Coal mining face supporting robot

Abstract

A coal mining face supporting robot comprises a supporting part, a traveling part, a controller and intelligent sensors of various types. The supporting part is used for completing rising and lowering of the supporting robot to effectively support a coal mining face top plate, the traveling part is used for completing free migration of the supporting robot, and the controller realizes supporting control of the supporting robot according to collected data of the intelligent sensors. A novel method is provided for posture sensing and control of the supporting robot, autonomous control of the intelligent sensors and comprehensive application of data of the sensors; communication between the controller and each intelligent device of the supporting robot and equipment interconnection are realized in a wireless manner, so that cable connectors for the controller and matched equipment are reduced, convenience is brought to extension of the matched equipment, system simplification is realized, cost is lowered, and system reliability is improved.

Description

technical field [0001] The invention relates to a support device for a coal mining face in a coal mine, in particular to a support robot for a coal mining face. Background technique [0002] The underground operation environment of coal mine production is harsh, the conditions are complex, and the disasters are serious. Underground coal mining face and roadway are often accompanied by serious environmental pollution problems such as dust, humidity, vibration, noise, and even radiation. With the deepening of Industry 4.0, the integration of coal mine informatization and industrialization, and the development of unmanned mining technology, special robots developed and manufactured for coal mines are gradually applied to mining, roof support, spraying, patrol inspection, emergency rescue and disaster relief, etc. . In order to achieve high-efficiency and safe production in coal mines, it must be an important direction for the technological development of the coal industry that...

AI Technical Summary

Problems solved by technology

In order to achieve high-efficiency and safe production in coal mines, it must be an important direction for the technological development of the coal industry that support robots enter the coal mining face to solve the current support equipment that lacks the perception of walking posture, the calculation and control of the center of gravity, and the lack of control over other equipment. and the perception of the surrounding environment, and the complicated maintenance of cable connectors between devices is inconvenient, etc.

[0003] In the prior art, CN202348308U discloses a crawler-type hydraulic support, including a top beam crawler, a hydraulic column, a base crawler, a base frame, a four-link structure and a top beam mechanism, and the top beam crawler is installed on the top beam frame , the top beam frame is connected to the base frame through a hydraulic column and a four-bar linkage mechanism, the top of the four-bar linkage mechanism is hinged to the top beam frame, and the base crawler is installed on the base frame, but it does not disclose a control device, its operation and The operation mode of the traditional hydraulic support is the same, all of which use manual hydraulic control, the control accuracy is not high, and the response speed is slow; CN102678141A discloses a mine support vehicle, the whole machine body is installed on the walking device, and There are rails, on which there is a sliding trolley, the lower end of the support arm is hinged on the trolley, the upper end of the support arm is hinged with a guard plate that can be fixedly installed on the steel beam to be erected, one end of the oil cylinder is hinged with the support arm, and the other One end is hinged with the whole machine body, and the whole machine body is equipped with the whole machine control system, the machine electrical system and the whole machine pumping station system; but its control system only involves the control of vehicles and support structures, and there is no sensor detection support system The posture of each component in the center is not comprehensive enough to control the support system, and it is impossible to realize the dynamic adjustment of the fine structure of the support.

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