US20210215043A1

US20210215043A1 - Monorail anchoring and supporting cooperative machine for fully mechanized excavation face

Info

Publication number: US20210215043A1
Application number: US17/021,705
Authority: US
Inventors: Yongcun GUO; Guoyong SU; Haishun DENG; Shuang Wang; Kun Hu; Tianbing MA
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2020-01-13
Filing date: 2020-09-15
Publication date: 2021-07-15
Also published as: BE1027935A1; CN111058843A; BE1027935B1

Abstract

The present invention discloses electromechanical equipment integrating functions of anchor protection and supporting, including a suspension support system, a power system, an advanced support system, a subsidiary transport system and an anchoring robot system. The suspension support system is fixed on a top end of a coal mining tunnel through an anchor rod to provide support for the system. The power system is mounted at a tail end of a system main beam in the suspension support system. The advanced support system is mounted at a front end of the system main beam in the suspension support system. The subsidiary transport system is mounted on the system main beam in the suspension support system at a rear side of the advanced support system. The anchoring robot system is mounted on the system main beam in the suspension support system between the power system and the subsidiary transport system. Furthermore, the present invention has good turning and slope changing performance, and the transport efficiency of the equipment is high. In addition, an anchoring robot working platform has a buffering function, the anchoring is stable, and the operation efficiency is high.

Description

BACKGROUND

Technical Field

The present invention relates to the field of electromechanical equipment for fully mechanized excavation faces, particularly to electromechanical equipment integrating the functions of anchor protection and supporting, and belongs to the scope of anchoring and supporting integrated machines.

Related Art

In recent years, the research and development of coal mining technologies and equipment in China have made significant breakthroughs, and coal mining operation has proposed higher requirements on mining speed while requiring less people or no people. In order to solve the problem of “mining maladjustment” in a coal mining process, a great deal of manpower and material resources has been invested in the research and development of road-headers, and great progress has been made. At present, the main factors that restrict the further improvement of production capacity of fully-mechanized coal mining are low anchoring and supporting operating speed and low work efficiency.
Since the working time sequences of tunneling, anchoring and supporting are relatively close, and the synergism and cooperation among the three directly determines the speed of tunneling, some products have integrated tunneling, anchoring and supporting mechanical equipment as a whole at present. The essence of the all-in-one machines disclosed by patents represented by those with publication patent numbers of 201721694586.1, 201711089051.6, 201711288542.3 and 201910109402.8 is to simply combine an anchoring mechanism and a temporary supporting mechanism on a road-header. Although such all-in-one machines have the function of multi-process operation, the processes cannot be performed simultaneously, so that the problem of cooperative operation of tunneling, anchoring and supporting is not fundamentally solved.
The present research group proposed an application patent of integrated equipment with a protection and anchoring cooperative operation function, which adopts a monorail crane advancing manner, separates the anchoring equipment, the supporting equipment and the road-header, and the efficient cooperative operation of tunneling, anchoring and supporting can be generally realized, but the overall size of the equipment and the stability in the transport process still have the following deficiencies:
1) The size of the equipment is large, and the usable range is limited.
In the patent, an anchoring device, a supporting device and the road-header are separated, so that the overall equipment size is greatly reduced compared with a conventional tunneling-anchoring-supporting integrated machine, is suitable for tunnels of common mines, but the structure of a subsidiary carrying mechanism is relatively complicated and heavy, which is not conducive to the transport of the equipment, and the application range is limited to a certain extent.
2) Turning maneuvering characteristics of the equipment is poor and is not conductive to transport.
The patent adopts a monorail crane for the transport of the equipment, the structure of a power system is simple, but the transport state is greatly affected by the operating condition of a tunnel roof. The requirement on performance of the power system on the monorail crane is very high especially when the tunnel has a bending or a slope, but the power system is only that a motor drives a power buggy through a reducer, and the turning performance and anti-slipping performance of the whole set of equipment in a running process on the rail are relatively poor.
3) An anchoring platform of the equipment is unstable and is not conducive to the anchoring operation.
In the patent, the anchoring operation is performed by an anchor rod robot mounted on an anchoring robot working platform. The anchoring robot working platform is mounted at a tail end of a main beam of an anchoring robot system through a pin. A jumbolter may generate a great impact force in a drilling process, which is directly acted on the working platform; however, the platform has no buffering function, so that the anchoring robot working platform cannot provide a stable working environment for the jumbolter, which is not conducive to the anchoring operation.
In view of the above problems, it is necessary to propose an improvement project for the existing equipment to further improve the operation performance of “anchoring and supporting”.

SUMMARY

In order to overcome defects of the prior art, the objective of the present invention is to provide a novel anchoring and supporting cooperative machine packaged technology and equipment, which has a structure with a function of anchor protection and supporting operations, reduced equipment volume and improved maneuvering characteristics of the equipment, and is capable of realizing efficient anchor protection operations of a coal mining tunnel and finally forming a fully mechanized excavation face. The technical problem to be solved by the present invention is realized by adopting the following technical solution:
A monorail anchoring and supporting cooperative machine for a fully mechanized excavation face, including a suspension support system, a power system, an advanced support system, a subsidiary transport system and an anchoring robot system. The suspension support system is fixed on a top end of a coal mining tunnel through an anchor rod to provide support for the whole set of equipment. The power system is mounted at a tail end of a system main beam in the suspension support system. The advanced support system is mounted at a front end of the system main beam in the suspension support system. The subsidiary transport system is mounted on the system main beam in the suspension support system at a rear side of the advanced support system. The anchoring robot system is mounted on the system main beam in the suspension support system between the power system and the subsidiary transport system.
The suspension support system includes the system main beam, a top beam, a supporting member, a rail and a rectangular pin. An upper end of the rail is welded with a structural member for mounting, and two sides of a lower end are welded with racks. The system main beam is mounted on the rail through a load-bearing trolley. The top beam is provided with four holes, and is fixed on the top end of the coal mining tunnel through an anchor rod. An upper end of the supporting member is connected with the top beam through the rectangular pin, and a lower end is connected with the rail through the rectangular pin.
The power system includes the load-bearing trolley, a motor, a motor base and a gear driving system. The motor is mounted on the motor base through a bolt. The motor base is mounted on a lower bottom surface of the load-bearing trolley through a bolt. The load-bearing trolley is mounted on a surface of the rail and is capable of sliding on the surface of the rail. The gear driving system includes a driven straight gear A, a driven worm gear A, a worm A, a bevel gear wheel A, a bevel pinion A, a differential mechanism, an axle drive bevel pinion A, a driven straight gear B, a driven worm gear B, a worm B, a bevel gear wheel B, a bevel pinion B and a bevel gear B. In order to facilitate the travelling control of the equipment, the motor is a frequency conversion integrated machine.
The advanced support system includes an advanced support main beam, a supporting net bracket, a supporting net and a supporting net hydraulic telescopic system. One end of the advanced support main beam is connected with the system main beam through a pin, and the other end is connected with the supporting net bracket through a pin. One end of the supporting net hydraulic telescopic system is mounted on the advanced support main beam, and the other end is mounted on the supporting net bracket. The supporting net is tied on the supporting net bracket. The supporting net hydraulic telescopic system is capable of adjusting a size of the supporting net according to a state of equipment to be supported and supporting conditions to realize efficient supporting.
The subsidiary transport system includes a subsidiary transport system supporting assembly A, a subsidiary transport system supporting assembly B, a supporting beam, a supporting stand column A, a supporting stand column B, a chain wheel and chain transporting device, a driving device and a carrying manipulator. Each of the subsidiary transport system supporting assembly A and the subsidiary transport system supporting assembly B includes an upper suspending beam, a hydraulic cylinder and a lower suspending beam. The upper suspending beam is connected with the system main beam through a pin. The chain wheel and chain transporting device includes a chain wheel, a chain, a movable stopping block, a movable stopping plate and an I-shaped stopping rod. The chain wheel drives the chain to move through engaging. The driving device includes a bevel gear AA, a bevel gear BB, a servo motor AA and a motor cabinet. The carrying manipulator includes a mechanical gripper A, a mechanical gripper B, a front-end execution rod, a joint A, a joint B, a joint C, a servo motor A, a servo motor B and a servo motor C. The mechanical gripper A and the mechanical gripper B are welded at left and right sides of a tail end of the front-end execution rod respectively.
The anchoring robot system includes an anchoring robot hydraulic cylinder set, an anchoring robot connecting assembly, an anchor rod storage device, an anchoring robot working platform and an anchoring robot. The anchoring robot connecting assembly includes a foldable arm A, an anchor rod frame motor, a foldable arm B and an anchoring robot connecting assembly hydraulic cylinder set. One end of the foldable arm A is connected with the system main beam through a pin, and the other end is connected with the foldable arm B through a pin. The anchoring robot working platform includes a middle motor stator, a left motor stator, a ground-supporting hydraulic cylinder set, a connecting block, a right motor stator, a motor rotor, a foldable arm connecting hydraulic cylinder, a foldable hydraulic cylinder A and a foldable hydraulic cylinder B. The ground-supporting hydraulic cylinder set is respectively mounted on a lower bottom surface of the left motor stator and a lower bottom surface of the right motor stator. The anchoring robot includes a jumbolter guide rail, a propulsion motor, a rotating table, an anchoring big arm, a motor A, a motor B, a motor C, a base case, a turntable, a mechanical arm base, a connecting rod A, a connecting rod B, a jumbolter driving chain and a jumbolter. The jumbolter is mounted on a sliding rod of the jumbolter guide rail by through holes on two sides. The propulsion motor drives the jumbolter to move in the jumbolter guide rail through the jumbolter driving chain.
A monorail anchoring and supporting cooperative machine for a fully mechanized excavation face, where a working process includes following steps:
S1: manually paving a section of rail on a tunnel roof at first, and mounting a device on the rail;
S2: when a motor is working, enabling a power system to move on the rail through a gear driving system to push a system main beam connected thereto and realize movement of a whole set of equipment;
S3: after the whole set of equipment moves to an assigned working position, pushing a supporting net bracket to extend by a supporting net hydraulic telescopic system in an advanced support system to drive a supporting net to unfold; then, enabling a chain wheel and chain transporting device to be at an assigned height through synchronous action of a subsidiary transport system supporting assembly A and a subsidiary transport system supporting assembly B in a subsidiary transport system; meanwhile, enabling an anchoring robot working platform to descend by a certain height and be parallel to the ground when an anchoring robot connecting assembly in an anchoring robot system swings by a certain angle under a combined action of an anchoring robot connecting assembly hydraulic cylinder set and a foldable arm connecting hydraulic cylinder, then, unfolding the anchoring robot working platform under actions of a foldable hydraulic cylinder A and a foldable hydraulic cylinder B, and enabling a ground-supporting hydraulic cylinder set to extend to complete a ground-supporting action, where an effect is that an impact force generated by a jumbolter in a drilling process is absorbed and transmitted to the ground, so as to make the platform more stable;
S4: transferring materials required in an operation process to an assigned position by a chain wheel and chain transporting device in a subsidiary transport system; grabbing a top beam to a specific position of a tunnel by a carrying manipulator; simultaneously adjusting positions of an anchoring robot and an anchor rod storage device to enable an anchor rod in the anchor rod storage device to be loaded in the jumbolter to complete an anchor rod loading action;
S5: adjusting the anchoring robot to be in different postures to realize anchoring operation of the jumbolter at side faces of the tunnel and different positions of the roof, and fixing the top beam on the roof through the anchor rod to provide support for a whole set of equipment;
S6: grabbing materials required for constructing a suspension support system by the carrying manipulator to be mounted on the top beam, and grabbing the rail by the carrying manipulator to make an upper end of the rail be connected with the suspension support system and a tail end be connected with a front end of a previous section of rail to complete the paving of the rail; and
S7: in the advanced support system, the subsidiary transport system and the anchoring robot system, retracting a hydraulic system for adjusting the configuration, driving the whole set of equipment to move forward by the motor, and continuing the above steps to repeat anchor protection and supporting operations.
Including the existing tunneling-anchoring-supporting integrated machine and the patent mentioned herein (Integrated Equipment with Protection and Anchoring Cooperative Operation Function), compared with the prior art, the present invention has the following beneficial effects:
1) The subsidiary transport system in the present invention is compact in structure and small in volume.
In the present invention, the subsidiary transport system fully uses a space between the advanced support system and the anchoring robot system in the equipment and adopts a chain wheel and chain transporting mode, so that a size of a subsidiary transporting device is reduced, types and amounts of materials to be carried are increased, and the volume of the whole set of equipment is smaller. The present invention is especially suitable for being used in a narrow tunnel at “Huainan and Huaibei basins”.
2) The driving system in the present invention adopts a structure of gear, rack and differential mechanism, and the maneuvering characteristics of the equipment are good.
In the present invention, racks are welded at both sides of a lower end of the rail, and a motor drives a reducer engaged with the rack to rotate, so as to enable the equipment to have good slope changing performance. Meanwhile, a differential mechanism is mounted inside the reducer, so that advancing speeds at an inner side and an outer side of the equipment are different in a turning process, thus realizing the turning of a relatively small radian. Therefore, the present invention has good maneuvering characteristics, and can stably advance in a hostile tunnel environment.
3) The anchoring robot working platform in the present invention has a buffering function and an anchoring process is stable.
In the present invention, the driving between the anchoring robot at an upper end of the anchoring robot working platform and the platform is realized by electromagnetism, so that the movement and control accuracy is higher, which is conducive to accurate positioning and drilling of the jumbolter; and a lower end of the platform is connected with the hydraulic system. When the jumbolter is in operation, a bottom end of the hydraulic system is supported by the ground, so as to absorb an impact force generated in a drilling process and transmit the impact force to the ground, thus making the platform more stable, and providing a good working condition for the jumbolter.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of an overall structure (working state) of the present invention.

FIG. 2 is a schematic diagram of an overall structure (non-working state) of the present invention.

FIG. 3 is a schematic structure diagram of a system main beam of the present invention.

FIG. 4 is a schematic diagram of a suspension support system of the present invention.

FIG. 5 is a schematic structure diagram of a rail of the present invention.

FIG. 6 is a schematic structure diagram of a power system of the present invention. FIG. 7 is a schematic structure diagram of a transmission assembly of the power system of the present invention.

FIG. 8 is a schematic diagram of a local structure of the transmission assembly of the power system of the present invention.

FIG. 9 is a schematic structure (working state) diagram of an advanced support system of the present invention.

FIG. 10 is a schematic structure (non-working state) diagram of the advanced support system of the present invention.

FIG. 11 is a schematic diagram of an external supporting structure of a subsidiary transport system of the present invention.

FIG. 12 is a schematic diagram of a local structure of the subsidiary transport system of the present invention.

FIG. 13 is a schematic structure diagram of a subsidiary transport system supporting assembly of the present invention.

FIG. 14 is a schematic structure diagram of a chain wheel and chain transporting device in the subsidiary transport system of the present invention.

FIG. 15 is a schematic structure diagram of a chain wheel of the subsidiary transport system of the present invention.

FIG. 16 is a schematic structure diagram of a driving device in the subsidiary transport system of the present invention.

FIG. 17 is a schematic structure diagram of a carrying manipulator in the subsidiary transport system of the present invention.

FIG. 18 is a schematic diagram of a connection relation between a system main beam and an anchoring robot system of the present invention.

FIG. 19 is a schematic structure (non-working state) diagram of the anchoring robot system of the present invention.

FIG. 20 is a schematic structure (working state) diagram of the anchoring robot system of the present invention.

FIG. 21 is a schematic structure diagram of an anchoring robot working platform of the present invention.

FIG. 22 is a schematic structure diagram of an anchoring robot of the present invention.

Reference numbers in the drawings are as follows: 1-suspension support system; 2-power system; 3-advanced support system; 4-subsidiary transport system; 5-anchoring robot system; 1-1-system main beam; 1-2-top beam; 1-3-supporting member; 1-4-rail; 1-5-rectangular pin; 2-1-load-bearing trolley; 2-2-motor base; 2-3-motor; 2-4-gear driving system; 2-4-1-driven straight gear A; 2-4-2-driven worm gear A; 2-4-3-worm A;

2-4-4-bevel gear wheel A; 2-4-5-bevel pinion A; 2-4-6-differential mechanism; 2-4-7-axle drive bevel pinion A; 2-4-8-bevel gear B; 2-4-9-bevel pinion B; 2-4-10-bevel gear wheel B; 2-4-11-worm B; 2-4-12-driven worm gear B; 2-4-13-driven straight gear B; 3-1-advanced support main beam; 3-2-supporting net bracket; 3-3-supporting net; 3-4-supporting net hydraulic telescopic system; 4-1-subsidiary transport system supporting assembly A; 4-2-supporting beam; 4-3-supporting stand column A; 4-4-supporting stand column B; 4-5-subsidiary transport system supporting assembly B; 4-5-1-lower suspending beam; 4-5-2-hydraulic cylinder; 4-5-3-upper suspending beam; 4-6-chain wheel and chain transporting device; 4-6-1-chain; 4-6-2-movable stopping block; 4-6-3-I-shaped stopping rod; 4-6-4-movable stopping plate; 4-6-5-chain wheel; 4-7-driving device; 4-7-1-bevel gear AA; 4-7-2-bevel gear BB; 4-7-3-servo motor AA; 4-7-4-motor cabinet; 4-8-carrying manipulator; 4-8-1-servo motor C; 4-8-2-mechanical gripper A; 4-8-3-mechanical gripper B; 4-8-4-front-end execution rod; 4-8-5-servo motor A; 4-8-6. joint A; 4-8-7-servo motor B; 4-8-8-joint B; 4-8-9-joint C; 5-1-anchoring robot hydraulic cylinder set; 5-2-anchoring robot connecting assembly; 5-2-1-foldable arm A; 5-2-2-anchor rod frame motor; 5-2-3-foldable arm B; 5-2-4-anchoring robot connecting assembly hydraulic cylinder set; 5-3-anchoring robot working platform; 5-3-1-foldable hydraulic cylinder A; 5-3-2-foldable hydraulic cylinder B; 5-3-3-middle motor stator; 5-3-4-left motor stator; 5-3-5-ground-supporting hydraulic cylinder set; 5-3-6-connecting block; 5-3-7-right motor stator; 5-3-8-motor rotor; 5-3-9-foldable arm connecting hydraulic cylinder; 5-4-anchoring robot; 5-4-1-jumbolter guide rail; 5-4-2-propulsion motor; 5-4-3-rotating table; 5-4-4-anchoring big arm; 5-4-5-motor C; 5-4-6-motor B; 5-4-7-motor A; 5-4-8-base case; 5-4-9-turntable; 5-4-10-mechanical arm base; 5-4-11-connecting rod A; 5-4-12-connecting rod B; 5-4-13-jumbolter driving chain; 5-4-14-jumbolter; 5-5-anchor rod storage device.

DETAILED DESCRIPTION

In order to make it easy to understand the technical means, creation features, achieved purpose and effectiveness of the present invention, the following is a further detailed description of the present invention with reference to the attached drawings and the specific implementation. It should be understood that the specific embodiments described herein are merely used to explain the present disclosure but are not intended to limit the present disclosure.
Referring to FIG. 1 and FIG. 2, a monorail anchoring and supporting cooperative machine for a fully mechanized excavation face includes a suspension support system 1, a power system 2, an advanced support system 3, a subsidiary transport system 4 and an anchoring robot system 5. The suspension support system 1 is fixed on a top end of a coal mining tunnel through an anchor rod to provide support for the whole set of equipment. The power system 2 is mounted at a tail end of a system main beam 1-1 in the suspension support system 1. The advanced support system 3 is mounted at a front end of the system main beam 1-1 in the suspension support system 1. The subsidiary transport system 4 is mounted on the system main beam 1-1 in the suspension support system 1 at a rear side of the advanced support system 3. The anchoring robot system 5 is mounted on the system main beam 1-1 in the suspension support system 1 between the power system 2 and the subsidiary transport system 4. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face has the characteristic that in a non-working state, the advanced support system 3, the subsidiary transport system 4 and the anchoring robot system 5 can be retracted, so that an overall space volume of the system is greatly reduced and transportation is facilitated.
Referring to FIG. 3, FIG. 4 and FIG. 5, the suspension support system 1 includes the system main beam 1-1, a top beam 1-2, a supporting member 1-3, a rail 1-4 and a rectangular pin 1-5. An upper end of the rail 1-4 is welded with a structural member for mounting, and two sides of a lower end are welded with racks. The system main beam 1-1 is mounted on the rail 1-4 through a load-bearing trolley 2-1. The top beam 1-2 is provided with four holes, and is fixed on the top end of the coal mining tunnel through an anchor rod. An upper end of the supporting member 1-3 is connected with the top beam 1-2 through the rectangular pin 1-5, and a lower end is connected with the rail 1-4 through the rectangular pin 1-5.
Referring to FIG. 6, FIG. 7 and FIG. 8, the power system 2 includes the load-bearing trolley 2-1, a motor base 2-2, a motor 2-3 and a gear driving system 2-4. The motor 2-3 is mounted on the motor base 2-2 through a bolt. The motor base 2-2 is mounted on a lower bottom surface of the load-bearing trolley 2-1 through a bolt. The load-bearing trolley 2-1 is mounted on the rail 1-4 and is capable of sliding on a surface of the rail 1-4. The gear driving system 2-4 includes a driven straight gear A2-4-1, a driven worm gear A2-4-2, a worm A2-4-3, a bevel gear wheel A2-4-4, a bevel pinion A2-4-5, a differential mechanism 2-4-6, an axle drive bevel pinion A2-4-7, a bevel gear B2-4-8, a bevel pinion B2-4-9, a bevel gear wheel B2-4-10, a worm B2-4-11, a driven worm gear B2-4-12 and a driven straight gear B2-4-13. An output shaft of the motor 2-3 is connected with the axle drive bevel pinion A2-4-7 through a coupling. The axle drive bevel pinion A2-4-7 is in tooth matching with the bevel gear B2-4-8. The bevel gear B2-4-8 is coaxial with the differential mechanism 2-4-6. The differential mechanism 2-4-6 transmits movement to the bevel pinion A2-4-5 and the bevel pinion B2-4-9 through a shaft respectively. The bevel pinion A2-4-5 is in tooth matching with the bevel gear wheel A2-4-4. The bevel gear wheel A2-4-4 is coaxial with the worm A2-4-3. The worm A2-4-3 is in tooth matching with the driven worm gear A2-4-2. The driven worm gear A2-4-2 is coaxial with the driven straight gear A2-4-1. The driven straight gear A2-4-1 is mounted in a manner of being in tooth matching with a rack at one side of the rail 1-4. The bevel pinion B2-4-9 is in tooth matching with the bevel gear wheel B2-4-10. The bevel gear wheel B2-4-10 is coaxial with the worm B2-4-11. The worm B2-4-11 is in tooth matching with the driven worm gear B2-4-12. The driven worm gear B2-4-12 is coaxial with the driven straight gear B2-4-13. The driven straight gear B2-4-13 is mounted in a manner of being in tooth matching with a rack at the other side of the rail 1-4. The driven straight gear A2-4-1 and the driven straight gear B2-4-13 are respectively matched the racks of the rail 1-4 at two sides, and is characterized in that the system is ensured to have a good slope changing property. The differential mechanism 2-4-6 is characterized by being capable of making the driven straight gear A2-4-1 and the driven straight gear B2-4-13 have different rotating speeds when the equipment is turning, so as to enable the equipment to have a stable turning property. In order to facilitate the travelling control of the equipment, the motor 2-3 is a frequency conversion integrated machine.
Referring to FIG. 9 and FIG. 10, the advanced support system 3 includes an advanced support main beam 3-1, a supporting net bracket 3-2, a supporting net 3-3 and a supporting net hydraulic telescopic system 3-4. One end of the advanced support main beam 3-1 is connected with the system main beam 1-1 through a pin, and the other end is connected with the supporting net bracket 3-2 through a pin. One end of the supporting net hydraulic telescopic system 3-4 is mounted on the advanced support main beam 3-1, and the other end is mounted on the supporting net bracket 3-2. The supporting net 3-3 is tied on the supporting net bracket 3-2. The supporting net hydraulic telescopic system 3-4 is capable of adjusting a size of the supporting net 3-3 according to a state of equipment to be supported and supporting conditions to realize efficient supporting.
Referring to FIG. 11, FIG. 12, FIG. 13, FIG. 14, FIG. 15, FIG. 16 and FIG. 17, the subsidiary transport system 4 includes a subsidiary transport system supporting assembly A4-1, a subsidiary transport system supporting assembly B4-5, a supporting beam 4-2, a supporting stand column A4-3, a supporting stand column B4-4, a chain wheel and chain transporting device 4-6, a driving device 4-7 and a carrying manipulator 4-8. Each of the subsidiary transport system supporting assembly A4-1 and the subsidiary transport system supporting assembly B4-5 includes an upper suspending beam 4-5-3, a hydraulic cylinder 4-5-2 and a lower suspending beam 4-5-1. The upper suspending beam 4-5-3 is connected with the system main beam 1-1 through a pin. The lower suspending beam 4-5-1 is connected with the supporting beam 4-2 through a shaft. One end of the hydraulic cylinder 4-5-2 is mounted on the upper suspending beam 4-5-3, and the other end is mounted on the lower suspending beam 4-5-1. One end of each of the supporting stand column A4-3 and the supporting stand column B4-4 is mounted on the system main beam 1-1 through a pin respectively at two sides, and the other end is mounted at a tail end of the supporting beam 4-2 through a pin respectively at two sides. The chain wheel and chain transporting device 4-6 includes a chain 4-6-1, a movable stopping block 4-6-2, an I-shaped stopping rod 4-6-3, a movable stopping plate 4-6-4 and a chain wheel 4-6-5. The chain wheel 4-6-5 drives the chain 4-6-1 to move through engaging. The movable stopping block 4-6-2 and the movable stopping plate 4-6-4 are connected with the chain 4-6-1 through welding, and are characterized by being used for storing materials of different types. One end of the I-shaped stopping rod 4-6-3 is connected with the movable stopping block 4-6-2 through a pin, the other end is embedded into a sliding chute of the movable stopping plate 4-6-4, and is characterized in that the I-shaped stopping rod 4-6-3 is capable of sliding in the sliding chute of the movable stopping plate 4-6-4. The driving device 4-7 includes a bevel gear AA4-7-1, a bevel gear BB4-7-2, a servo motor AA4-7-3 and a motor cabinet 4-7-4. The chain wheel 4-6-5 is connected with the bevel gear AA4-7-1 of the driving device 4-7 through a shaft. The servo motor AA4-7-3 is connected with the bevel gear BB4-7-2 through a coupling. The bevel gear BB4-7-2 and the bevel gear AA4-7-1 transmit power through tooth matching, namely that the servo motor AA4-7-3 drives the chain 4-6-1 to rotate, so as to realize the transportation of the materials. The servo motor AA4-7-3 is mounted on the motor cabinet 4-7-4 welded at one side edge of the supporting beam 4-2. The carrying manipulator 4-8 includes a mechanical gripper A4-8-2, a mechanical gripper B4-8-3, a front-end execution rod 4-8-4, a joint A4-8-6, a joint B4-8-8, a joint C4-8-9, a servo motor A4-8-5, a servo motor B4-8-7 and a servo motor C4-8-1. The mechanical gripper A4-8-2 and the mechanical gripper B4-8-3 are welded at left and right sides of a tail end of the front-end execution rod 4-8-4 respectively. The front-end execution rod 4-8-4 is connected with the joint A4-8-6 through the servo motor A4-8-5 and a reducer thereof. The joint A4-8-6 is connected with the joint B4-8-8 through the servo motor B4-8-7 and a reducer thereof. The joint B4-8-8 is connected with the joint C4-8-9 through the servo motor C4-8-1 and a reducer thereof. A bottom of the joint C4-8-9 is welded to the front end of the system main beam 1-1.
Referring to FIG. 18, FIG. 19, FIG. 20, FIG. 21 and FIG. 22, the anchoring robot system 5 includes an anchoring robot hydraulic cylinder set 5-1, an anchoring robot connecting assembly 5-2, an anchoring robot working platform 5-3, an anchoring robot 5-4 and an anchor rod storage device 5-5. The anchoring robot connecting assembly 5-2 includes a foldable arm A5-2-1, an anchor rod frame motor 5-2-2, a foldable arm B5-2-3 and an anchoring robot connecting assembly hydraulic cylinder set 5-2-4. One end of the foldable arm A5-2-1 is connected with the system main beam 1-1 through a pin, and the other end is connected with the foldable arm B5-2-3 through a pin. The anchoring robot hydraulic cylinder set 5-1 is symmetrically arranged at two sides of the system main beam 1-1. One end of the anchoring robot hydraulic cylinder set 5-1 is connected with the system main beam 1-1 through a pin, and the other end is connected with the foldable arm A5-2-1 through a pin. The anchoring robot connecting assembly hydraulic cylinder set 5-2-4 is two sets of hydraulic systems with one end being mounted on the foldable arm A5-2-1 and the other end being mounted on the foldable arm B5-2-3. The anchor rod frame motor 5-2-2 is fixed to an inner side surface of the foldable arm A5-2-1 through a bolt. An output shaft of the anchor rod frame motor 5-2-2 is connected with the anchor rod storage device 5-5 to control the rotation thereof. The anchoring robot working platform 5-3 includes a middle motor stator 5-3-3, a left motor stator 5-3-4, a ground-supporting hydraulic cylinder set 5-3-5, a connecting block 5-3-6, a right motor stator 5-3-7, a motor rotor 5-3-8, a foldable arm connecting hydraulic cylinder 5-3-9, a foldable hydraulic cylinder A5-3-1 and a foldable hydraulic cylinder B5-3-2. One end of the foldable arm connecting hydraulic cylinder 5-3-9 is connected with the foldable arm B5-2-3 through a pin, and the other end is connected with the middle motor stator 5-3-3 through a pin. The left motor stator 5-3-4, the middle motor stator 5-3-3 and the right motor stator 5-3-7 are connected through the connecting block 5-3-6. One end of the foldable hydraulic cylinder A5-3-1 is mounted on the left motor stator 5-3-4, and the other end is mounted on the middle motor stator 5-3-3. One end of the foldable hydraulic cylinder B5-3-2 is mounted on the right motor stator 5-3-7, and the other end is mounted on the middle motor stator 5-3-3. The ground-supporting hydraulic cylinder set 5-3-5 is respectively mounted on a lower bottom surface of the left motor stator 5-3-4 and a lower bottom surface of the right motor stator 5-3-7. The motor rotor 5-3-8 is embedded in an edge chute of the left motor stator 5-3-4, the middle motor stator 5-3-3 and the right motor stator 5-3-7, and is characterized in that the motor rotor 5-3-8 is capable of moving in the edge chute of the left motor stator 5-3-4, the middle motor stator 5-3-3 and the right motor stator 5-3-7 in a power-on state. The anchoring robot 5-4 includes a jumbolter guide rail 5-4-1, a propulsion motor 5-4-2, a rotating table 5-4-3, an anchoring big arm 5-4-4, a motor C5-4-5, a motor B5-4-6, a motor A5-4-7, a base case 5-4-8, a turntable 5-4-9, a mechanical arm base 5-4-10, a connecting rod A5-4-11, a connecting rod B5-4-12, a jumbolter driving chain 5-4-13 and a jumbolter 5-4-14. The anchoring robot 5-4 is fixed on the motor rotor 5-3-8 through a bolt. The base case 5-4-8 at a lower end of the anchoring robot 5-4 is configured to fix the motor A5-4-7 through a bolt. The motor A5-4-7 drives the turntable 5-4-9 to rotate through a worm gear mounted in the base case 5-4-8. The mechanical arm base 5-4-10 is fixed on the turntable 5-4-9 through a bolt. The anchoring big arm 5-4-4 is matched with the mechanical arm base 5-4-10 through a bearing. The motor B5-4-6 is fixed on one side surface of the mechanical arm base 5-4-10 through a bolt. An output shaft of the motor B5-4-6 is matched with a bearing mounted on the mechanical arm base 5-4-10 and is connected with the anchoring big arm 5-4-4. The motor C5-4-5 is fixed on an inner side of the anchoring big arm 5-4-4 through a bolt. An output shaft of the motor C5-4-5 is matched with a bearing and is mounted on an inner side surface of the anchoring big arm 5-4-4. The output shaft of the motor C5-4-5 is connected with the mechanical arm base 5-4-10 through a bearing. A tail end of the output shaft of the motor C5-4-5 is fixed with the connecting rod A5-4-11. One end of the connecting rod B5-4-12 is connected with a boss shaft at a tail end of the connecting rod A5-4-11 through a bearing with a bearing end cover being fixed on the connecting rod B5-4-12 through a bolt, and the other end is connected with a boss shaft at a tail end of the rotating table 5-4-3 through a bearing with a bearing end cover being fixed on the connecting rod B5-4-12 through a bolt. The propulsion motor 5-4-2 is mounted at a lower side of the jumbolter guide rail 5-4-1. The jumbolter 5-4-14 is mounted on a sliding rod of the jumbolter guide rail 5-4-1 by through holes on two sides. The propulsion motor 5-4-2 drives the jumbolter 5-4-14 to move in the jumbolter guide rail 5-4-1 through the jumbolter driving chain 5-4-13.
A monorail anchoring and supporting cooperative machine for a fully mechanized excavation face, where a working process includes following steps:
S1: a section of rail 1-4 is manually paved on a tunnel roof at first, and a device is mounted on the rail 1-4;
S2: when a motor 2-3 is working, a power system 2 is enabled to move on the rail 1-4 through a gear driving system 2-4 to push a system main beam 1-1 connected thereto and realize movement of a whole set of equipment;
S3: after the whole set of equipment moves to an assigned working position, a supporting net bracket 3-2 is pushed to extend by a supporting net hydraulic telescopic system 3-4 in an advanced support system 3 to drive a supporting net 3-3 to unfold; then, a chain wheel and chain transporting device 4-6 is enabled to be at an assigned height through synchronous action of a subsidiary transport system supporting assembly A4-1 and a subsidiary transport system supporting assembly B4-5 in a subsidiary transport system 4; meanwhile, an anchoring robot working platform 5-3 is enabled to descend by a certain height and be parallel to the ground when an anchoring robot connecting assembly 5-2 in an anchoring robot system 5 swings by a certain angle under a combined action of an anchoring robot connecting assembly hydraulic cylinder set 5-2-4 and a foldable arm connecting hydraulic cylinder 5-3-9, then, the anchoring robot working platform 5-3 is unfolded under actions of a foldable hydraulic cylinder A5-3-1 and a foldable hydraulic cylinder B5-3-2, and a ground-supporting hydraulic cylinder set 5-3-5 is extended to complete a ground-supporting action, where an effect is that an impact force generated by a jumbolter 5-4-14 in a drilling process is absorbed and transmitted to the ground, so as to make the platform more stable;
S4: materials required in an operation process are transferred to an assigned position by a chain wheel and chain transporting device 4-6 in a subsidiary transport system 4; a top beam 1-2 is grabbed to a specific position of a tunnel by a carrying manipulator 4-8; positions of an anchoring robot 5-4 and an anchor rod storage device 5-5 are simultaneously adjusted to enable an anchor rod in the anchor rod storage device 5-5 to be loaded in the jumbolter 5-4-14 to complete an anchor rod loading action;
S5: the anchoring robot 5-4 are adjusted to be in different postures to realize anchoring operation of the jumbolter 5-4-14 at side faces of the tunnel and different positions of the roof, and the top beam 1-2 is fixed on the roof through the anchor rod to provide support for a whole set of equipment;
S6: materials required for constructing a suspension support system 1 are grabbed by the carrying manipulator 4-8 to be mounted on the top beam 1-2, and the rail 1-4 is grabbed by the carrying manipulator 4-8 to enable an upper end of the rail 1-4 to be connected with the suspension support system 1 and a tail end to be connected with a front end of a previous section of rail 1-4 to complete the paving of the rail; and
S7: in the advanced support system 3, the subsidiary transport system 4 and the anchoring robot system 5, a hydraulic system for adjusting the configuration is retracted, the whole set of equipment is driven to move forward by the motor 2-3, and the above steps are continued to repeat anchor protection and supporting operations.
Finally, it should be noted that the foregoing specific implementations are merely intended for describing the technical solutions of the present invention but not for limiting the present invention. Although the present invention is described in detail with reference to the exemplary embodiments, a person of ordinary skill in the art should understand that they may still make modifications or equivalent replacements to the technical solutions described in the present invention without departing from the spirit and scope of the technical solutions of the embodiments of the present invention, which should all be covered in the claims of the present invention.

Claims

What is claimed is:

1. A monorail anchoring and supporting cooperative machine for a fully mechanized excavation face, comprising a suspension support system, a power system, an advanced support system, a subsidiary transport system and an anchoring robot system, wherein the suspension support system is fixed on a top end of a coal mining tunnel through an anchor rod to provide support for the whole set of equipment, the power system is mounted at a tail end of a system main beam in the suspension support system, the advanced support system is mounted at a front end of the system main beam in the suspension support system, the subsidiary transport system is mounted on the system main beam in the suspension support system at a rear side of the advanced support system, and the anchoring robot system is mounted on the system main beam in the suspension support system between the power system and the subsidiary transport system.

2. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 1, wherein the suspension support system comprises the system main beam, a top beam, a supporting member, a rail and a rectangular pin; an upper end of the rail is welded with a structural member for mounting, and two sides of a lower end are welded with racks; the system main beam is mounted on the rail through a load-bearing trolley; the top beam is provided with four holes, and is fixed on the top end of the coal mining tunnel through an anchor rod; an upper end of the supporting member is connected with the top beam through the rectangular pin, and a lower end is connected with the rail through the rectangular pin.

3. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 1, wherein the power system comprises a load-bearing trolley, a motor, a motor base and a gear driving system; the motor is mounted on the motor base through a bolt; the motor base is mounted on a lower bottom surface of the load-bearing trolley through a bolt; the load-bearing trolley is mounted on a surface of the rail and is capable of sliding on the surface of the rail; the gear driving system comprises a driven straight gear A, a driven worm gear A, a worm A, a bevel gear wheel A, a bevel pinion A, a differential mechanism, an axle drive bevel pinion A, a driven straight gear B, a driven worm gear B, a worm B, a bevel gear wheel B, a bevel pinion B and a bevel gear B, and in order to facilitate the travelling control of the equipment, the motor is a frequency conversion integrated machine.

4. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 1, wherein the advanced support system comprises an advanced support main beam, a supporting net bracket, a supporting net and a supporting net hydraulic telescopic system; one end of the advanced support main beam is connected with the system main beam through a pin, and the other end is connected with the supporting net bracket through a pin; one end of the supporting net hydraulic telescopic system is mounted on the advanced support main beam, and the other end is mounted on the supporting net bracket; the supporting net is tied on the supporting net bracket; and the supporting net hydraulic telescopic system is capable of adjusting a size of the supporting net according to a state of equipment to be supported and supporting conditions to realize efficient supporting.

5. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 1, wherein the subsidiary transport system comprises a subsidiary transport system supporting assembly A, a subsidiary transport system supporting assembly B, a supporting beam, a supporting stand column A, a supporting stand column B, a chain wheel and chain transporting device, a driving device and a carrying manipulator; each of the subsidiary transport system supporting assembly A and the subsidiary transport system supporting assembly B comprises an upper suspending beam, a hydraulic cylinder and a lower suspending beam; and the upper suspending beam is connected with the system main beam through a pin.

6. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 5, wherein the chain wheel and chain transporting device comprises a chain wheel, a chain, a movable stopping block, a movable stopping plate and an I-shaped stopping rod; the chain wheel drives the chain to move through engaging; the driving device comprises a bevel gear AA, a bevel gear BB, a servo motor AA and a motor cabinet; the carrying manipulator comprises a mechanical gripper A, a mechanical gripper B, a front-end execution rod, a joint A, a joint B, a joint C, a servo motor A, a servo motor B and a servo motor C; the mechanical gripper A and the mechanical gripper B are welded at left and right sides of a tail end of the front-end execution rod respectively.

7. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 1, wherein the anchoring robot system comprises an anchoring robot hydraulic cylinder set, an anchoring robot connecting assembly, an anchor rod storage device, an anchoring robot working platform and an anchoring robot; the anchoring robot connecting assembly comprises a foldable arm A, an anchor rod frame motor, a foldable arm B and an anchoring robot connecting assembly hydraulic cylinder set; one end of the foldable arm A is connected with the system main beam through a pin, and the other end is connected with the foldable arm B through a pin.

8. The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to claim 7, wherein the anchoring robot working platform comprises a middle motor stator, a left motor stator, a ground-supporting hydraulic cylinder set, a connecting block, a right motor stator, a motor rotor, a foldable arm connecting hydraulic cylinder, a foldable hydraulic cylinder A and a foldable hydraulic cylinder B; the ground-supporting hydraulic cylinder set is respectively mounted on a lower bottom surface of the left motor stator and a lower bottom surface of the right motor stator;

the anchoring robot comprises a jumbolter guide rail, a propulsion motor, a rotating table, an anchoring big arm, a motor A, a motor B, a motor C, a base case, a turntable, a mechanical arm base, a connecting rod A, a connecting rod B, a jumbolter driving chain and a jumbolter; the jumbolter is mounted on a sliding rod of the jumbolter guide rail by through holes on two sides; and the propulsion motor drives the jumbolter to move in the jumbolter guide rail through the jumbolter driving chain.

9. A monorail anchoring and supporting cooperative machine for a fully mechanized excavation face, wherein a working process comprises following steps:

S1: manually paving a section of rail on a tunnel roof at first, and mounting a device on the rail;

S2: when a motor is working, enabling a power system to move on the rail through a gear driving system to push a system main beam connected thereto and realize movement of a whole set of equipment;

S3: after the whole set of equipment moves to an assigned working position, pushing a supporting net bracket to extend by a supporting net hydraulic telescopic system in an advanced support system to drive a supporting net to unfold; then, enabling a chain wheel and chain transporting device to be at an assigned height through synchronous action of a subsidiary transport system supporting assembly A and a subsidiary transport system supporting assembly B in a subsidiary transport system; meanwhile, enabling an anchoring robot working platform to descend by a certain height and be parallel to the ground when an anchoring robot connecting assembly in an anchoring robot system swings by a certain angle under a combined action of an anchoring robot connecting assembly hydraulic cylinder set and a foldable arm connecting hydraulic cylinder, then, unfolding the anchoring robot working platform under actions of a foldable hydraulic cylinder A and a foldable hydraulic cylinder B, and enabling a ground-supporting hydraulic cylinder set to extend to complete a ground-supporting action, wherein an effect is that an impact force generated by a jumbolter in a drilling process is absorbed and transmitted to the ground, so as to make the platform more stable;

S4: transferring materials required in an operation process to an assigned position by a chain wheel and chain transporting device in a subsidiary transport system; grabbing a top beam to a specific position of a tunnel by a carrying manipulator; simultaneously adjusting positions of an anchoring robot and an anchor rod storage device to enable an anchor rod in the anchor rod storage device to be loaded in the jumbolter to complete an anchor rod loading action;

S5: adjusting the anchoring robot to be in different postures to realize anchoring operation of the jumbolter at side faces of the tunnel and different positions of the roof, and fixing the top beam on the roof through the anchor rod to provide support for the whole set of equipment;

S6: grabbing materials required for constructing a suspension support system by the carrying manipulator to be mounted on the top beam, and grabbing the rail by the carrying manipulator to make an upper end of the rail be connected with the suspension support system and a tail end be connected with a front end of a previous section of rail to complete the paving of the rail; and

S7: in the advanced support system, the subsidiary transport system and the anchoring robot system, retracting a hydraulic system for adjusting the configuration, driving the whole set of equipment to move forward by the motor, and continuing the above steps to repeat anchor protection and supporting operations.