Working face supporting and withdrawing robot and working method thereof

A working face and robot technology, which is applied to earth-moving drilling, pillars/supports, mining devices, etc., can solve the problems of low working face retraction efficiency, high labor intensity of workers, and increased safety hazards during retraction work.

Pending Publication Date: 2021-08-20
LIAONING TECHNICAL UNIVERSITY
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  • Abstract
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  • Claims
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Problems solved by technology

This kind of retraction method makes the labor intensity of the workers high, the efficiency of

Method used

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  • Working face supporting and withdrawing robot and working method thereof
  • Working face supporting and withdrawing robot and working method thereof
  • Working face supporting and withdrawing robot and working method thereof

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Embodiment Construction

[0047] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0048] Such as Figure 1-10 As shown, a working face support retraction robot is used to retract the single hydraulic prop 101 and beam 102 of the working face support, and transport them to the designated transport vehicle outside the mine; wherein, the single hydraulic prop 101 is vertical There are multiple sets, the two ends of the beam 102 are respectively connected to the tops of the two single hydraulic props 101; the working face support retraction robot includes a walking mechanism 1, a chassis 2, a power centralized station 3, an installation base 4, a lifting Mechanism 5, column retraction mechanism 6, beam retraction mechanism 7 and support leg mechanism 8.

[0049] Among them, the walking mechanism 1 is i...

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Abstract

The invention discloses a working face supporting and withdrawing robot and a working method thereof. The working face supporting and withdrawing robot comprises a chassis, walking mechanisms, stand column withdrawing mechanisms and a cross beam withdrawing mechanism, wherein the stand column withdrawing mechanisms and the cross beam withdrawing mechanism both adopt a multi-degree-of-freedom mechanical arms, and all stages of mechanical arms are used in cooperation; a grabbing task is completed; the cross beam withdrawing mechanism cooperates with the work of the stand column withdrawing mechanisms, lifts the cross beam and ensures the stability of the cross beam in the withdrawing process of a single hydraulic prop by the stand column withdrawing mechanisms; each stand column withdrawing mechanism is provided with an unloading unit for unloading of the single hydraulic prop; a first camera shooting unit and a second camera shooting unit are used for collecting actual image data of operation objects corresponding to a first clamping hand and a second clamping hand, mechanization and automation of the working face support withdrawing process are achieved, the fully mechanized working face support withdrawing work efficiency is improved, the labor intensity of workers is greatly reduced, and potential safety hazards of underground operation workers are reduced.

Description

technical field [0001] The invention belongs to the technical field of coal mine machinery technology, and in particular relates to a working face support retraction robot and a working method thereof. Background technique [0002] At present, the use of support in the fully mechanized mining face is huge, and the retraction of the single hydraulic support column of the roadway is the final step of the retraction of the entire working face. A large number of columns permanently supported on the mined working face will cause great waste. However, during the retraction process of the hydraulic column, the smooth progress of the retraction work will be affected to varying degrees because of the coal wall side, pillar breakage, roof sinking, and frame pressure. [0003] The currently adopted working face support uses single hydraulic props and beams, among which single hydraulic props mostly use DWX hydraulic props, which use the principle of plunger suspension technology, and t...

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Application Information

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IPC IPC(8): E21D15/60E21F17/18
CPCE21D15/606E21F17/18
Inventor 谢苗王贺刘治翔卢进南毛君王凯吴霞李玉岐郭红阳
Owner LIAONING TECHNICAL UNIVERSITY
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