mounted on interior half cone watt inner hole wall.

Preferably, the hydraulic system includes hydraulic power unit, motor, vane pump, electrical contact proportioning valve, pipe-line system etc., Hydraulic system is mounted on the upper surface of inner slider, and another scheme is placed on development machine, synchronous with development machine forward.

The beneficial effects of the utility model are:

(1) domestic initiation meets national policy, meets the requirement of national safety of coal mines, and underground tunneling roadway uses supporting Robot and drilling anchor robot realize long-distance remote control operation, by optical cable, realize ground remote control, realize unattended or few People is on duty, reduces security risk.

(2) it uses and takes a step in the air, realize air walk, avoid development machine from giving way for drill carriage, improve work efficiency.

(3) different from traditional jumbolter, it realizes aerial supporting and drilling anchor, occupies little space, equipment external form is small, flexibly Property is good.

(4) due to drilling machine part special designing, i.e., small and light, rotation is flexibly, high-efficient.

Detailed description of the invention

In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts, It is also possible to obtain other drawings based on these drawings.

Fig. 1 is that a kind of underground coal mine described in the utility model is taken a step the main view of supporting and drilling anchor robot in the air.

Fig. 2 is that a kind of underground coal mine described in the utility model is taken a step drilling machine components in supporting and drilling anchor robot in the air Main view.

Fig. 3 is that a kind of underground coal mine described in the utility model is taken a step robot assemblies in supporting and drilling anchor robot in the air Main view.

Fig. 4 is that a kind of underground coal mine described in the utility model is taken a step branch protecting assembly in supporting and drilling anchor robot in the air Main view.

Fig. 5 is that a kind of underground coal mine described in the utility model is taken a step walking device I in supporting and drilling anchor robot in the air Main view.

Fig. 6 is that a kind of underground coal mine described in the utility model is taken a step mobile device in supporting and drilling anchor robot in the air Main view.

Fig. 7 be a kind of underground coal mine described in the utility model take a step to take a step in supporting and drilling anchor robot in the air position and Bore position schematic diagram.

In figure: 01-drilling machine components, 02-robot assemblies, 03-branch protecting assembly, 04-inner slider, 05-frame are flat Platform, 06-walking device I, 07-walking device II, 08-walking device III, 09-walking device IV, 10-walking devices V, 11-walking devices VI, 12-push-pull device at fixed, 13-mobile devices, 14-detection systems, 15-control systems, 16-hydraulic systems, 17-is vertical Gyroscope system, 18-remote controlers, 0101-drilling rod, 0102-hydraulic gripper, 0103-hydraulic clamping gyrator, 0104- 0105 transmission device of slideway base-, 0201-mechanical arm I, 0202-mechanical arm II, 0203-slewing equipment I, 0204-revolution Device II, 0205-rotary motor I, 0206-rotary motor II, 0207-slewing equipment III, 0208-rotary motor III, 0301-support cylinder I, 0302-top plate net, 0303-top flange, 0304-support cylinder II, 0305-pedestal, 0601-flexible short circuit, 0602-oil cylinder, 0603-universal joint, 0604-spring, 0605-hydraulic efficiency manipulator clamper, 0606-pressure sensor, 1301-fixing seats, 1302-lead screws, 1303-nut seats, 1304-hydraulic motors.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describing, it is clear that described embodiment is only some embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the underground coal mine provided in this specific embodiment steps in the air Step supporting and drilling anchor robot include drilling machine components 01, robot assemblies 02, branch protecting assembly 03, inner slider 04, framework platform 05, Walking device I 06, walking device II 07, walking device III 08, walking device IV 09, walking device V 10, walking device VI 11, push-pull device at fixed 12, Mobile device 13, detection system 14, control system 15, hydraulic system 16, vertical gyroscope system 17 and remote controler 18, walking device II 07, walking device III 08, walking device IV 09, walking device V 10, the structure of walking device VI 11 and walking device I 06 are just the same；It is interior Slide plate 04 is mounted in framework platform 05, is coupled by dovetail configuration, and realizes front and back sliding, push-and-pull dress by push-pull device at fixed 12 The rear end for setting 12 is fixed on the rear end in 05 liang of framework platform outside, and the front end of push-pull device at fixed 12 is fixed on 04 liang of outside of inner slider Middle part；Mobile device 13 is uniformly mounted on the upper surface of framework platform 05 for totally 6, and mobile device 13 includes fixing seat 1301, lead screw 1302, nut seat 1303 and hydraulic motor 1304, the hydraulic motor 1304 that hydraulic system 16 controls mobile device 13 realize screw Seat 1303 is mobile；Walking device I 06, walking device II 07, walking device III 08, walking device IV 09, walking device V 10 and walking device VI 11 Lower end be shorted 0601 by flexible and connect with nut seat 1303；It installs the lower end of the slewing equipment II 0204 of robot assemblies 02 At the middle part of 04 front end of inner slider；The III 0207 side rigging up component 01 of slewing equipment of robot assemblies 02；Branch protecting assembly The bottom flange of 03 support cylinder I 0301 is mounted on the upper surface of 04 front end two sides of inner slider, the support cylinder II of branch protecting assembly 03 0304 bottom flange is symmetrically mounted below 04 front end two sides of inner slider；Drilling machine components 01 are mounted on returning for robot assemblies 02 It realizes and is swung in order to adjust the angle of bull stick 0101 Yu top plate in rotary device III 0207, vertical gyroscope system 17 is mounted on frame The middle part of body panel 05.Vertical gyroscope system 17 is used for the levelness of detection framework platform 05, when specified inclined more than setting When poor, start oil cylinder 0602, adjust automatically guarantees the levelness of framework platform 05；Detection system 14 includes infrared ray distance inspection Instrument, laser scanner, TOF camera and positioning system are surveyed, infrared ray is used to detect the specific location of anchor pole, is convenient for apart from detector Fine tuning is realized to walking device I 06, walking device II 07, walking device III 08, walking device IV 09, walking device V 10, walking device VI 11；Swash Photoscanner and TOF camera have record and a memory function, and can with path optimizing, for the anchor pole position under the same terms, Movement can settle at one go, high-efficient；15 similar machine people's intelligence brain of control system, accurately calculates, firmly grasps, positions, independent Realize the control of whole process, it is necessary to assure front-seat at least two walking device, the hydraulic efficiency manipulator folder of heel row at least two walking device Holder 0605 catches anchor pole, and reaches on pre-set specified grasp and pulling capacity, can carry out next movement, Guarantee is provided for safe operation.

Drilling machine components 01 include drilling rod 0101, hydraulic gripper 0102, hydraulic clamping gyrator 0103,0104 and of slideway base Transmission device 0105, hydraulic gripper 0102 are mounted on the right end of slideway base 0104, and hydraulic clamping gyrator 0103 is mounted on cunning The left end of road seat 0104, and moved left and right along slideway base 0104, the utility model uses the technical principle of deep hole drilling equipment, To 01 innovative design of drilling machine components, domestic initiation, length is only 1300mm, and the radius of gyration is small, saves operating space, weight is only Light-weight for 125kg, operation torque is small, and pivoted arm structure is compact and intensity is high；Drilling rod 0101 is from hydraulic clamping gyrator 0103 Rear end is fit into, and by 0103 auto-feed of hydraulic clamping gyrator, realizes that punching, punching are finished, retracted automatically, next time is heavy Multiple circulation does not have to stacks, improves work efficiency especially suitable for long drill pipe, the occasion being in addition limited for spatial altitude, The drilling rod of front end can also be clamped by hydraulic gripper 0102 with stacks, when retracting, drilling rod whereabouts is pounded when preventing topping from helping People is also prevented from when helping with beating and drops into hole under drilling rod there are security risk.

Robot assemblies 02 include mechanical arm I 0201, mechanical arm II 0202, slewing equipment I 0203, slewing equipment II 0204, rotary motor I 0205, rotary motor II 0206, slewing equipment III 0207 and rotary motor III 0208, mechanical arm I 0201 One end connect slewing equipment I 0203, the other end connect slewing equipment III 0207, mechanical arm II 0202 one end connection revolution dress I 0203 are set, the other end connects slewing equipment II 0204, and mechanical arm I 0201 is with the center flexible rotating of slewing equipment I 0203, machine Tool arm II 0202 is aerial to realize that distance is adjusted with the center flexible rotating of slewing equipment II 0204.

Branch protecting assembly 03 is set as 2, and branch protecting assembly 03 includes support cylinder I 0301, top plate net 0302, top flange 0303, support cylinder II 0304 and pedestal 0305, support cylinder I 0301 are mounted on two upper side of front end of inner slider 04, support Oil cylinder II 0304 is mounted on the front end down either side of inner slider 04；Top plate net 0302 is fixed on top plate by support cylinder I 0301, Support cylinder II 0304 withstands on front of meeting head on and reserves on the coal seam platform of 1500mm, support cylinder I 0301 and support cylinder II 0304 stretch pressure is controlled by hydraulic system 16, and main function is exactly that stabilized inner slider 04 realizes the same of aerial supporting When, realize armature boring.

Walking device I 06 includes that flexible 0601, oil cylinder 0602, universal joint 0603, spring 0604, the hydraulic efficiency manipulator of being shorted clamps Device 0605 and pressure sensor 0606, the lower end that flexibility is shorted 0601 are connect with nut seat 1303；Flexibility is shorted 0601 upper end With the cylinder base flanged joint of oil cylinder 0602；The piston rod part of oil cylinder 0602 installs a guide sleeve, and guide sleeve is mounted on On the cylinder body of oil cylinder 0602, guiding role is played, oil cylinder 0602 is made to bear certain radial force, extends the usability of oil cylinder 0602 Can, improve the reliability of product；The piston rod part of oil cylinder 0602 is connect with 0603 lower end of universal joint, the upper end of universal joint 0603 It is connect with the lower end of hydraulic efficiency manipulator clamper 0605；The lower end flanges of spring 0604 and the piston rod part of oil cylinder 0602 connect It connects, the upper flanges of spring 0604 are connect with the lower end of hydraulic efficiency manipulator clamper 0605；Hydraulic efficiency manipulator clamper 0605 wraps Interior half cone watt, tapered sleeve, hydraulic package, pressure sensor I are included, the inner hole of the interior half cone watt of hydraulic efficiency manipulator clamper 0605 is greater than Bolt diameter 3mm, the upper end of the interior half cone watt of hydraulic efficiency manipulator clamper 0605 are provided with 55 degree of taper holes, pressure sensor 0606 It is mounted in 55 degree of taper holes of half cone watt in hydraulic efficiency manipulator clamper 0605, the pressure sensing of hydraulic efficiency manipulator clamper 0605 Device I is mounted on interior half cone watt inner hole wall, walking device II 07, walking device III 08, walking device IV 09, walking device V 10 and walking device VI 11 structure is identical as the structure of the walking device I 06, and details are not described herein again.

Anchor rod drawing power design data is consulted to record: the anchor pole of diameter 20mm, about 15 tons of pulling capacity when material Q335, material About 21 tons of pulling capacity when Q500；The anchor pole of diameter 22mm, about 19 tons of pulling capacity when material Q335, pulling capacity about 23 when material Q500 Ton；After fixing agent for anchor poles 30 seconds, reach the 80% of nominal strength.About 1 ton of the robot total weight, any one anchor rod strength Enough, and it is temporarily to borrow, auxiliary anchor pole is had no need to install, using installed anchor pole.

Between the top anchor pole that parallel distance between two mobile devices 13 is anchor pole spacing L, L to be designed for designing institute away from From a kind of scheme of parallel distance between two mobile devices 13 is to fix certain value, and another scheme is the mobile device 13 of two sides On the slide rail, the mobile device 13 of two sides and intermediate mobile device 13 realize that spacing is automatic by oil cylinder adjusting spacing for installation It adjusts.

Hydraulic system 16 includes hydraulic power unit, motor, vane pump, electrical contact proportioning valve, pipe-line system etc., hydraulic system 16 It is mounted on the upper surface of inner slider 04, another embodiment is that hydraulic system 16 is placed on development machine, synchronous with development machine forward.

The underground coal mine of the utility model takes a step supporting and drilling anchor robot in the air can be in the bottom center of inner slider 04 One grab bucket of installation or cabinet, transport anchor pole, become transportation robot of taking a step in the air.

The underground coal mine of the utility model takes a step supporting and drilling anchor robot using hydraulic system in the air, can also use wind Dynamic or hydraulic pressure system, all electric elements and control system in the utility model etc. have stringent requirement of explosion proof.

The underground coal mine of the utility model takes a step the power supply in supporting and drilling anchor robot using directly connecing power supply line in the air Or included battery.

The underground coal mine of the utility model is taken a step supporting and lead screw in drilling anchor robot and piston rod leakage component in the air It is all made of folding set to be protected, whole appearance face carries out secondary protection, prevents dust, extends the service life of complete machine.

As shown in fig. 7, walking device I 06, walking device II 07, walking device III 08, walking device IV 09, walking device V 10, walking Device VI 11, after moving forward L, tracing point 06A, 07A, 08A, 09A, 10A, 11A；The tracing point of drilling rod 0101 be 0101A, 0101B, 0101C, after moving forward L, tracing point 0101D, 0101E, 0101F；Walking device I 06, walking device III 08, walking device IV 09, VI 11 movement law of walking device be using " horse " walking rule, i.e., after left front-right-it is left back-right before, move forward L Afterwards, tracing point 06A, 08A, 09A, 11A；Stability is strong, and vertical gyroscope system 17 predominantly detects the level of framework platform 05 Degree starts oil cylinder 0602 when being more than the specified deviation of setting, and adjust automatically ensure that the levelness of framework platform 05, guarantees The levelness of inner slider 04；Walking device II 07, V 10 movement law of walking device are to move forward simultaneously, find anchor pole position simultaneously Promptly anchor pole improves the speed of service, and after moving forward L, tracing point 07A, 10A allow one of them to fail to grip with anchor pole, not It is waited below the anchor pole caught；The laser scanner and TOF camera of detection system 14 have record and memory function, and can be excellent The anchor pole position under the same terms can be settled at one go by changing path, high-efficient.

The upper end of the interior half cone watt of hydraulic efficiency manipulator clamper 0605 is 55 degree of taper holes, and pressure sensor 0606 is mounted on liquid In press mechanical pressing hand clamper 0605 in 55 degree of taper holes of half cone watt, it is conveniently adjusted anchor pole spacing, anchor pole is allowed to have certain spacing Error, -20mm to+20mm, when pressure sensor 0606 detects front end stress, the mobile fine tuning of I 06 forward end of walking device, detection When to rear end stress, the mobile fine tuning to the back-end of walking device I 06；The main function of spring 0604 is in its natural state, to allow universal Vertically upward, when inclined because of anchor pole position, universal joint 0603 has certain adjusting range to section 0603, in addition flexible to be shorted 0601 There is certain adjustable range, guarantee accurately catches anchor pole, really because anchor pole position deviation is too big, when can not catch, robot Program also has certain remedial measure.The grasp that the pressure sensor I of hydraulic efficiency manipulator clamper 0605 will test is transmitted to Control system 15 allows next movement in the case where meeting specified grasp, guarantees a hundred percent secure grip anchor pole, Subsequent processing is carried out, realizes the safety of aerial mobile.

As shown in fig. 7, drilling rod 0101, punching track is 0101A, 0101B, 0101C, and after moving forward L, tracing point is 0101D, 0101E, 0101F, realize the drilling of top plate, and install anchor pole；The support cylinder I 0301 of branch protecting assembly 03 is by top plate net 0302 is fixed on top plate, and support cylinder II 0304 withstands on front of meeting head on and reserves on the coal seam platform of 1500mm, support cylinder I 0301 and the stretch pressure of support cylinder II 0304 controlled by hydraulic system 16, main function is exactly stabilized inner slider 04, real Now while aerial supporting, armature boring is realized.

Control system 15 is interlocked with remote controler 18 simultaneously, realizes long-distance remote control operation, by optical cable, realizes that ground is distant Control reduces personnel in the pit, accomplishes nobody or few man on duty, meet national security requirement and safety policy.

It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting Related claim.

In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art The other embodiments being understood that.

Claims (7)

1. Supporting and drilling anchor robot 1. a kind of underground coal mine is taken a step in the air, which is characterized in that including drilling machine components (01), mechanical arm Component (02), branch protecting assembly (03), inner slider (04), framework platform (05), walking device I (06), walking device II (07), walking device III (08), walking device IV (09), walking device V (10), walking device VI (11), push-pull device at fixed (12), mobile device (13), detection System (14), control system (15), hydraulic system (16), vertical gyroscope system (17) and remote controler (18), the inner slider (04) it is mounted in framework platform (05), is coupled by dovetail configuration, and realize front and back sliding, push-and-pull by push-pull device at fixed (12) The rear end of device (12) is fixed on the rear end in (05) two outside of framework platform, and the front end of push-pull device at fixed (12) is fixed on inner slider The middle part in (04) two outside, the mobile device (13) are uniformly mounted on the upper surface of framework platform (05), mobile device for totally 6 It (13) include fixing seat (1301), lead screw (1302), nut seat (1303) and hydraulic motor (1304), hydraulic system (16) control The hydraulic motor (1304) of mobile device (13) realizes that nut seat (1303) are mobile, walking device I (06), walking device II (07), row The lower end for walking device III (08), walking device IV (09), walking device V (10) and walking device VI (11) passes through flexible short circuit (0601) It is connect with nut seat (1303), the lower end of the slewing equipment II (0204) of the robot assemblies (02) is mounted on inner slider (04) The middle part of front end, slewing equipment III (0207) side rigging up component (01) of robot assemblies (02), the branch protecting assembly (03) the bottom flange of support cylinder I (0301) is mounted on the upper surface of inner slider (04) front end two sides, the branch of branch protecting assembly (03) The bottom flange of support oil cylinder II (0304) is symmetrically mounted below inner slider (04) front end two sides, drilling machine components (01) installation It realizes and swings in the slewing equipment III (0207) of robot assemblies (02), the vertical gyroscope system (17) is mounted on frame The middle part of platform (05), vertical gyroscope system (17) are used for the levelness of detection framework platform (05), detection system (14) packet Infrared ray is included apart from detector, laser scanner, TOF camera and positioning system, infrared ray is apart from detector for detecting anchor pole Specific location so as to walking device I (06), walking device II (07), walking device III (08), walking device IV (09), walking device V (10) and walking device VI (11) realizes fine tuning, and the control system (15) and remote controler (18) are interlocked to realize that long-distance remote control is grasped Make.
2. Supporting and drilling anchor robot 2. underground coal mine according to claim 1 is taken a step in the air, which is characterized in that the drilling machine Component (01) includes drilling rod (0101), hydraulic gripper (0102), hydraulic clamping gyrator (0103), slideway base (0104) and passes Dynamic device (0105), the hydraulic gripper (0102) are mounted on the right end of slideway base (0104), hydraulic clamping gyrator (0103) it is mounted on the left end of slideway base (0104), and is moved left and right along slideway base (0104), drilling rod (0101) is from hydraulic clip The rear end for holding gyrator (0103) is fit into, and passes through hydraulic clamping gyrator (0103) auto-feed.
3. Supporting and drilling anchor robot 3. underground coal mine according to claim 1 is taken a step in the air, which is characterized in that the machinery Arm component (02) include mechanical arm I (0201), mechanical arm II (0202), slewing equipment I (0203), slewing equipment II (0204), Rotary motor I (0205), rotary motor II (0206), slewing equipment III (0207) and rotary motor III (0208), mechanical arm I (0201) one end connects slewing equipment I (0203), and the other end connects slewing equipment III (0207), and the one of mechanical arm II (0202) End connection slewing equipment I (0203), the other end connect slewing equipment II (0204), and mechanical arm I (0201) is with slewing equipment I (0203) center flexible rotating, mechanical arm II (0202) is with the center flexible rotating of slewing equipment II (0204).
4. Supporting and drilling anchor robot 4. underground coal mine according to claim 1 is taken a step in the air, it is characterized in that being, the branch Protecting assembly (03) is set as two, and branch protecting assembly (03) includes support cylinder I (0301), top plate net (0302), top flange (0303), support cylinder II (0304) and pedestal (0305), support cylinder I (0301) are mounted on inner slider (04) front end two sides Top, support cylinder II (0304) are mounted on the lower section of inner slider (04) front end two sides, support cylinder I (0301) and support cylinder The stretch pressure of II (0304) is controlled by hydraulic system (16).
5. Supporting and drilling anchor robot 5. underground coal mine according to claim 1 is taken a step in the air, which is characterized in that the walking Device I (06) includes flexible short circuit (0601), oil cylinder (0602), universal joint (0603), spring (0604), hydraulic efficiency manipulator clamper (0605) it is connect with pressure sensor (0606), the flexible lower end for being shorted (0601) with nut seat (1303), flexibility is shorted (0601) the cylinder base flanged joint of upper end and oil cylinder (0602), the piston rod part of oil cylinder (0602) install a guiding Set, the guide sleeve are mounted on the cylinder body of oil cylinder (0602), under the piston rod part of oil cylinder (0602) and universal joint (0603) End connection, the upper end of the universal joint (0603) are connect with the lower end of hydraulic efficiency manipulator clamper (0605), the spring (0604) lower end flanges are connect with the piston rod part of oil cylinder (0602), the upper flanges and hydraulic efficiency manipulator of spring (0604) The lower end of clamper (0605) connects, the hydraulic efficiency manipulator clamper (0605) include interior half cone watt, tapered sleeve, hydraulic package and The inner hole of pressure sensor I, the interior half cone watt of the hydraulic efficiency manipulator clamper (0605) is greater than bolt diameter 3mm, hydraulic press The upper end of the interior half cone watt of tool hand clamper (0605) is provided with 55 degree of taper holes, and the pressure sensor (0606) is mounted on hydraulic In 55 degree of taper holes of mechanical arm holder (0605) interior half cone watt, the pressure sensor I of hydraulic efficiency manipulator clamper (0605) is pacified On interior half cone watt inner hole wall.
6. Supporting and drilling anchor robot 6. a kind of underground coal mine according to claim 5 is taken a step in the air, which is characterized in that described Walking device II (07), walking device III (08), walking device IV (09), walking device V (10) and walking device VI (11) structure with it is described The structure of walking device I (06) is identical.
7. Supporting and drilling anchor robot 7. underground coal mine according to claim 1 is taken a step in the air, which is characterized in that described hydraulic System (16) includes hydraulic power unit, motor, vane pump, electrical contact proportioning valve and pipe-line system, and hydraulic system (16) is mounted on interior The upper surface of slide plate (04) is placed on development machine synchronous with development machine forward.