A rock-breaking robot in coal mines

Abstract

The present invention relates to the technical field of coal mining, and in particular to an underground rock-breaking robot in a coal mine, comprising a fixed base and a main control box fixedly connected to the upper side of the fixed base, the main control box being provided with a hydraulic control system and an electric control system, a coal-breaking mechanism for crushing large coal blocks being provided above the fixed base, a fine-tuning mechanism for fine-tuning the position of the crushing mechanism according to the contact position characteristics of the coal blocks being provided on the upper side of the coal-breaking mechanism, a position-adjusting mechanism for adjusting the general position of the coal-breaking mechanism being provided between the fixed base and the fine-tuning mechanism, the coal-breaking mechanism, the fine-tuning mechanism and the position-adjusting mechanism adopted in the present invention being used in combination, can quickly and intelligently crush various special-shaped and large coal blocks, significantly improve the crushing efficiency of the coal blocks, be beneficial to the rapid transportation of the coal blocks, have high working efficiency, and be suitable for use in large coal mines.

Description

Technical Field

[0001] The invention relates to the technical field of coal mining, and in particular to a rock-breaking robot in an underground coal mine. Background Art

[0002] A coal mine refers to a place rich in coal resources, which is generally divided into underground coal mines and open-pit coal mines. When the coal seam is far from the surface, it is generally chosen to dig tunnels underground to mine coal. This is an underground coal mine.

[0003] After the underground coal mine is excavated, the coal blocks will be transported to the ground through the conveyor belt. However, due to the randomness of excavation, it is inevitable that some relatively large coal blocks will be transported. These large coal blocks will cause a certain pressure loss on the conveyor belt, so there will be special personnel to handle these large coal blocks on site.

[0004] The existing on-site processing method of large coal blocks is mostly to crush the coal blocks manually with hand-held electric drills and splitting guns after the coal blocks are transported to the processing site. Considering the gravity of the electric drill and splitting gun and the mechanical vibration generated by the work, it is difficult for manual work to continue. In addition, drilling and splitting are two types of processing work. In this way, multiple people are required to complete the crushing of a large piece of whole coal, and it is difficult to ensure the efficiency of coal crushing. At the same time, the surface structure of some large coal blocks is relatively complex, and it is difficult for manual hand-held processing equipment to find a suitable working angle, making it difficult to work normally, and it is also impossible to ensure the stable use of the equipment on the complex surface of the coal blocks. Summary of the invention

[0005] Technical problem to be solved: The invention provides a coal mine underground rock-breaking robot, which can solve the above-mentioned problems.

[0006] Technical solution: In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a rock-breaking robot for an underground coal mine, comprising a fixed base, and a main control box fixedly connected to the upper side of the fixed base, the main control box being provided with a hydraulic control system and an electric control system, a coal-breaking mechanism for crushing large coal blocks being provided above the fixed base, a fine-tuning mechanism for fine-tuning the position of the crushing mechanism according to the contact position characteristics of the coal blocks being provided on the upper side of the coal-breaking mechanism, and a positioning mechanism for adjusting the general position of the coal-breaking mechanism being provided between the fixed base and the fine-tuning mechanism.

[0007] The coal breaking mechanism includes a fixed frame arranged above the main control box. The right side of the fixed frame is slidably connected to a percussion drill through a slide groove. The percussion drill is pushed up and down by thruster 2. The front side of the fixed frame is slidably connected to a splitting assembly through a guide rail. The splitting assembly is pushed up and down by thruster 1. A flat support assembly is provided at the bottom of the fixed frame for ensuring stable contact between it and large coal blocks.

[0008] The fine-tuning mechanism includes a swing cylinder 2 fixedly connected to the top of the fixed frame, the upper end of the swing cylinder 2 is fixedly connected to a connecting seat 2, the connecting seat 2 is rotatably connected to the swing cylinder 1, the swing cylinder 1 is fixedly connected to the connecting seat 1, and the connecting seat 1 is provided with a rotating component 2 for controlling its rotation.

[0009] The positioning mechanism includes a three-stage telescopic arm fixedly connected to a rotating component 2, the three-stage telescopic arm is controlled to extend and retract by a hydraulic cylinder 2, the rear end of the three-stage telescopic arm is hinged on the vertical arm, a hydraulic cylinder 1 is hinged between the vertical arm and the three-stage telescopic arm, a rotating component 1 for controlling its rotation is provided at the lower end of the vertical arm, a vertical lifting column is provided on the lower side of the rotating component, and the lower end of the vertical lifting column is fixedly connected to a fixed base.

[0010] Through the coordinated use of the coal breaking mechanism, the fine-adjusting mechanism and the positioning mechanism, large coal lumps of different shapes can be broken stably.

[0011] As a preferred technical solution of the present invention, the splitting assembly includes a mounting sleeve rotatably connected to a thruster, a gun head propulsion cylinder is fixedly connected inside the mounting sleeve, a splitting gun head is installed at the lower end of the gun head propulsion cylinder, and the gun head propulsion cylinder is provided with a gun head rotating component.

[0012] As a preferred technical solution of the present invention, a plurality of triangular fragments are welded to the side of the splitting gun head.

[0013] As a preferred technical solution of the present invention, the gun head rotating component includes a first bevel gear and a second bevel gear fixedly connected to the upper side of the mounting sleeve, the first bevel gear and the second bevel gear are half bevel gears with opposite tooth distribution, a third bevel gear is provided between the first bevel gear and the second bevel gear, the third bevel gear is only meshed with one of the first bevel gear and the second bevel gear at the same time, the third bevel gear is rotatably connected to the support block through a rotating rod, the support block is fixedly connected to the propeller one, the end of the rotating rod away from the third bevel gear is fixedly connected to gear three, gear three is meshed with racks distributed from top to bottom, and the rack is fixedly connected to the fixed frame.

[0014] As a preferred technical solution of the present invention, the flat support assembly includes a connecting frame fixedly connected to the connecting seat 2, the lower side of the connecting frame is fixedly connected to a support seat, the support seat is located at the bottom of the fixed frame, an upper partition and a lower partition are fixedly connected in layers from top to bottom in the support seat, an upper oil chamber is reserved between the upper partition and the upper wall of the support seat, a lower oil chamber is reserved between the upper partition and the lower partition, a plurality of through holes 1 are provided on the lower partition, an ejection column is slidably connected in the through hole 1, the lower end of the ejection column passes through the bottom wall of the support seat, a through hole 2 is provided on the upper partition corresponding to each through hole 1, a piston cover is fixedly connected to the upper end of the ejection column, the piston cover is slidably connected in the through hole 2, the diameter of the piston cover is larger than the diameter of the ejection column, the side walls of the support seat are installed with inlet and outlet oil pipes corresponding to the upper oil chamber and the lower oil chamber, the inlet and outlet oil pipes are connected to the external hydraulic system pipeline, and a through hole for the drill bit and the splitting gun head of the impact drill machine to pass through is provided on the right side of the support seat.

[0015] As a preferred technical solution of the present invention, a dustproof oil seal ring is installed at the contact position between the ejector column and the bottom wall of the support seat.

[0016] As a preferred technical solution of the present invention, the rotating component 2 includes a mounting base 2 fixedly connected to the front end of the three-stage telescopic arm, a connecting base 1 is rotatably connected to the mounting base 2 through a swivel seat, a gear ring 2 is fixedly connected to the swivel seat, the gear ring 2 is meshingly connected to a gear 2, the gear 2 is fixedly connected to the output end of the motor 2, and the motor 2 is fixedly connected to the mounting base 2.

[0017] As a preferred technical solution of the present invention, the rotating component 1 includes a mounting base 1 fixedly connected to the lower end of the vertical arm, the mounting base 1 is rotatably connected to the upper end of the vertical lifting column, a gear ring 1 is fixedly connected to a lower side of the mounting base, the gear ring 1 is meshingly connected to a gear 1, the gear 1 is fixedly connected to the output end of the motor 1, and the motor 1 is fixedly connected to the vertical lifting column.

[0018] As a preferred technical solution of the present invention, the vertical lifting column, thruster 1 and thruster 2 are controlled by hydraulic cylinders for extension and retraction.

[0019] Beneficial effects:

[0020] 1. The coal breaking mechanism adopted in the present invention can automatically and rapidly break large coal blocks through drilling and splitting actions, which significantly improves the efficiency of breaking coal blocks. Compared with traditional manual breaking, it has a higher degree of intelligence and is quick and convenient to use.

[0021] 2. The fine-tuning mechanism adopted in the present invention can make drilling and splitting produce multi-directional changes through the cooperation of rotating component 2, swing cylinder 1 and swing cylinder 2, and can adapt to various inclined surface contacts of special-shaped coal blocks, greatly reducing the difficulty of crushing coal blocks.

[0022] 3. The positioning mechanism adopted in the present invention can perform appropriate height adjustment for drilling and splitting to meet the high surface contact of various special-shaped coal blocks, further reducing the difficulty of crushing the coal blocks.

[0023] 4. The coal breaking mechanism, fine-tuning mechanism and positioning mechanism adopted in the present invention are used in combination, which can quickly and intelligently break various special-shaped and large coal blocks, significantly improve the crushing efficiency of coal blocks, facilitate the rapid transportation of coal blocks, have high working efficiency, and are suitable for use in large coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure from the first viewing angle of the present invention.

[0026] Figure 2 It is a right-side structural schematic diagram of the present invention.

[0027] Figure 3 The present invention Figure 2 Schematic diagram of the enlarged structure of area A in the middle.

[0028] Figure 4 It is a schematic diagram of the three-dimensional structure of the fine adjustment mechanism and the coal breaking mechanism of the present invention from the first perspective.

[0029] Figure 5 It is a schematic diagram of the three-dimensional structure of the fine adjustment mechanism and the coal breaking mechanism of the present invention from a second viewing angle.

[0030] Figure 6 It is a schematic diagram of the three-dimensional structure of the fine-tuning mechanism and the coal-breaking mechanism of the present invention from a third-angle perspective.

[0031] Figure 7 It is a schematic diagram of the internal cross-sectional structure of the support seat of the present invention.

[0032] In the figure: 1. Main control box; 2. Fixed base; 3. Adjustment mechanism; 31. Vertical lifting column; 32. Rotating assembly 1; 321. Gear ring 1; 322. Motor 1; 323. Gear 1; 324. Mounting seat 1; 33. Vertical arm; 34. Hydraulic cylinder 1; 35. Three-stage telescopic arm; 36. Hydraulic cylinder 2; 4. Fine adjustment mechanism; 41. Rotating assembly 2; 411. Gear ring 2; 412. Mounting seat 2; 413. Motor 2; 414. Gear 2; 42. Swinging cylinder 1; 43. Swinging cylinder 2; 44. Connecting seat 1; 45. Connecting seat 2; 5. Coal breaking mechanism; 51. Fixed frame; 52. Splitting assembly; 521. Gun Head thrust cylinder; 522, splitting gun head; 523, triangular body fragments; 524, gun head rotating component; 5241, first bevel gear; 5242, second bevel gear; 5243, rack; 5244, support block; 5245, third bevel gear; 5246, gear three; 525, mounting sleeve; 526, thruster one; 53, impact drill machine; 531, thruster two; 54, support seat; 541, oil inlet and outlet pipes; 55, flat support assembly; 551, piston cover; 552, dustproof oil seal ring; 553, upper partition; 554, upper oil chamber; 555, ejector column; 556, lower oil chamber; 557, lower partition; 6, connecting frame. DETAILED DESCRIPTION

[0033] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0034] See also Figure 1 A coal mine underground rock breaking robot comprises a fixed base 2 and a main control box 1 fixedly connected to the upper side of the fixed base 2, the main control box 1 is provided with a hydraulic control system and an electric control system, a coal breaking mechanism 5 for breaking large coal blocks is provided above the fixed base 2, a fine adjustment mechanism 4 for finely adjusting the position of the crushing mechanism according to the contact position characteristics of the coal blocks is provided on the upper side of the coal breaking mechanism 5, and a positioning mechanism 3 for adjusting the general position of the coal breaking mechanism 5 is provided between the fixed base 2 and the fine adjustment mechanism 4.

[0035] See also Figure 1 and Figure 7 The coal breaking mechanism 5 includes a fixed frame 51 arranged above the main control box 1, and an impact drill machine 53 is slidably connected to the right side of the fixed frame 51 through a slide groove. The impact drill machine 53 is pushed up and down by a thruster 2 531. A splitting assembly 52 is slidably connected to the front side of the fixed frame 51 through a guide rail. The splitting assembly 52 is pushed up and down by a thruster 1 526. A flat support assembly 55 is provided at the bottom of the fixed frame 51 for making it contact stably with large coal blocks.

[0036] During specific operation, the thruster 2 531 is used to control the lifting of the impact drill 53 to perform drilling, and the thruster 1 526 is used to control the lifting of the splitting assembly 52 to perform hole expansion.

[0037] See also Figure 1 and Figure 4 The fine-tuning mechanism 4 includes a swing cylinder 43 fixedly connected to the top of the fixed frame 51, and a connecting seat 45 is fixedly connected to the upper end of the swing cylinder 43. The connecting seat 45 is rotatably connected to the swing cylinder 42. The swing cylinder 42 is fixedly connected to the connecting seat 44. The connecting seat 44 is provided with a rotating component 41 for controlling its rotation.

[0038] During specific operation, the rotating component 2 41 and the swing cylinder 1 42 are used together to make the coal breaking mechanism 5 change in multiple directions to meet various inclined contact requirements of special-shaped coal blocks, and the swing cylinder 2 43 is used to replace the position of the impact drill 53 and the splitting component 52.

[0039] See also Figure 1 and Figure 2 The positioning mechanism 3 includes a three-stage telescopic arm 35 fixedly connected to the rotating component 2 41. The three-stage telescopic arm 35 is controlled to be telescopic by a hydraulic cylinder 2 36. The rear end of the three-stage telescopic arm 35 is hinged on the vertical arm 33. A hydraulic cylinder 1 34 is hinged between the vertical arm 33 and the three-stage telescopic arm 35. A rotating component 1 32 for controlling its rotation is provided at the lower end of the vertical arm 33. A vertical lifting column 31 is provided on the lower side of the rotating component 1 32. The lower end of the vertical lifting column 31 is fixedly connected to the fixed base 2.

[0040] During specific operation, the coal breaking mechanism 5 is controlled to extend horizontally through the three-stage telescopic arm 35, and is controlled to extend vertically through the vertical lifting column 31. The coal breaking mechanism 5 is further lifted by the extension of the hydraulic cylinder 34 to facilitate the contact between the crushing mechanism and the coal block, and the coal breaking mechanism 5 is controlled to rotate horizontally through the rotating component 32 to rotate the entire device to the position of the coal block conveyor belt.

[0041] By using the coal breaking mechanism 5, the fine adjustment mechanism 4 and the position adjustment mechanism 3 in coordination, large coal lumps of different shapes can be broken in a stable manner.

[0042] See also Figure 1 and Figure 5 The splitting assembly 52 includes a mounting sleeve 525 rotatably connected to a propeller 526, a gun head propulsion cylinder 521 is fixedly connected inside the mounting sleeve 525, a splitting gun head 522 is installed at the lower end of the gun head propulsion cylinder 521, and the gun head propulsion cylinder 521 is provided with a gun head rotating component 524.

[0043] See also Figure 5 A plurality of triangular fragments 523 are welded to the side of the splitting gun head 522 .

[0044] See also Figure 5 and Figure 6 The gun head rotating component 524 includes a first bevel gear 5241 and a second bevel gear 5242 fixedly connected to the upper side of the mounting sleeve 525, the first bevel gear 5241 and the second bevel gear 5242 are half bevel gears with opposite tooth distributions, a third bevel gear 5245 is provided between the first bevel gear 5241 and the second bevel gear 5242, the third bevel gear 5245 is meshed with only one of the first bevel gear 5241 and the second bevel gear 5242 at the same time, the third bevel gear 5245 is rotatably connected to the support block 5244 through a rotating rod, the support block 5244 is fixedly connected to the propeller 1 526, and a gear 3 5246 is fixedly connected to the end of the rotating rod away from the third bevel gear 5245, the gear 3 5246 is meshed with a rack 5243 distributed from top to bottom, and the rack 5243 is fixedly connected to the fixed frame 51.

[0045] During specific operation, the thruster 526 is used to control the splitting component 52 to contact the drill hole of the coal block, and the splitting gun head 522 is controlled to expand the hole through the gun head propulsion cylinder 521. The triangular fragments 523 are set, and the coal block is broken faster by utilizing the principle of stress concentration at the sharp part. When the thruster 526 controls the splitting component 52 to move downward, the gear three 5246 will rotate along the rack 5243, and drive the third bevel gear 5245 to rotate through the rotating rod. The third bevel gear 5245 intermittently meshes with the first bevel gear 5241 and the second bevel gear 5242 to control the reciprocating forward and reverse rotation of the mounting sleeve 525. The splitting component 52 is driven to reciprocate forward and reverse rotation as a whole through the mounting sleeve 525, so that the splitting gun head 522 continuously reciprocates forward and reverse rotation during hole expansion, and the expansion direction of the splitting gun head 522 is continuously changed, thereby further improving the expansion and crushing efficiency of the coal block.

[0046] See also Figure 4 and Figure 7The flat support assembly 55 includes a connecting frame 6 fixedly connected to the connecting seat 2 45, a supporting seat 54 is fixedly connected to the lower side of the connecting frame 6, and the supporting seat 54 is located at the bottom of the fixed frame 51. An upper partition 553 and a lower partition 557 are fixedly connected in layers from top to bottom in the supporting seat 54. An upper oil cavity 554 is left between the upper partition 553 and the upper wall of the supporting seat 54, and a lower oil cavity 556 is left between the upper partition 553 and the lower partition 557. A plurality of through holes 1 are provided on the lower partition 557, and an ejection column 555 is slidably connected in the through hole 1, and the lower end of the ejection column 555 passes through the supporting seat The bottom wall of 54, the upper partition 553 is provided with a second perforation corresponding to each perforation one, the upper end of the ejection column 555 is fixedly connected with a piston cover 551, the piston cover 551 is slidably connected in the second perforation, the diameter of the piston cover 551 is larger than the diameter of the ejection column 555, and the side walls of the support seat 54 are installed with oil inlet and outlet pipes 541 corresponding to the upper oil chamber 554 and the lower oil chamber 556. The oil inlet and outlet pipes 541 are communicated with the external hydraulic system pipeline (the external hydraulic system is not shown in the diagram), and the right side of the support seat 54 is provided with a through hole for the drill bit of the impact drill machine 53 and the splitting gun head 522 to pass through.

[0047] During specific operation, when the support seat 54 contacts the inclined surface of the coal block, there will be some concave and convex surfaces on the inclined surface. The inlet and outlet oil pipes 541 are controlled by the external hydraulic system to input or output hydraulic oil to the upper oil chamber 554 and the lower oil chamber 556. When the upper oil chamber 554 is continuously replenished with oil and the lower oil chamber 556 discharges oil, under the action of hydraulic pressure, the hydraulic oil will control the piston cover 551 to drive the ejection column 555 to move downward. Each ejection column 555 changes with the concave and convex surfaces to produce different elongation lengths, which can maintain stable contact between the support seat 54 and the inclined surface of the coal block. When the lower oil chamber 556 is continuously replenished with oil and the upper oil chamber 554 discharges oil, under the action of hydraulic pressure, the hydraulic oil will control the piston cover 551 to drive the ejection column 555 to move upward. Each ejection column 555 will automatically reset to the support seat 54 to make adaptive contact adjustment for the next coal block.

[0048] See also Figure 7 A dustproof oil seal ring 552 is installed at the contact position between the ejector column 555 and the bottom wall of the support seat 54.

[0049] During specific operation, the ejector column 555 is oil-sealed by the dustproof oil seal ring 552 to prevent oil leakage.

[0050] See also Figure 1 , Figure 2 and Figure 3 The rotating component 2 41 includes a mounting base 2 412 fixedly connected to the front end of the three-stage telescopic arm 35, a connecting base 1 44 is rotatably connected to the mounting base 2 412 through a swivel seat, a gear ring 2 411 is fixedly connected to the swivel seat, the gear ring 2 411 is meshingly connected to a gear 2 414, the gear 2 414 is fixedly connected to the output end of the motor 2 413, and the motor 2 413 is fixedly connected to the mounting base 2 412.

[0051] During specific operation, the motor 2 413 controls the gear 2 414 to rotate, driving the gear ring 2 411 to rotate and control the connecting seat 1 44 to rotate, so as to achieve vertical circumferential position control of drilling and splitting.

[0052] See also Figure 1 and Figure 2 The rotating assembly 32 includes a mounting seat 324 fixedly connected to the lower end of the vertical arm 33, the mounting seat 324 is rotatably connected to the upper end of the vertical lifting column 31, a gear ring 321 is fixedly connected to the lower side of the mounting seat 324, the gear ring 321 is meshingly connected to a gear 323, the gear 323 is fixedly connected to the output end of a motor 322, and the motor 322 is fixedly connected to the vertical lifting column 31.

[0053] During specific operation, the motor 322 controls the gear 323 to rotate, driving the gear ring 321 to rotate and control the mounting seat 324 to rotate on the vertical arm 33, so as to achieve horizontal circumferential azimuth control of drilling and splitting.

[0054] See also Figure 1 , Figure 4 and Figure 5 The vertical lifting column 31, thruster 1 526 and thruster 2 531 are controlled by hydraulic cylinders for extension and retraction.

[0055] When in use: S1: The whole device is installed on one side of the conveyor belt of the coal block through the fixed base 2. When the large coal block is conveyed to the use range of the device, the conveying is stopped, and then a suitable crushing surface for the coal block is found.

[0056] S2: The coal-breaking mechanism 5 is controlled to extend horizontally by the three-stage telescopic arm 35, and to extend vertically by the vertical lifting column 31. The coal-breaking mechanism 5 is further lifted by the extension of the hydraulic cylinder 1 34, and the coal-breaking mechanism 5 is controlled to rotate horizontally by the rotating component 1 32, so that the whole device rotates to the position of the coal block conveyor belt. The rotating component 2 41 and the swinging cylinder 1 42 are used in combination to make the coal-breaking mechanism 5 change in multiple directions to meet various inclined contact requirements of special-shaped coal blocks.

[0057] S3: After the position of the fixing frame 51 is adjusted to be appropriate, the fixing frame 51 is brought into contact with the inclined surface of the coal block. When the support seat 54 is in contact with the inclined surface of the coal block, there will be some concave and convex surfaces on the inclined surface. The inlet and outlet oil pipes 541 are controlled by the external hydraulic system to input or output hydraulic oil to the upper oil chamber 554 and the lower oil chamber 556. When the upper oil chamber 554 is continuously replenished with oil and the lower oil chamber 556 discharges oil, under the action of hydraulic pressure, the hydraulic oil will control the piston cover 551 to drive the ejection column 555 to move downward. Each ejection column 555 changes with the concave and convex surface, and produces different elongation lengths, which can maintain stable contact between the support seat 54 and the inclined surface of the coal block.

[0058] S4: Start the impact drill 53, and then control the impact drill 53 to move up and down through the propeller 531 to drill. After the drilling is completed, the impact drill 53 and the splitting assembly 52 are replaced by the swing cylinder 43. After the replacement is completed, the splitting assembly 52 is controlled to contact the drilling hole of the coal block through the propeller 526, and the splitting gun head 522 is controlled by the gun head propulsion cylinder 521 to expand the hole. When the propeller 526 controls the splitting assembly 52 to move down, the gear 3 5 246 will rotate along the rack 5243, and drive the third bevel gear 5245 to rotate through the rotating rod. The third bevel gear 5245 intermittently meshes with the first bevel gear 5241 and the second bevel gear 5242 to control the reciprocating forward and reverse rotation of the mounting sleeve 525. The splitting assembly 52 is driven to reciprocate forward and reverse rotation as a whole through the mounting sleeve 525, so that the splitting gun head 522 continuously reciprocates forward and reverse rotation during hole expansion, and the expansion direction of the splitting gun head 522 is continuously changed, thereby further improving the expansion and crushing efficiency of the coal blocks.

[0059] S5: After the coal block is expanded, the lower oil chamber 556 is continuously replenished with oil, and the upper oil chamber 554 discharges oil. Under the action of hydraulic pressure, the hydraulic oil will control the piston cover 551 to drive the ejection column 555 to move upward, and each ejection column 555 will automatically reset to the support seat 54 to make adaptive contact adjustment for the next coal block, and at the same time, the whole device is reset to its original state to crush the next coal block.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A coal mine rock-breaking robot, comprising a fixed base (2), and a main control box (1) fixedly connected to the upper side of the fixed base (2), the main control box (1) being provided with a hydraulic control system and an electric control system, characterized in that: A coal crushing mechanism (5) for crushing large coal lumps is provided above the fixed base (2); a fine adjustment mechanism (4) for finely adjusting the position of the crushing mechanism according to the contact position characteristics of the coal lumps is provided on the upper side of the coal crushing mechanism (5); and a position adjustment mechanism (3) for adjusting the general position of the coal crushing mechanism (5) is provided between the fixed base (2) and the fine adjustment mechanism (4); The coal breaking mechanism (5) comprises a fixed frame (51) arranged above the main control box (1); a percussion drill (53) is slidably connected to the right side of the fixed frame (51) through a slide groove; the percussion drill (53) is pushed up and down by a second thruster (531); a splitting assembly (52) is slidably connected to the front side of the fixed frame (51) through a guide rail; the splitting assembly (52) is pushed up and down by a first thruster (526); a flat support assembly (55) is provided at the bottom of the fixed frame (51) for making it contact with large coal blocks stably; The fine adjustment mechanism (4) comprises a second swing cylinder (43) fixedly connected to the top of a fixed frame (51), a second connection seat (45) fixedly connected to the upper end of the second swing cylinder (43), the second connection seat (45) being rotatably connected to the first swing cylinder (42), the first swing cylinder (42) being fixedly connected to the first connection seat (44), and the first connection seat (44) being provided with a second rotating assembly (41) for controlling its rotation; The positioning mechanism (3) comprises a three-stage telescopic arm (35) fixedly connected to the second rotating assembly (41), the three-stage telescopic arm (35) is controlled to be telescopic by the second hydraulic cylinder (36), the rear end of the three-stage telescopic arm (35) is hinged on the vertical arm (33), a hydraulic cylinder (34) is hinged between the vertical arm (33) and the three-stage telescopic arm (35), the lower end of the vertical arm (33) is provided with a rotating assembly (32) for controlling its rotation, the lower side of the rotating assembly (32) is provided with a vertical lifting column (31), and the lower end of the vertical lifting column (31) is fixedly connected to the fixed base (2); By using the coal breaking mechanism (5), the fine adjustment mechanism (4) and the position adjustment mechanism (3) in coordination, large coal blocks of different shapes can be stabilized and crushed. The splitting assembly (52) comprises a mounting sleeve (525) rotatably connected to a propeller (526), ​​a gun head propulsion cylinder (521) being fixedly connected inside the mounting sleeve (525), a splitting gun head (522) being mounted at the lower end of the gun head propulsion cylinder (521), and the gun head propulsion cylinder (521) being provided with a gun head rotating component (524); The gun head rotating component (524) includes a first bevel gear (5241) and a second bevel gear (5242) fixedly connected to the upper side of the mounting sleeve (525); the first bevel gear (5241) and the second bevel gear (5242) are half bevel gears with opposite tooth distributions; a third bevel gear (5245) is provided between the first bevel gear (5241) and the second bevel gear (5242); the third bevel gear (5245) is only meshed with one of the first bevel gear (5241) and the second bevel gear (5242) at the same time; the third bevel gear (5245) is rotatably connected to the support block (5244) through a rotating rod; the support block (5244) is fixedly connected to the propeller 1 (526); the rotating rod is away from the third bevel gear (524 5), one end of which is fixedly connected with a gear three (5246), which is meshedly connected with a rack (5243) distributed from top to bottom, and the rack (5243) is fixedly connected to the fixed frame (51); when the propeller one (526) controls the splitting assembly (52) to move downward, the gear three (5246) will rotate along the rack (5243), and drive the third bevel gear (5245) to rotate through the rotating rod, and the third bevel gear (5245) intermittently meshes with the first bevel gear (5241) and the second bevel gear (5242) to control the installation sleeve (525) to reciprocate forward and reverse rotation, and the installation sleeve (525) drives the splitting assembly (52) to reciprocate forward and reverse rotation as a whole, so that the splitting gun head (522) continuously reciprocates forward and reverse rotation when expanding the hole; The flat support assembly (55) comprises a connecting frame (6) fixedly connected to the connecting seat (45), a supporting seat (54) fixedly connected to the lower side of the connecting frame (6), the supporting seat (54) being located at the bottom of the fixing frame (51), an upper partition (553) and a lower partition (557) being fixedly connected in layers from top to bottom in the supporting seat (54), an upper oil cavity (554) being reserved between the upper partition (553) and the upper wall of the supporting seat (54), a lower oil cavity (556) being reserved between the upper partition (553) and the lower partition (557), a plurality of through holes (1) being provided on the lower partition (557), an ejection column (555) being slidably connected in the through hole (1), and the ejection column (556) being provided in the lower wall of the supporting seat (54). The lower end of the support seat (54) passes through the bottom wall of the support seat (54), and the upper partition (553) is provided with a second perforation corresponding to each perforation one. The upper end of the ejection column (555) is fixedly connected with a piston cover (551), and the piston cover (551) is slidably connected in the second perforation. The diameter of the piston cover (551) is larger than the diameter of the ejection column (555). The side wall of the support seat (54) is provided with an inlet and outlet oil pipe (541) corresponding to the upper oil chamber (554) and the lower oil chamber (556). The inlet and outlet oil pipe (541) is communicated with an external hydraulic system pipeline. The right side of the support seat (54) is provided with a through hole for the drill bit and the splitting gun head (522) of the impact drill machine (53) to pass through.

2. The underground coal mine rock-breaking robot according to claim 1, characterized in that: A plurality of triangular fragments (523) are welded to the side of the splitting gun head (522).

3. The underground coal mine rock-breaking robot according to claim 1, characterized in that: A dustproof oil seal ring (552) is installed at the contact position between the ejection column (555) and the bottom wall of the support seat (54).

4. The underground coal mine rock-breaking robot according to claim 1, characterized in that: The second rotating assembly (41) comprises a second mounting seat (412) fixedly connected to the front end of the third-stage telescopic arm (35); the first connecting seat (44) is rotatably connected to the second mounting seat (412) via a swivel seat; the swivel seat is fixedly connected to a second gear ring (411); the second gear ring (411) is meshingly connected to a second gear (414); the second gear (414) is fixedly connected to the output end of the second motor (413); and the second motor (413) is fixedly connected to the second mounting seat (412).

5. The underground coal mine rock-breaking robot according to claim 1, characterized in that: The rotating assembly (32) comprises a mounting seat (324) fixedly connected to the lower end of the vertical arm (33); the mounting seat (324) is rotatably connected to the upper end of the vertical lifting column (31); a gear ring (321) is fixedly connected to the lower side of the mounting seat (324); the gear ring (321) is meshingly connected to a gear (323); the gear (323) is fixedly connected to the output end of a motor (322); and the motor (322) is fixedly connected to the vertical lifting column (31).

6. The underground coal mine rock-breaking robot according to claim 1, characterized in that: The vertical lifting column (31), thruster 1 (526) and thruster 2 (531) are controlled by hydraulic cylinders for extension and retraction.

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