An intelligent support robot with a super-large telescopic ratio

Abstract

The present invention discloses an intelligent support robot with a large telescopic ratio, which includes a walking assembly, a workbench, a first telescopic assembly and a second telescopic assembly, wherein the first telescopic assembly includes a telescopic column and a connecting rod component, wherein the telescopic columns are multiple, and the telescopic columns and the connecting rod component are arranged between the workbench and the walking assembly, and the multiple telescopic columns are arranged at intervals along the circumference of the connection position between the connecting rod component and the workbench, and the first telescopic assembly is used to jointly adjust the distance between the workbench and the walking assembly, and the second telescopic assembly includes a supporting column and a support plate, wherein the first end of the supporting column is connected to the workbench, and the second end of the supporting column is connected to the support plate, and the supporting column is used to adjust the distance between the support plate and the workbench. The support robot of the present invention can meet the use requirements of different working conditions, and has good applicability and high stability.

Description

Technical Field

[0001] The invention relates to the technical field of coal mining, and in particular to an intelligent supporting robot with a super-large telescopic ratio. Background Art

[0002] Coal mining requires the excavation of a large number of tunnels underground. Keeping the tunnels unobstructed and the surrounding rock stable is of great significance to coal mine construction and production. With the continuous increase in mining depth, breadth and mining intensity, geological conditions are becoming increasingly complex, especially the emergence of tunnels with large height differences, which increases the difficulty of mechanized support of tunnels.

[0003] In the related technology, the mechanical support of coal mine tunnels is supported by self-moving hydraulic supports, but the hydraulic supports have limited telescopic ratio and a small support height range. For tunnels with large height differences, it is impossible to take both into account at the same time, and the height difference needs to be compensated by means of wood piles, steel sections, etc., resulting in low support efficiency and poor safety. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, an embodiment of the present invention proposes an intelligent support robot with a large telescopic ratio that can meet the use requirements of different working conditions and has good applicability and high stability.

[0006] According to an embodiment of the present invention, the ultra-large telescopic ratio intelligent support robot includes: a walking component; a workbench, wherein the workbench is arranged above the walking component; a first telescopic component, wherein the first telescopic component includes a telescopic column and a connecting rod component, wherein there are multiple telescopic columns, a first end of the telescopic column is connected to the walking component, a second end of the telescopic column is connected to the workbench, a first end of the connecting rod component is connected to the walking component, and a second end of the connecting rod component is connected to the workbench, a plurality of the telescopic columns are arranged at intervals along the circumference of the second end of the connecting rod component, and the first telescopic component is used to jointly adjust the distance between the workbench and the walking component; a second telescopic component, wherein the second telescopic component includes a supporting column and a supporting plate, a first end of the supporting column is connected to the workbench, a second end of the supporting column is connected to the supporting plate, and the supporting column is used to adjust the distance between the supporting plate and the workbench.

[0007] According to the embodiment of the present invention, the ultra-large telescopic ratio intelligent support robot can support the roof of tunnels of different heights. When the top of the tunnel is higher, the workbench can be raised by the first telescopic assembly, and then the support column adjusts the distance between the support plate and the workbench so that the support plate supports the roof of the tunnel, thereby enabling the support robot to support the higher tunnel. When the top of the tunnel is lower, the tunnel can be supported directly by the workbench, so that the support robot of the embodiment of the present invention has a larger contraction ratio, thereby meeting the use requirements of different working conditions and having better applicability. In addition, since the plurality of telescopic columns are arranged at intervals along the circumference of the second end of the connecting rod component, the stability of the first telescopic assembly when raising the workbench can be improved, and the connection strength is relatively high.

[0008] In some embodiments, the connecting rod component is pivotally connected to the workbench, and the connection position between the connecting rod component and the workbench is located in the middle of the workbench.

[0009] In some embodiments, the second telescopic assembly is pivotable between a first position and a second position. In the first position, an axial direction of the support column and an upper end surface of the workbench form an included angle so that the support plate supports the tunnel roof. In the second position, an axial direction of the support column is substantially parallel to the upper end surface of the workbench so that the workbench supports the tunnel roof.

[0010] In some embodiments, the second telescopic assembly further includes a driving component, wherein the driving component is connected to the workbench and the supporting column, and the driving component is used to drive the supporting column to rotate between the first position and the second position.

[0011] In some embodiments, an avoidance groove is provided on the workbench, and in the second position, the second telescopic component is located in the avoidance groove.

[0012] In some embodiments, the hydraulic support robot further includes a protective plate, and the protective plate cover is arranged at the upper end of the avoidance groove.

[0013] In some embodiments, there are multiple second telescopic components, and the multiple second telescopic components are arranged on the workbench at intervals.

[0014] In some embodiments, the walking assembly includes a driving body and a track, the track is arranged on the driving body, and the driving body is used to drive the track to rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the ultra-large telescopic ratio intelligent support robot of an embodiment of the present invention in the first position.

[0016] Figure 2 It is a schematic diagram of the ultra-large telescopic ratio intelligent support robot of an embodiment of the present invention in the second position.

[0017] Figure 3 It is a top view of the ultra-large telescopic ratio intelligent support robot according to an embodiment of the present invention.

[0018] Figure 4 It is a front view of the ultra-large telescopic ratio intelligent support robot according to an embodiment of the present invention.

[0019] Reference numerals:

[0020] 1. Traveling assembly; 11. Driving body; 12. Track;

[0021] 2. Workbench; 21. Avoidance groove; 22. Protective plate;

[0022] 3. First telescopic assembly; 31. Telescopic column; 32. Connecting rod component; 321. Rod body;

[0023] 4. Second telescopic assembly; 41. Support column; 42. Support plate; 43. Driving component;

[0024] 5. Electro-hydraulic control system. DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0026] The following describes the ultra-large telescopic ratio intelligent support robot according to an embodiment of the present invention with reference to the accompanying drawings.

[0027] like Figures 1 to 4 As shown, the ultra-large telescopic ratio intelligent support robot of the embodiment of the present invention includes: a walking component 1, a workbench 2, a first telescopic component 3 and a second telescopic component 4.

[0028] The workbench 2 is arranged above the walking assembly 1, and the first end of the first telescopic assembly 3 (such as Figure 1 The lower end of the first telescopic component 3 in the middle) is connected to the walking component 1, and the second end of the first telescopic component 3 (such as Figure 1 The upper end of the first telescopic component 3 is connected to the workbench 2, and the first telescopic component 3 is used to adjust the distance between the workbench 2 and the walking component 1.

[0029] like Figure 1 and Figure 4 As shown, the first telescopic assembly 3 includes a telescopic column 31 and a connecting rod component 32. For example, the telescopic column 31 is hydraulically controlled so that its length can be adjusted. Figure 1The lower end of the telescopic column 31 is connected to the walking assembly 1, and the second end of the telescopic column 31 (such as Figure 1 The upper end of the middle telescopic column 31 is connected to the workbench 2, and the first end of the connecting rod component 32 (such as Figure 1 The lower end of the middle connecting rod component 32) is connected to the walking assembly 1, and the second end of the connecting rod component 32 (such as Figure 1 The upper end of the middle connecting rod component 32 is connected to the workbench 2. There are multiple telescopic columns 31, and the multiple telescopic columns 31 are arranged at intervals along the circumference of the connection position between the connecting rod component 32 and the workbench 2, so that the connection strength between the telescopic columns 31 and the workbench 2 can be improved, and the stability of the support robot during use is higher.

[0030] like Figure 1 and Figure 4 As shown, the second telescopic assembly 4 includes a support column 41 and a support plate 42. The first end of the support column 41 (such as Figure 1 The lower end of the middle support column 41) is connected to the workbench 2, and the second end of the support column 41 (such as Figure 1 The upper end of the middle support column 41 is connected to the support plate 42. The support column 41 is used to adjust the distance between the support plate 42 and the workbench 2. For example, the support column 41 adopts hydraulic control to make its own length adjustable.

[0031] It is understandable that if Figure 2 As shown, when the support robot is in the walking stage, the overall height of the support robot is the shortest, that is, the distance between the workbench 2 and the walking component 1 is shrunk to the shortest, and the distance between the support plate 42 and the workbench 2 is shrunk to the shortest, for example, the distance between the support plate 42 and the workbench 2 is zero, so that the support robot can pass through the tunnel smoothly.

[0032] During the lifting stage of the work platform 2 of the support robot, it can also be understood that when the top of the tunnel is not too high, the work platform 2 is lifted by the first telescopic assembly 3, and at this time the distance between the support plate 42 and the work platform 2 is zero, so that the top plate of the tunnel can be supported by the work platform 2.

[0033] like Figure 1 As shown, when the support robot is supporting a higher tunnel, the workbench 2 can be lifted by the first telescopic assembly 3, and the height of the support plate 42 can be adjusted by the support column 41 to raise the overall height of the support robot to the maximum value to support the roof of the higher tunnel.

[0034] The support robot according to the embodiment of the present invention can support the roof of the tunnels at different heights. When the top of the tunnel is higher, the workbench 2 can be raised by the first telescopic component 3, and then the support column 41 adjusts the distance between the support plate 42 and the workbench 2, so that the support plate 42 supports the roof of the tunnel, so that the support robot can support the higher tunnel. When the top of the tunnel is lower, the tunnel can be supported directly by the workbench 2, so that the support robot of the embodiment of the present invention has a larger contraction ratio, so the workbench 2 or the support plate 42 can be selectively switched according to the actual support height to support the roof of the tunnel, thereby meeting the use requirements of different working conditions, and having better applicability.

[0035] In addition, since the plurality of telescopic columns 31 are arranged at intervals along the circumference of the connection position between the connecting rod component 32 and the workbench 2, the stability of the first telescopic component 3 when raising the workbench 2 can be improved, and the connection strength is relatively high. For example, the connecting rod component 32 can be composed of a plurality of rod bodies 321, and two adjacent rod bodies 321 can rotate relative to each other. Since the support robot of the embodiment of the present invention adjusts the height of the workbench 2 through the telescopic columns 31 and the connecting rod component 32, the stability of the support robot during support can be improved, and the reliability is relatively high.

[0036] Furthermore, if Figure 1 and Figure 2 As shown, the second telescopic assembly 4 can pivot between a first position and a second position. In the first position, the axial direction of the support column 41 and the upper end surface of the workbench 2 have an angle so that the support plate 42 supports the tunnel roof. In the second position, the axial direction of the support column 41 is substantially parallel to the upper end surface of the workbench 2 so that the workbench 2 supports the tunnel roof. For example, when the support column 41 is in the first position, the axial direction of the support column 41 is perpendicular to the upper end surface of the workbench 2, so that the support robot can have a larger support height. Of course, the angle between the axial direction of the support column 41 and the plane where the workbench 2 is located can be set at any angle to meet the support requirements of working surfaces at different angles, thereby expanding the scope of application of the support robot.

[0037] Specifically, Figures 1 to 3 As shown, the second telescopic assembly 4 also includes a driving component 43, which is connected to the workbench 2 and the support column 41. The driving component 43 is used to drive the support column 41 to rotate between the first position and the second position, so that the support column 41 moves between the first position and the second position, thereby further improving the automation level of the support robot.

[0038] For example, Figures 1 to 3As shown, the driving component 43 is an oil cylinder, a pneumatic cylinder or an electric cylinder, one end of the driving component 43 is pivotally connected to the workbench 2, the second end of the driving component 43 is pivotally connected to the support column 41, and in the second position, the axial direction of the support column 41 and the axial direction of the driving component 43 are both substantially parallel to the upper end surface of the workbench 2, thereby making the structure of the support robot more reasonable.

[0039] Alternatively, if Figures 1 to 3 As shown, the workbench 2 is provided with an avoidance groove 21, and in the second position, the second telescopic assembly 4 is located in the avoidance groove 21. It can be understood that when the support column 41 is located in the second position, the driving component 43 and the support column 41 are both located in the avoidance groove 21, and at this time, the heights of the driving component 43 and the support column 41 do not exceed the notch of the avoidance groove 21, so that when the upper end surface of the workbench 2 of the support robot is supported by the top plate of the tunnel, the interference between the support column 41 and the driving component 43 can be avoided, making the structure of the support robot more reasonable.

[0040] Preferably, if Figures 1 to 3 As shown, a protective plate 22 is provided at the upper end of the workbench 2, and the protective plate 22 is covered at the upper end of the avoidance groove 21. It can be understood that the protective plate 22 is detachably connected to the workbench 2, for example, the protective plate 22 can be flipped relative to the workbench 2. When the second telescopic assembly 4 needs to be taken out, the protective plate 22 can be flipped to open the avoidance groove 21, and after the second telescopic assembly 4 is taken out, the protective plate 22 can be flipped to close the avoidance groove 21. The support robot of the embodiment of the present invention can improve the wear resistance of the workbench 2 by laying the protective plate 22 on the avoidance groove 21, thereby extending the service life of the workbench 2, and is convenient for operators to work on the workbench 2, and has good practicality.

[0041] Alternatively, if Figure 1 As shown, there are multiple second telescopic components 4, and multiple second telescopic components 4 are arranged at intervals on the workbench 2. In other words, there are multiple support columns 41 and support plates 42, and multiple support columns 41 correspond to multiple support plates 42 one by one, and multiple support columns 41 are arranged at intervals on the workbench 2. For example, there are four support columns 41 and four support plates 42, and four support columns 41 correspond to four support plates 42 one by one, and four support columns 41 are arranged in an array on the workbench 2, so as to improve the stability of the support robot when working.

[0042] Preferably, if Figure 1 and Figure 4As shown, the connecting rod component 32 is pivotally connected to the workbench 2, and the connection position between the connecting rod component 32 and the workbench 2 is located in the middle of the workbench 2. The support robot of the embodiment of the present invention pivotally connects the connecting rod component 32 to the workbench 2, so that the workbench 2 can support work surfaces at different angles, thereby expanding the application range of the support robot. And because the connection between the connecting rod component 32 and the workbench 2 is located in the middle of the workbench 2, the stability of the support robot during use can be further improved.

[0043] In some embodiments, Figures 1 to 4 As shown, the walking assembly 1 includes a driving body 11 and a track 12. The track 12 is arranged on the driving body 11, and the driving body 11 is used to drive the track 12 to rotate. It can be understood that the support robot also includes an electro-hydraulic control system. The electro-hydraulic control system controls the rotation of the hydraulic motor in the driving body 11 to drive the track 12 to rotate, so that the support robot can realize actions such as straight travel, turning or U-turn, thereby enabling the support robot to adapt to more complex working environments, expanding the scope of application of the support robot and having higher reliability.

[0044] In some embodiments, Figures 1 to 4 As shown, the support robot of the embodiment of the present invention also includes an electro-hydraulic control system 5, which is arranged at the lower end of the first telescopic component 3. For example, the electro-hydraulic control system 5 can be arranged on one side of the walking component 1 along its length direction.

[0045] Specifically, the electro-hydraulic control system 5 includes a plurality of control modules. For example, the electro-hydraulic control system 5 includes a three-dimensional laser scanning and video monitoring module, which can perform real-time inspections on the position, spatial state or equipment operation state of the support robot. In addition, the three-dimensional laser scanning and video monitoring module can also establish a three-dimensional geological model of the working face to identify the state of coal rock and coal seam, so as to realize the real-time correction of the motion trajectory of the equipment by the electro-hydraulic control system 5, thereby ensuring a safe and reliable operation mode between the equipment and improving the support robot's ability to perform fault diagnosis, mine pressure detection, posture control, remote control, etc.

[0046] Furthermore, the electro-hydraulic control system 5 also includes a support robot and surrounding rock intelligent coupling control module and a support robot posture monitoring module. The support robot of the embodiment of the present invention can intelligently monitor, analyze and judge the status information of the support robot and the surrounding rock through the above modules, and use the electro-hydraulic control system 5 of the support robot to realize the automatic adjustment of the support robot to the changes in the surrounding rock conditions, thereby improving the intelligence of the support robot.

[0047] Furthermore, the electro-hydraulic control system 5 also includes sound, emergency stop, frame locking and fault display modules. It can be understood that the fault display module can diagnose the fault of the support robot itself and display it to the outside, so as to facilitate the operator to control the support robot. Optionally, the electro-hydraulic control system 5 also has the functions of perception, wireless remote control, angle monitoring, etc., to expand the scope of application of the support robot and improve the intelligence of the support robot.

[0048] Furthermore, the electro-hydraulic control system 5 also includes a locking module. It can be understood that when the locking module detects that a person is approaching a dangerous area, the locking module can send a signal instruction to the hydraulic support control system and the centralized control system, thereby automatically locking the equipment operating state, thereby improving the safety of the support robot in the embodiment of the present invention when in use.

[0049] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and work in a specific orientation, and therefore should not be understood as limiting the present invention.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0051] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0053] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0054] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An intelligent support robot with a large telescopic ratio, characterized in that: include: A walking assembly, the walking assembly comprising a driving body and a crawler track; A workbench, the workbench is arranged above the walking assembly; A first telescopic assembly, the first telescopic assembly comprises a telescopic column and a connecting rod component, the telescopic column is multiple, the first end of the telescopic column is connected to the walking assembly, the second end of the telescopic column is connected to the workbench, the first end of the connecting rod component is connected to the walking assembly, the second end of the connecting rod component is connected to the workbench, the multiple telescopic columns are arranged at intervals along the circumference of the second end of the connecting rod component, and the first telescopic assembly is used to jointly adjust the distance between the workbench and the walking assembly; A second telescopic assembly, the second telescopic assembly comprising a support column and a support plate, the first end of the support column is connected to the workbench, the second end of the support column is connected to the support plate, and the support column is used to adjust the distance between the support plate and the workbench; The second telescopic assembly is pivotable between a first position and a second position. In the first position, an axial direction of the support column and an upper end surface of the workbench form an included angle so that the support plate supports the tunnel roof. In the second position, an axial direction of the support column is substantially parallel to the upper end surface of the workbench so that the workbench supports the tunnel roof. An avoidance groove is provided on the workbench. In the second position, the second telescopic assembly is located in the avoidance groove.

2. The support robot according to claim 1, characterized in that: The connecting rod component is pivotally connected to the workbench, and the connecting position of the connecting rod component and the workbench is located in the middle of the workbench.

3. The support robot according to claim 2, characterized in that: The second telescopic assembly further includes a driving component, wherein the driving component is connected to the workbench and the supporting column, and the driving component is used to drive the supporting column to rotate between the first position and the second position.

4. The support robot according to claim 1, characterized in that: It also includes a protective plate, which is covered on the upper end of the avoidance groove.

5. The support robot according to claim 1, characterized in that: There are a plurality of the second telescopic components, and the plurality of the second telescopic components are arranged on the workbench at intervals.

6. The support robot according to claim 1, characterized in that: The crawler belt is arranged on the driving body, and the driving body is used for driving the crawler belt to rotate.

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