A monorail anchor support cooperative machine for comprehensive excavation working face

Abstract

The present invention discloses an electromechanical equipment integrating anchoring and supporting functions, including a suspension support system, a power system, an advance support system, an auxiliary transportation system, and an anchoring robot system. The suspension support system is fixed to the top of the coal mining tunnel by anchor rods to provide support for the system; the power system is installed at the end of the main beam of the system in the suspension support system; the advance support system is installed at the front end of the main beam of the system in the suspension support system; the auxiliary transportation system is installed on the main beam of the system in the suspension support system at the rear side of the advance support system; the anchoring robot system is installed on the main beam of the system in the suspension support system between the power system and the auxiliary transportation system. Furthermore, the present invention has good turning and slope changing performance, and the transportation efficiency of the equipment is high. In addition, the working platform of the anchoring robot has a buffering function, stable anchoring, and high operating efficiency.

Description

Technical Field

[0001] The present invention relates to the field of electromechanical equipment for comprehensive excavation working faces, and in particular to electromechanical equipment integrating anchoring and supporting functions, belonging to the range of anchoring and supporting integrated machines. Background Art

[0002] In order to solve the problem of "mining and excavation imbalance" in the coal mining process, a lot of manpower and material resources have been invested in the research and development of roadheaders, and great progress has been made. At present, the main factors restricting the further improvement of comprehensive mining production capacity are the slow speed of anchor support operation and low work efficiency.

[0003] Since the timing of tunnel excavation, anchoring and support work is relatively close, and the coordination and cooperation between the three directly determines the speed of tunnel excavation, some products now integrate excavation, anchoring and support mechanical equipment into one. Patents represented by announcement numbers 201721694586.1, 201711089051.6, 201711288542.3, 201910109402.8, etc., essentially publish an all-in-one machine that simply combines the anchoring mechanism and the temporary support mechanism on the tunneling machine. Although this type of all-in-one machine has the function of multi-process operation, each process cannot work at the same time, and the problem of coordinated operation of excavation, anchoring and support is not fundamentally solved.

[0004] The existing technical patent adopts a monorail crane travel mode and separates the anchoring equipment, support equipment and tunnel boring machine. Generally speaking, it can realize the efficient coordinated operation of tunneling, anchoring and support. However, the overall size of the equipment and the stability during transportation still have the following shortcomings:

[0005] 1) The equipment is large and its scope of use is limited.

[0006] In this patent, the anchoring device and supporting device are separated from the tunneling machine, and the overall equipment size is greatly reduced compared with the traditional tunneling, anchoring and supporting integrated machine. It is suitable for the tunnels of general mines, but the structure of its auxiliary transport mechanism is relatively complex and bulky, which is not conducive to the transportation of equipment and the scope of application will also be subject to certain restrictions.

[0007] 2) The equipment has poor turning maneuverability, which is not conducive to transportation.

[0008] This patent uses a monorail crane to transport equipment. The power system structure is simple, but the state of transportation is greatly affected by the working conditions of the tunnel roof. Especially when the tunnel has a bend or slope, the performance requirements of the power system on the monorail crane are very high. However, its power system is only a motor driving a power trolley through a reducer. The turning performance and anti-skid performance of the whole set of equipment during operation on the track are poor.

[0009] 3) The anchoring platform of the equipment is unstable, which is not conducive to anchoring operations.

[0010] The anchoring operation in the patent is achieved by an anchor robot installed on the anchor robot working platform, and the anchor robot working platform is installed at the end of the main beam of the anchor robot system through pins. The anchor drill will generate a large impact force during the drilling process and directly act on the working platform, but the platform has no buffering function. As a result, the anchor robot working platform cannot provide a stable working environment for the anchor drill, which is not conducive to the anchoring operation.

[0011] In view of the above problems, it is necessary to propose improvement plans for existing equipment to further improve the performance of "anchor support" work. Summary of the invention

[0012] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a new structure with anchoring and supporting operation functions, reduce the size of the equipment, improve the mobility of the equipment, and realize efficient anchoring and supporting operations in coal mining tunnels, and finally form a complete set of anchor support cooperative machine technology and equipment for comprehensive excavation working faces. The technical problem to be solved by the present invention is achieved by the following technical solutions:

[0013] A monorail anchor support cooperative machine for a comprehensive excavation working face comprises a suspension support system, a power system, an advance support system, an auxiliary transportation system, and an anchoring robot system; the suspension support system is fixed to the top of a coal mining tunnel by anchor rods to provide support for the entire set of equipment; the power system is installed at the end of the system main beam in the suspension support system; the advance support system is installed at the front end of the system main beam in the suspension support system; the auxiliary transportation system is installed on the system main beam in the suspension support system at the rear side of the advance support system; the anchoring robot system is installed on the system main beam in the suspension support system between the power system and the auxiliary transportation system.

[0014] The suspension support system includes a system main beam, a top beam, a support member, a track, and a rectangular pin; a structural member for installation is welded at the upper end of the track, and racks are welded on both sides of the lower end; the system main beam is installed on the track through a load-bearing trolley; the top beam has four holes and is fixed to the top of the coal mining tunnel through anchor rods; the upper end of the support member is connected to the top beam through the rectangular pin, and the lower end is connected to the track through the rectangular pin.

[0015] The power system includes a load-bearing trolley, a motor, a motor base, and a gear transmission system; the motor is installed on the motor base by bolts; the motor base is installed on the lower surface of the load-bearing trolley by bolts; the load-bearing trolley is installed on the track surface and can slide on the track surface; the gear transmission system includes a driven spur gear A, a driven worm wheel A, a worm A, a large bevel gear A, a small bevel gear A, a differential, a driving bevel gear A, a driven spur gear B, a driven worm wheel B, a worm B, a large bevel gear B, a small bevel gear B, and a bevel gear B; in order to facilitate the walking control of the equipment, the motor is a frequency conversion all-in-one machine.

[0016] The advance support system includes an advance support main beam, a support net bracket, a support net, and a support net hydraulic telescopic system; one end of the advance support main beam is connected to the system main beam through a pin, and the other end is connected to the support net bracket through a pin; one end of the support net hydraulic telescopic system is installed on the advance support main beam, and the other end is installed on the support net bracket; the support net is attached to the support net bracket; the support net hydraulic telescopic system can adjust the size of the support net according to the status of the supported equipment and the support conditions, thereby achieving efficient support.

[0017] The auxiliary transport system includes an auxiliary transport system support component A, an auxiliary transport system support component B, a supporting crossbeam, a supporting column A, a supporting column B, a sprocket chain transport device, a driving device, and a handling robot; the auxiliary transport system support component A and the auxiliary transport system support component B both include an upper suspension beam, a hydraulic cylinder, and a lower suspension beam; the upper suspension beam is connected to the main beam of the system through a pin; the sprocket chain transport device includes a sprocket, a chain, a movable block, a movable baffle, and an I-shaped baffle; the sprocket drives the chain to move by meshing; the driving device includes a bevel gear AA, a bevel gear BB, a servo motor AA, and a motor seat; the handling robot includes a mechanical claw A, a mechanical claw B, a front end actuator 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 claw A and the mechanical claw B are respectively welded on the left and right sides of the end of the front end actuator rod.

[0018] The anchor robot system includes an anchor robot hydraulic cylinder group, an anchor robot connection component, an anchor storage device, an anchor robot working platform, and an anchor robot; the anchor robot connection component includes a folding arm A, an anchor rack motor, a folding arm B, and an anchor robot connection component hydraulic cylinder group; one end of the folding arm A is connected to the main beam of the system through a pin, and the other end is connected to the folding arm B through a pin; the anchor robot working platform includes a middle motor stator, a left motor stator, a ground-supporting hydraulic cylinder group, a connecting block, a right motor stator, a motor mover, a folding arm connecting hydraulic cylinder, a folding Hydraulic cylinder A, folding hydraulic cylinder B; the ground-supporting hydraulic cylinder group is respectively installed on the lower bottom surface of the left motor stator and the lower bottom surface of the right motor stator; the anchoring robot includes an anchor drilling rig guide rail, a propulsion motor, a turntable, an anchoring boom, a motor A, a motor B, a motor C, a base box, a turntable, a mechanical arm base, a connecting rod A, a connecting rod B, an anchor drilling rig drive chain, and an anchor drilling rig; the anchor drilling rig is installed on the sliding rod of the anchor drilling rig guide rail through the through holes on both sides; the propulsion motor drives the anchor drilling rig to move in the anchor drilling rig guide rail through the anchor drilling rig drive chain.

[0019] A monorail anchor support cooperative machine for a comprehensive excavation working face, the working process of which includes the following steps:

[0020] S1: First, manually lay a section of track on the tunnel roof and install the device on the track;

[0021] S2: When the motor is working, the gear transmission system moves the power system on the track, pushing the main beam of the system connected to it, thereby realizing the movement of the entire equipment;

[0022] S3: After the whole set of equipment runs to the designated working position, the hydraulic telescopic system of the support net in the advance support system pushes the support net bracket to extend, thereby driving the support net to unfold; then, the auxiliary transport system support component A and the auxiliary transport system support component B in the auxiliary transport system act synchronously to place the sprocket chain transport device at the designated height. At the same time, the anchor robot connection component in the anchor robot system swings a certain angle under the joint action of the anchor robot connection component hydraulic cylinder group and the folding arm connection hydraulic cylinder, so that the anchor robot working platform drops a certain height and remains parallel to the ground. Then, the anchor robot working platform unfolds under the action of the folding hydraulic cylinder A and the folding hydraulic cylinder B, and the ground support hydraulic cylinder group immediately extends to complete the ground support action, which is to absorb and transmit the impact force generated by the anchor drilling rig during the drilling process to the ground, thereby making the platform more stable.

[0023] S4: The sprocket chain transport device in the auxiliary transport system transports the materials required during the operation to the designated location; the handling manipulator grabs the top beam to a specific location in the tunnel; the anchoring robot and the anchor storage device adjust their positions at the same time, so that an anchor in the anchor storage device is loaded onto the anchor drilling rig, completing the anchor loading action;

[0024] S5: The anchoring robot adjusts different postures to realize the anchoring operation of the anchor drill at different positions on the side and roof of the tunnel, and fixes the top beam to the roof through anchor rods to provide support for the entire set of equipment;

[0025] S6: The handling robot grabs the materials required for building the suspension support system and installs them on the top beam; the handling robot grabs the track, connects its upper end to the suspension support system, and connects its lower end to the front end of the previous track, completing the track laying;

[0026] S7: In the advance support system, auxiliary transport system, and anchoring robot system, the hydraulic system used to adjust the shape contracts, and the motor drives the entire set of equipment to move forward, continuing the above steps and repeating the anchoring and support operations.

[0027] Including the existing integrated digging and anchoring machine and the patent mentioned in this article (an integrated equipment with anchor protection and coordinated operation function), compared with the prior art, the beneficial effects of the present invention are:

[0028] 1) The auxiliary transportation system of the present invention has a compact structure and a small volume.

[0029] The auxiliary transport system of the present invention makes full use of the space between the advance support and anchor robot systems in the equipment, and adopts the sprocket chain transport mode, which not only reduces the size of the auxiliary transport device, but also increases the types and quantities of transported materials, and the volume of the whole set of equipment is smaller. The present invention is particularly suitable for use in narrow lanes in the "Lianghuai River Basin".

[0030] 2) The transmission system of the present invention adopts a gear rack and differential structure, and the equipment has good maneuverability.

[0031] In the present invention, racks are welded on both sides of the lower end of the track, and the motor drives the reducer meshing with the racks to operate, so that the equipment has good slope-changing performance. At the same time, a differential is installed in the reducer, and the inner and outer travel speeds of the equipment are different during the turning process, thereby achieving a smaller arc turn. Therefore, the present invention has good maneuverability and can move smoothly in a relatively harsh lane environment.

[0032] 3) The working platform of the anchoring robot in the present invention has a buffering function, and the anchoring process is smooth.

[0033] The anchor robot on the upper end of the anchor robot working platform of the present invention is electromagnetically driven to the platform, so the motion and control accuracy is higher, which is conducive to the accurate positioning and drilling of the anchor drill; the lower end of the platform is connected to the hydraulic system. When the anchor drill is working, the bottom end of the hydraulic system supports the ground, thereby absorbing the impact force generated during the drilling process and transmitting it to the ground, making the platform more stable, and providing good working conditions for the anchor drill. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of the overall structure (working state) of the present invention;

[0035] Figure 2 Schematic diagram of the overall structure of the present invention (non-working state);

[0036] Figure 3 Schematic diagram of the main beam structure of the system of the present invention;

[0037] Figure 4 Schematic diagram of the suspension support system of the present invention;

[0038] Figure 5 Schematic diagram of the track structure of the present invention;

[0039] Figure 6 A schematic diagram of the power system structure of the present invention;

[0040] Figure 7 A schematic diagram of the structure of the power system transmission assembly of the present invention;

[0041] Figure 8 A schematic diagram of the partial structure of the power system transmission assembly of the present invention;

[0042] Fig. 9 Schematic diagram of the structure (working state) of the advance support system of the present invention;

[0043] Fig.10 Schematic diagram of the structure of the advance support system of the present invention (non-working state);

[0044] Fig.11 Schematic diagram of the external support structure of the auxiliary transportation system of the present invention;

[0045] Fig.12 A schematic diagram of the partial structure of the auxiliary transportation system of the present invention;

[0046] Fig.13 A schematic diagram of the structure of the supporting assembly of the auxiliary transportation system of the present invention;

[0047] Fig.14 A schematic diagram of the structure of the sprocket chain transport device in the auxiliary transport system of the present invention;

[0048] Fig.15 A schematic diagram of the sprocket structure of the auxiliary transport system of the present invention;

[0049] Fig.16 A schematic diagram of the structure of the driving device in the auxiliary transportation system of the present invention;

[0050] Fig.17 A schematic diagram of the structure of the handling robot in the auxiliary transportation system of the present invention;

[0051] Fig.18 Schematic diagram of the connection relationship between the main beam of the system of the present invention and the anchoring robot system;

[0052] Fig.19 Schematic diagram of the anchor robot system structure (non-working state) of the present invention;

[0053] Fig. 20 Schematic diagram of the anchor robot system structure (working state) of the present invention;

[0054] Fig.21 A schematic diagram of the structure of the anchoring robot working platform of the present invention;

[0055] Fig. 22 Schematic diagram of the structure of the anchoring robot of the present invention.

[0056] The numbers in the figure represent: 1. suspension support system; 2. power system; 3. advance support system; 4. auxiliary transportation system; 5. anchor robot system; 1-1. system main beam; 1-2. top beam; 1-3. support member; 1-4. track; 1-5. rectangular pin; 2-1. load-bearing trolley; 2-2. motor base; 2-3. motor; 2-4. gear transmission system; 2-4-1. driven spur gear A; 2-4-2. driven worm gear A; 2-4-3. worm A; 2-4-4. large bevel gear A; 2-4-5. small bevel gear A; 2-4-6. differential; 2-4-7. driving bevel gear A; 2-4-8. bevel gear B; 2-4-9. small bevel gear B; 2-4-10. large bevel gear B; 2-4 -11. Worm B; 2-4-12. Driven worm gear B; 2-4-13. Driven spur gear B; 3-1. Advance support main beam; 3-2. Support net bracket; 3-3. Support net; 3-4. Support net hydraulic telescopic system; 4-1. Auxiliary transport system support assembly A; 4-2. Support beam; 4-3. Support column A; 4-4. Support column B; 4-5. Auxiliary transport system support assembly B; 4-5-1. Lower suspension beam; 4-5-2. Hydraulic cylinder; 4-5-3. Upper suspension beam; 4-6. Sprocket chain transport device; 4-6-1. Chain; 4-6-2. Movable block; 4-6-3. I-shaped block rod; 4-6-4. Movable baffle, 4-6-5. Sprocket; 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 seat; 4-8. Handling manipulator; 4-8-1. Servo motor C; 4-8-2. Mechanical claw A; 4-8-3. Mechanical claw B; 4-8-4. Front end actuator; 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. Anchor robot hydraulic cylinder group; 5-2. Anchor robot connection assembly; 5-2-1. Folding arm A; 5-2-2. Anchor rack motor; 5-2-3. Folding arm B; 5-2-4. Anchor robot connection assembly hydraulic cylinder group; 5-3. Anchor robot working platform; 5-3-1. Folding hydraulic cylinder A; 5-3-2. Folding hydraulic cylinder B; 5-3-3. Middle motor stator; 5-3-4. Left motor stator; 5-3-5. Ground support hydraulic cylinder group; 5-3-6. Connecting block; 5-3-7. Right motor stator; 5-3-8. Motor mover; 5-3-9. Folding arm connecting hydraulic cylinder; 5-4. Anchoring robot; 5-4-1. Anchor drilling rig guide rail; 5-4-2. Propulsion motor; 5-4-3. Turntable; 5-4-4. Anchoring boom; 5-4-5. Motor C; 5-4-6. Motor B; 5-4-7. Motor A; 5-4-8. Base box; 5-4-9. Turntable; 5-4-10. Robot arm base; 5-4-11. Connecting rod A; 5-4-12.Connecting rod B; 5-4-13. Anchor drill driving chain; 5-4-14. Anchor drill; 5-5. Anchor storage device. DETAILED DESCRIPTION

[0057] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0058] See also Figure 1 , Figure 2 A monorail anchor support cooperative machine for a comprehensive excavation working face comprises a suspension support system 1, a power system 2, an advance support system 3, an auxiliary transportation system 4, and an anchoring robot system 5; the suspension support system 1 is fixed to the top of the coal mining tunnel by anchor rods to provide support for the entire set of equipment; the power system 2 is installed at the end of the system main beam 1-1 in the suspension support system 1; the advance support system 3 is installed at the front end of the system main beam 1-1 in the suspension support system 1; the auxiliary transportation system 4 is installed on the system main beam 1-1 in the suspension support system 1 at the rear side of the advance support system 3; the anchoring robot system 5 is installed on the system main beam 1-1 in the suspension support system 1 between the power system 2 and the auxiliary transportation system 4; the monorail anchor support cooperative machine for a comprehensive excavation working face is characterized in that, when not in working state, the advance support system 3, the auxiliary transportation system 4, and the anchoring robot system 5 can all be retracted, thereby greatly reducing the overall spatial volume of the system for easy transportation.

[0059] See also Figure 3 , Figure 4 , Figure 5 The suspension support system 1 includes a system main beam 1-1, a top beam 1-2, a support member 1-3, a track 1-4, and a rectangular pin 1-5; a structural member for installation is welded at the upper end of the track 1-4, and racks are welded on both sides of the lower end; the system main beam 1-1 is installed on the track 1-4 through the load-bearing trolley 2-1; the top beam 1-2 has four holes, and is fixed to the top of the coal mining tunnel by anchor rods; the upper end of the support member 1-3 is connected to the top beam 1-2 through the rectangular pin 1-5, and the lower end is connected to the track 1-4 through the rectangular pin 1-5.

[0060] See also Figure 6 , Figure 7 , Figure 8The power system 2 includes a load-bearing trolley 2-1, a motor base 2-2, a motor 2-3, and a gear transmission system 2-4; the motor 2-3 is mounted on the motor base 2-2 by bolts; the motor base 2-2 is mounted on the lower surface of the load-bearing trolley 2-1 by bolts; the load-bearing trolley 2-1 is mounted on the track 1-4 and can slide on the surface of the track 1-4; the gear transmission system 2-4 includes a driven spur gear A2-4-1, a driven worm gear A2-4-2, a worm A2-4-3, a large bevel gear A2-4-4, a small bevel gear A2-4-5, a differential 2-4-6, an active bevel gear A2-4-7, a bevel gear Gear B2-4-8, small bevel gear B2-4-9, large bevel gear B2-4-10, worm B2-4-11, driven worm gear B2-4-12, driven spur gear B2-4-13; the output shaft of the motor 2-3 is connected to the active bevel gear A2-4-7 through a coupling; the teeth of the active bevel gear A2-4-7 and the bevel gear B2-4-8 are matched; the bevel gear B2-4-8 is coaxial with the differential 2-4-6; the differential 2-4-6 transmits motion to the small bevel gear A2-4-5 and the small bevel gear B2-4-9 through the shaft respectively; the small bevel gear A2-4-5 and the large bevel gear A2- 4-4 teeth match; the large bevel gear A2-4-4 is coaxial with the worm A2-4-3; the worm A2-4-3 is matched with the driven worm wheel A2-4-2; the driven worm wheel A2-4-2 is coaxial with the driven spur gear A2-4-1; the driven spur gear A2-4-1 is matched with the rack teeth on one side of the track 1-4; the small bevel gear B2-4-9 is matched with the large bevel gear B2-4-10; the large bevel gear B2-4-10 is coaxial with the worm B2-4-11; the worm B2-4-11 is matched with the driven worm wheel B2-4-12; the driven worm wheel B2- 4-12 is coaxial with the driven spur gear B2-4-13; the driven spur gear B2-4-13 is installed in cooperation with the rack teeth on the other side of the track 1-4; the driven spur gear A2-4-1 and the driven spur gear B2-4-13 are cooperated with the rack of the track 1-4 on both sides, characterized in that it ensures that the system has good slope change characteristics; the differential 2-4-6 is characterized in that when the equipment turns, the driven spur gear A2-4-1 and the driven spur gear B2-4-13 rotate at different speeds, so that the equipment has stable turning characteristics; in order to facilitate the walking control of the equipment, the motor 2-3 is a frequency conversion integrated machine.

[0061] See also Fig. 9 , Fig.10The advance support system 3 includes an advance support main beam 3-1, a support net bracket 3-2, a support net 3-3, and a support net hydraulic telescopic system 3-4; one end of the advance support main beam 3-1 is connected to the system main beam 1-1 through a pin, and the other end is connected to the support net bracket 3-2 through a pin; one end of the support net hydraulic telescopic system 3-4 is installed on the advance support main beam 3-1, and the other end is installed on the support net bracket 3-2; the support net 3-3 is attached to the support net bracket 3-2, and the support net hydraulic telescopic system 3-4 can adjust the size of the support net 3-3 according to the state of the supported equipment and the required support conditions, thereby achieving efficient support.

[0062] See also Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig.17The auxiliary transport system 4 includes an auxiliary transport system support component A4-1, an auxiliary transport system support component B4-5, a support beam 4-2, a support column A4-3, a support column B4-4, a sprocket chain transport device 4-6, a drive device 4-7, and a handling manipulator 4-8; the auxiliary transport system support component A4-1 and the auxiliary transport system support component B4-5 both include an upper suspension beam 4-5-3, a hydraulic cylinder 4-5-2, and a lower suspension beam 4-5-1; the upper suspension beam 4-5-3 is connected to the system main beam 1-1 through a pin; the lower suspension beam 4-5-1 is connected to the support beam 4-2 through an axis; one end of the hydraulic cylinder 4-5-2 is installed on the upper suspension beam 4- 5-3, and the other end is installed on the lower suspension beam 4-5-1; the support column A4-3 and the support column B4-4 are installed on the system main beam 1-1 at one end by a pin on both sides, and the other end is installed on the end of the support beam 4-2 by a pin; the sprocket chain transport device 4-6 includes a chain 4-6-1, a movable block 4-6-2, an I-shaped block rod 4-6-3, a movable baffle 4-6-4, and a sprocket 4-6-5; the sprocket 4-6-5 drives the chain 4-6-1 to move by meshing; the movable block 4-6-2 and the movable baffle 4-6-4 are connected to the chain 4-6-1 by welding, and are characterized in that materials of different types are stored; the I-shaped block rod One end of 4-6-3 is connected to the movable stopper 4-6-2 through a pin, and the other end is embedded in the slide groove of the movable baffle 4-6-4, and is characterized in that the I-shaped stopper 4-6-3 can slide in the slide groove of the movable baffle 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 seat 4-7-4; the sprocket 4-6-5 is connected to the bevel gear AA4-7-1 of the driving device 4-7 through a shaft, the servo motor AA4-7-3 is connected to the bevel gear BB4-7-2 through a coupling, and the bevel gear BB4-7-2 and the bevel gear AA4-7-1 are connected through teeth. Cooperating with the transmission power, that is, the servo motor AA4-7-3 drives the chain 4-6-1 to rotate, thereby realizing the transportation of materials, the servo motor AA4-7-3 is installed on the motor seat 4-7-4 welded on one side of the supporting beam 4-2; the handling robot 4-8 includes a mechanical claw A4-8-2, a mechanical claw B4-8-3, a front end actuator 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 claw A4-8-2 and the mechanical claw B4-8-3 are respectively welded on the left and right sides of the end of the front end actuator rod 4-8-4;The front-end actuator rod 4-8-4 is connected to the joint A4-8-6 through the servo motor A4-8-5 and its reducer; the joint A4-8-6 is connected to the joint B4-8-8 through the servo motor B4-8-7 and its reducer; the joint B4-8-8 is connected to the joint C4-8-9 through the servo motor C4-8-1 and its reducer; the bottom of the joint C4-8-9 is welded to the front end of the main beam 1-1 of the system. ;

[0063] See also Fig.18 , Fig.19 , Fig. 20 , Fig.21 , Fig. 22The anchor robot system 5 includes an anchor robot hydraulic cylinder group 5-1, an anchor robot connecting component 5-2, an anchor robot working platform 5-3, an anchor robot 5-4, and an anchor storage device 5-5; the anchor robot connecting component 5-2 includes a folding arm A5-2-1, an anchor rack motor 5-2-2, a folding arm B5-2-3, and an anchor robot connecting component hydraulic cylinder group 5-2-4; one end of the folding arm A5-2-1 is connected to the system main beam 1-1 through a pin, and the other end is connected to the folding arm B5-2-3 through a pin; the anchor robot hydraulic cylinder group 5-1 is symmetrically arranged on both sides of the system main beam 1-1, and the anchor robot hydraulic cylinder group 5-1 One end is connected to the system main beam 1-1 through a pin, and the other end is connected to the folding arm A5-2-1 through a pin; the hydraulic cylinder group 5-2-4 of the anchor robot connection assembly is two sets of hydraulic systems, one end is installed on the folding arm A5-2-1, and the other end is installed on the folding arm B5-2-3; the anchor rack motor 5-2-2 is fixed to the inner side of the folding arm A5-2-1 by bolts; the output shaft of the anchor rack motor 5-2-2 is connected to the anchor storage device 5-5 to control its rotation; the anchor robot working platform 5-3 includes an intermediate motor stator 5-3-3, a left motor stator 5-3-4, a ground-supporting hydraulic cylinder group 5-3-5, a connecting block 5-3-6, The right motor stator 5-3-7, the motor mover 5-3-8, the folding arm connecting hydraulic cylinder 5-3-9, the folding hydraulic cylinder A5-3-1, and the folding hydraulic cylinder B5-3-2; one end of the folding arm connecting hydraulic cylinder 5-3-9 is connected to the folding arm B5-2-3 through a pin, and the other end is connected to 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 folding hydraulic cylinder A5-3-1 is installed on the left motor stator 5-3-4, and the other end is installed on the middle motor stator 5-3-3; One end of the hydraulic cylinder B5-3-2 is installed on the right motor stator 5-3-7, and the other end is installed on the middle motor stator 5-3-3; the ground-supporting hydraulic cylinder group 5-3-5 is respectively installed on the lower bottom surface of the left motor stator 5-3-4 and the lower bottom surface of the right motor stator 5-3-7; the motor mover 5-3-8 is embedded in the edge grooves 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 mover 5-3-8 can move in the edge grooves of the left motor stator 5-3-4, the middle motor stator 5-3-3, and the right motor stator 5-3-7 when powered on;The anchoring robot 5-4 includes an anchor drilling rig guide rail 5-4-1, a propulsion motor 5-4-2, a rotating table 5-4-3, an anchoring boom 5-4-4, a motor C5-4-5, a motor B5-4-6, a motor A5-4-7, a base box 5-4-8, a rotating table 5-4-9, a mechanical arm base 5-4-10, a connecting rod A5-4-11, a connecting rod B5-4-12, an anchor drilling rig drive chain 5-4-13, and an anchor drilling rig 5-4-14; the anchoring robot 5-4 is fixed to the motor mover 5-3-8 by bolts; the lower end of the anchoring robot 5-4 The base box 5-4-8 fixes the motor A5-4-7 by bolts; the motor A5-4-7 drives the turntable 5-4-9 to rotate through the worm gear installed in the base box 5-4-8; the robot base 5-4-10 is fixed to the turntable 5-4-9 by bolts; the anchoring arm 5-4-4 cooperates with the robot base 5-4-10 through a bearing; the motor B5-4-6 is fixed to the surface of one side of the robot base 5-4-10 by bolts; the output shaft of the motor B5-4-6 is connected to the robot base 5-4-10 by a bearing installed on the robot base 5-4- The bearing on 10 cooperates with and connects the anchoring arm 5-4-4; the motor C5-4-5 is fixed to the inner side of the anchoring arm 5-4-4 by bolts; the output shaft of the motor C5-4-5 cooperates with the bearing and is installed on the inner surface of the anchoring arm 5-4-4; the output shaft of the motor C5-4-5 is connected to the mechanical arm base 5-4-10 by a bearing; the end of the output shaft of the motor C5-4-5 is fixed to the connecting rod A5-4-11; one end of the connecting rod B5-4-12 is connected to the boss shaft at the end of the connecting rod A5-4-11 by a bearing, and the bearing end cover is connected to the connecting rod A5-4-11 by a bearing. The thrust motor 5-4-2 is fixed to the connecting rod B5-4-12 by bolts, and the other end is connected to the boss shaft at the end of the rotating table 5-4-3 by a bearing, and the bearing end cover is fixed to the connecting rod B5-4-12 by bolts; the thrust motor 5-4-2 is installed on the lower side of the anchor drilling rig guide rail 5-4-1; the anchor drilling rig 5-4-14 is installed on the sliding rod of the anchor drilling rig guide rail 5-4-1 through the through holes on both sides; the thrust motor 5-4-2 drives the anchor drilling rig 5-4-14 to move in the anchor drilling rig guide rail 5-4-1 through the anchor drilling rig drive chain 5-4-13. ;

[0064] A monorail anchor support cooperative machine for a comprehensive excavation working face, the working process of which includes the following steps:

[0065] S1: First, manually lay a section of track 1-4 on the top plate of the tunnel, and install the device on the track 1-4;

[0066] S2: When the motor 2-3 is working, the power system 2 is moved on the track 1-4 through the gear transmission system 2-4, pushing the system main beam 1-1 connected thereto, thereby realizing the movement of the entire set of equipment;

[0067] S3: After the whole set of equipment runs to the designated working position, the support net hydraulic telescopic system 3-4 in the advance support system 3 pushes the support net bracket 3-2 to extend, thereby driving the support net 3-3 to unfold; then, the auxiliary transport system support component A4-1 and the auxiliary transport system support component B4-5 in the auxiliary transport system 4 act synchronously to make the sprocket chain transport device 4-6 located at the designated height. At the same time, the anchor robot connection component 5-2 in the anchor robot system 5 swings a certain angle under the joint action of the anchor robot connection component hydraulic cylinder group 5-2-4 and the folding arm connection hydraulic cylinder 5-3-9, so that the anchor robot working platform 5-3 drops a certain height and remains parallel to the ground. Then, the anchor robot working platform 5-3 is unfolded under the action of the folding hydraulic cylinder A5-3-1 and the folding hydraulic cylinder B5-3-2, and the ground supporting hydraulic cylinder group 5-3-5 is extended immediately to complete the ground supporting action, which has the function of absorbing and transmitting the impact force generated by the anchor drilling rig 5-4-14 during the drilling process to the ground, thereby making the platform more stable;

[0068] S4: The sprocket chain transport device 4-6 in the auxiliary transport system 4 transports the materials required in the operation process to the designated position; the handling manipulator 4-8 grabs the top beam 1-2 to a specific position in the tunnel; the anchoring robot 5-4 and the anchor storage device 5-5 adjust their positions at the same time, so that an anchor in the anchor storage device 5-5 is loaded onto the anchor drilling machine 5-4-14, completing the anchor loading action;

[0069] S5: The anchoring robot 5-4 adjusts different postures to realize the anchoring operation of the anchor drilling machine 5-4-14 at different positions on the side and roof of the tunnel, and fixes the top beam 1-2 on the roof through anchor rods to provide support for the whole set of equipment;

[0070] S6: The handling manipulator 4-8 grabs the materials required for building the suspension support system 1 and installs them on the top beam 1-2; the handling manipulator 4-8 grabs the track 1-4 so that its upper end is connected to the suspension support system 1, and its lower end is connected to the front end of the previous track 1-4, thus completing the track laying;

[0071] S7: The hydraulic system for adjusting the shape in the advance support system 3, the auxiliary transport system 4 and the anchoring robot system 5 contracts, and the motor 2-3 drives the entire set of equipment to move forward, and the above steps are continued to repeat the anchoring and support operations.

[0072] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A monorail anchor support cooperative machine for a comprehensive excavation working face, characterized by: It includes a suspension support system, a power system, an advance support system, an auxiliary transportation system, and an anchoring robot system; the suspension support system is fixed to the top of the coal mining tunnel by anchor rods to provide support for the entire set of equipment; the power system is installed at the end of the system main beam in the suspension support system; the advance support system is installed at the front end of the system main beam in the suspension support system; the auxiliary transportation system is installed on the system main beam in the suspension support system at the rear side of the advance support system; the anchoring robot system is installed on the system main beam in the suspension support system between the power system and the auxiliary transportation system; The suspension support system includes a system main beam, a top beam, a support member, a track, and a rectangular pin; a structural member for installation is welded on the upper end of the track, and racks are welded on both sides of the lower end; the system main beam is installed on the track through a load-bearing trolley; the top beam has four holes and is fixed to the top of the coal mining tunnel through anchor rods; the upper end of the support member is connected to the top beam through the rectangular pin, and the lower end is connected to the track through the rectangular pin; The advanced support system includes an advanced support main beam, a support net bracket, a support net, and a support net hydraulic telescopic system; One end of the advance support main beam is connected to the system main beam through a pin, and the other end is connected to the support net bracket through a pin; one end of the support net hydraulic telescopic system is installed on the advance support main beam, and the other end is installed on the support net bracket; the support net is attached to the support net bracket; the support net hydraulic telescopic system can adjust the size of the support net according to the state of the supported equipment and the support conditions, so as to achieve efficient support; The auxiliary transport system includes an auxiliary transport system support component A, an auxiliary transport system support component B, a support beam, a support column A, a support column B, a sprocket chain transport device, a drive device, and a handling robot; the auxiliary transport system support component A and the auxiliary transport system support component B both include an upper suspension beam, a hydraulic cylinder, and a lower suspension beam; the upper suspension beam is connected to the main beam of the system through a pin.

2. The monorail anchor support cooperative machine for a comprehensive excavation working face according to claim 1 is characterized in that: The power system includes a load-bearing trolley, a motor, a motor base, and a gear transmission system; the motor is installed on the motor base by bolts; the motor base is installed on the lower surface of the load-bearing trolley by bolts; the load-bearing trolley is installed on the track surface and can slide on the track surface; the gear transmission system includes a driven spur gear A, a driven worm wheel A, a worm A, a large bevel gear A, a small bevel gear A, a differential, a driving bevel gear A, a driven spur gear B, a driven worm wheel B, a worm B, a large bevel gear B, a small bevel gear B, and a bevel gear B; in order to facilitate the walking control of the equipment, the motor is a frequency conversion all-in-one machine.

3. The monorail anchor support cooperative machine for a comprehensive excavation working face according to claim 1 is characterized in that: The sprocket chain transport device includes a sprocket, a chain, a movable block, a movable baffle, and an I-shaped baffle rod; the sprocket drives the chain to move by meshing; the driving device includes a bevel gear AA, a bevel gear BB, a servo motor AA, and a motor seat; the handling robot includes a mechanical claw A, a mechanical claw B, a front end actuator 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 claw A and the mechanical claw B are respectively welded on the left and right sides of the end of the front end actuator rod.

4. The monorail anchor support cooperative machine for a comprehensive excavation working face according to claim 1 is characterized in that: The anchoring robot system includes an anchoring robot hydraulic cylinder group, an anchoring robot connecting component, an anchor storage device, an anchoring robot working platform, and an anchoring robot; the anchoring robot connecting component includes a folding arm A, an anchor frame motor, a folding arm B, and an anchoring robot connecting component hydraulic cylinder group; one end of the folding arm A is connected to the main beam of the system through a pin, and the other end is connected to the folding arm B through a pin.

5. The monorail anchor support cooperative machine for comprehensive excavation working face according to claim 4 is characterized in that: The working platform of the anchoring robot includes a middle motor stator, a left motor stator, a ground-supporting hydraulic cylinder group, a connecting block, a right motor stator, a motor mover, a folding arm connecting hydraulic cylinder, a folding hydraulic cylinder A, and a folding hydraulic cylinder B; the ground-supporting hydraulic cylinder group is respectively installed on the lower bottom surface of the left motor stator and the lower bottom surface of the right motor stator; the anchoring robot includes an anchor drilling rig guide rail, a propulsion motor, a rotating table, an anchoring boom, a motor A, a motor B, a motor C, a base box, a turntable, a mechanical arm base, a connecting rod A, a connecting rod B, an anchor drilling rig drive chain, and an anchor drilling rig; the anchor drilling rig is installed on the sliding rod of the anchor drilling rig guide rail through through holes on both sides; the propulsion motor drives the anchor drilling rig to move in the anchor drilling rig guide rail through the anchor drilling rig drive chain.

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