Transport equipment and tunnel mining equipment

Abstract

The present invention provides a transport device and a tunnel mining equipment. The transport device is used for the tunnel mining equipment and comprises: a transport part, which can be fixedly installed on the tunnel mining equipment and is used to transport anchor rods; an accessory part, which is located above the transport part and is fixedly installed on the tunnel mining equipment and is used to distribute accessories to the anchor rods. The transport part is used to transport the anchor rods. When the anchor rods move to a designated position below the accessory part, the accessory part installs the accessories on the anchor rods. The anchor rods with the accessories installed are continuously transported to a silo of an automatic drilling rig. Through the cooperation between the transport part and the accessory part, the anchor rods can be automatically transported, and the accessories are automatically installed. Finally, they are automatically installed in the silo of the drilling rig. No manual labor is required in the whole process, and automatic loading of the anchor rods can be realized, which greatly reduces labor costs and improves work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel excavation support equipment, and in particular to a transportation device and tunnel mining equipment. Background Art

[0002] At present, after the traditional continuous miner cuts the coal seam, the tunnel support work is almost entirely done manually, including manual loading of anchor rods. However, the tunnel support work not only endangers personal safety, but also takes up a lot of labor costs and reduces work efficiency. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a transport device is provided according to an embodiment of the first aspect of the present invention.

[0005] According to an embodiment of the second aspect of the present invention, a tunnel mining device is provided.

[0006] In view of this, according to the first aspect of the present invention, the present invention provides a transportation device for tunnel mining equipment, comprising: a transportation part, which can be fixedly installed on the tunnel mining equipment, and the transportation part is used to transport anchor rods; an accessory part, which is located above the transportation part, and the accessory part is fixedly installed on the tunnel mining equipment, and the accessory part is used to distribute accessories to anchor rods.

[0007] The transportation device provided by the present invention includes a transportation part and an accessory part, both of which are fixedly installed on the tunnel mining equipment, and the accessory part is located above the transportation part, wherein the transportation part is used to transport anchor rods, and when the anchor rods move to a designated position below the accessory part, the accessory part installs the accessories on the anchor rods, and the anchor rods with the accessories installed continue to be transported to the silo of the automatic drilling rig. Through the cooperation between the transportation part and the accessory part, the anchor rods can be automatically transported, and the accessories are automatically installed, and finally automatically installed in the silo of the drilling rig. No manual labor is required throughout the process, and automatic loading of anchor rods can be realized, which greatly reduces labor costs and improves work efficiency.

[0008] The transport device in the above technical solution provided by the present invention may also have the following additional technical features:

[0009] In the above technical scheme, further, the transportation part includes: a mounting plate, one side of which can be fixedly installed on the tunnel mining equipment; a transmission component, which is arranged on the mounting plate and connected to the mounting plate; a manipulator component, which can move relative to the transmission component, and the manipulator component is used to transport anchor rods.

[0010] In this technical solution, the transportation part includes a mounting plate, a transmission component and a manipulator component, wherein the transmission component is arranged on the mounting plate, and the manipulator component can move relative to the transmission component. By setting the transmission component, the manipulator component can transport the anchor rod by moving on the transmission component, thereby realizing automatic transportation of the anchor rod, reducing labor costs and improving work efficiency.

[0011] In the above technical solution, further, the manipulator assembly includes: a lifting part, which can move relative to the transmission assembly; a rotating part, one end of which is fixedly connected to the lifting part; and a grasping part, which is fixedly connected to the other end of the rotating part and is used to grasp the anchor rod.

[0012] In this technical solution, the manipulator assembly includes a lifting part, a rotating part and a grasping part, wherein the grasping part can grasp the anchor rod, that is, by setting the grasping part, the manipulator assembly can automatically grasp the anchor rod from the silo equipped with the anchor rod, and realize the automatic transmission of the anchor rod by moving the lifting part on the transmission assembly. Through the above-mentioned structural setting, the manipulator assembly is compact in structure, and the manipulator assembly can make translational movement relative to the transmission assembly, and can realize the up and down movement of the manipulator assembly within a certain range through the lifting part, so that the transportation device can be suitable for lanes with different cross-sectional sizes, thereby improving the applicability of the transportation device.

[0013] In the above technical solution, further, the lifting part includes: a walking device, one side of which can move on the transmission component; a first driving device, the first driving device is connected to the walking device and is used to drive the walking device to move; a lifting device, the lifting device can be movably connected to the other side of the walking device, and the lifting device can perform lifting and lowering movements on the other side of the walking device.

[0014] In this technical solution, the lifting part includes a walking device, a first driving device and a lifting device, wherein the first driving device drives the walking device to move on the transmission component, that is, the first driving device drives the walking device to move, so as to realize the translational movement of the manipulator component relative to the transmission component. By setting the lifting device, the rotating part and the grasping part can be driven by the lifting device to move up and down, that is, the manipulator component can not only move translationally relative to the transmission component, but also move up and down relative to the transmission component, thereby realizing automatic grasping of anchor rods from the anchor rod silo, and automatically transporting them to the accessories department after grasping. The accessories department automatically allocates accessories to the anchor rods, and finally transports the anchor rods to the drilling rig. The whole process does not require manual participation, which reduces labor costs and improves work efficiency.

[0015] In addition, the robot assembly can perform translational motion and up and down lifting motion relative to the transmission assembly, which can allow a certain degree of unevenness of the steel mesh, thereby improving the applicability of the transportation device.

[0016] The lifting part also includes a fourth driving device, which is connected to the lifting device and is used to drive the lifting device to move up and down.

[0017] In the above technical solution, further, the rotating part includes: a connecting plate, one side of the connecting plate is fixedly connected to the lifting device; a rotating device, one end of the rotating device is fixedly connected to the second connecting plate, and the other end of the rotating device is connected to the grasping part, and the rotating device can drive the grasping part to rotate a preset angle.

[0018] In this technical solution, the rotating part includes a connecting plate and a rotating device, and the rotating device can drive the grasping part to rotate a preset angle. That is to say, when the grasping part successfully grasps the anchor rod, it makes a translational motion on the transmission assembly. When it moves to the lower station of the accessory part, the accessory part automatically distributes accessories to the anchor rod. After the anchor rod obtains the accessories, the manipulator assembly drives the anchor rod to leave the accessory part. At this time, the rotating device drives the grasping part to rotate 180 degrees, that is, the anchor rod is rotated from the left side of the grasping part to the right side of the grasping part, thereby avoiding interference between the anchor rod and the accessory part during automatic transportation, thereby ensuring the stability of the automatic transportation process of the anchor rod.

[0019] In the above technical solution, further, the transmission component includes: a guide member, which is arranged on the mounting plate and fixedly connected to the mounting plate; and a first transmission member, which is installed on the mounting plate.

[0020] In this technical solution, the transmission component includes a guide member and a first transmission member, wherein the guide member and the first transmission member are both installed on a mounting plate. By setting the guide member, a guiding function can be provided for the manipulator component during its movement relative to the transmission component.

[0021] In the above technical solution, further, the walking device includes: a first body, a guide groove, the guide groove and the guide member are arranged correspondingly, the guide groove is opened on the side of the first body close to the transmission component; a second transmission member, the second transmission member is arranged on the same side as the guide groove, and the second transmission member is installed on the first body; wherein the second transmission member cooperates with the first transmission member to enable the manipulator component to move relative to the transmission component.

[0022] In this technical solution, the walking device includes a guide groove and a second transmission member, wherein the guide groove cooperates with the guide member to provide a guiding function for the manipulator assembly, and the second transmission member cooperates with the first transmission member to enable the manipulator assembly to move relative to the transmission assembly. Through the cooperation of the guide groove and the guide member, the smoothness of the process of automatic transportation of anchor rods by the manipulator assembly is further guaranteed.

[0023] In the above technical solution, further, the accessory part includes: a guide rail, which can be fixedly installed on the tunnel mining equipment; a storage part, which can be fixedly installed on the tunnel mining equipment, and the storage part is used to store accessories; a moving component, one end of the moving component is slidably connected to the guide rail, and the other end of the moving component is used to move the accessory.

[0024] In this technical solution, the accessory part includes a guide rail, a storage part and a moving component, wherein the storage part is used to store accessories, and the moving component is slidably connected to the guide rail. When the manipulator component successfully grabs the anchor rod and transports it to the lower workstation of the accessory part, the moving component moves the accessories in the storage part, so that the accessories can be automatically installed on the anchor rod, thereby realizing automatic assembly of the accessories and the anchor rod. There is no need for manual assembly of accessories, thereby reducing labor costs and improving work efficiency.

[0025] Furthermore, the material storage section includes a plurality of accessories, which can realize automatic assembly of the plurality of accessories and the plurality of anchor rods, and further realize the automation process of anchor rod transportation and accessory assembly.

[0026] Among them, it should be noted that the accessory part can also include a camera assembly or a photoelectric sensor. When the manipulator assembly grabs the anchor rod and transports it to the lower workstation of the accessory part, the camera assembly or the photoelectric sensor detects that the anchor rod is transported to the first preset position, and provides feedback to the controller. The controller controls the first drive device to stop driving, and controls the fourth drive device to drive the lifting device to move upward to the second preset position. The fourth drive device stops driving, and the controller controls the moving assembly to move the accessories in the storage part to assemble the anchor rod.

[0027] In the above technical solution, further, the moving component includes: a second body, a second driving device, the second driving device is fixedly connected to the second body and is used to drive the second body to slide on the guide rail; a conveying member, one end of the conveying member is connected to the second body, and the other end of the conveying member is used to move the accessories; a third driving device, the third driving device is fixedly connected to the conveying member and is used to drive the conveying member to perform telescopic movement.

[0028] In this technical solution, the moving component includes a second drive device, a conveying member and a third drive device, wherein, after an accessory and an anchor rod are automatically assembled, the third drive device drives the conveying member to return to the initial position, and when the next anchor rod is transported to the lower station of the accessory part, the third drive device drives the conveying member to extend, at this time, the second drive device drives the second body to drive the conveying member to move the next accessory to realize the automatic assembly of the next accessory and the next anchor rod, that is, the automatic assembly of the accessory and the anchor rod is realized by the second drive device, the third drive device and the conveying member, thereby improving work efficiency.

[0029] In the above technical solution, further, the accessory part also includes: a mounting part, one end of the mounting part is fixedly connected to one end of the material storage part, and an accessory delivery port is provided on the side where the mounting part is connected to the material storage part, and the size of the accessory delivery port is larger than the size of the accessory; the mounting part also includes: a third body, a batching plate, the batching plate is arranged inside the third body and fixedly connected to the third body, a mounting port is provided on the batching plate, and the size of the mounting port is larger than the size of the accessory; a batching port, the batching port is arranged on a side of the third body close to the conveying member, and the conveying member can be inserted into the batching port to move the accessory out of the accessory delivery port.

[0030] In this technical solution, the mounting portion is arranged at one end of the material storage portion, and an accessory delivery port is provided at the connection between the mounting portion and the material storage portion, wherein the size of the accessory delivery port is larger than the size of the accessory to ensure that the accessory can be smoothly moved out of the accessory delivery port when the conveying member moves the accessory. Furthermore, the mounting portion also includes a batching plate, which is arranged inside the mounting portion, and a mounting port with a size larger than the size of the accessory is opened on the batching plate. After the accessory is moved out of the accessory delivery port, it automatically rotates 90 degrees by its own gravity and falls into the batching port on the batching plate to complete automatic assembly with the anchor rod. A batching port is provided on the side of the mounting portion close to the conveying member, and the conveying member is inserted into the batching port under the drive of the third driving device to move the accessory out of the accessory delivery port. The above process realizes the automatic assembly process of the accessory and the anchor rod when the anchor rod is transported to the workstation below the mounting portion, and no manual participation is required throughout the process, thereby reducing labor costs and improving work efficiency.

[0031] The second aspect of the present invention provides a tunnel mining equipment having a transport device provided by any technical solution of the first aspect of the present invention. Therefore, the tunnel mining equipment has all the beneficial effects of the transport device provided by any technical solution above, which will not be repeated here.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0034] Figure 1 A schematic diagram of the structure of a transport device according to an embodiment of the present invention is shown;

[0035] Figure 2 Shows Figure 1 A front view of the transport device of the illustrated embodiment;

[0036] Figure 3 A schematic structural diagram of a transport device according to another embodiment of the present invention is shown;

[0037] Figure 4 Shows Figure 3 A front view of the transport device of the illustrated embodiment;

[0038] Figure 5 A schematic structural diagram of a transport device according to another embodiment of the present invention is shown;

[0039] Figure 6 Shows Figure 5 A front view of the transport device of the illustrated embodiment;

[0040] Figure 7 A schematic structural diagram of a manipulator assembly according to an embodiment of the present invention is shown.

[0041] in, Figures 1 to 7 The corresponding relationship between the reference numerals and component names in the figure is:

[0042] 1 transport part, 2 accessory part, 3 anchor rod, 4 mounting plate, 5 grabbing part, 6 walking device, 7 lifting device, 8 connecting plate, 9 rotating device, 10 guide part, 11 first transmission part, 12 guide rail, 13 storage part, 14 accessory, 15 second body, 16 conveying part, 17 third body, 18 batching plate, 19 protection structure. DETAILED DESCRIPTION

[0043] In order to more clearly understand the above aspects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0044] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0045] Refer to the following Figures 1 to 7 A transport device and a tunnel mining apparatus according to some embodiments of the present invention are described.

[0046] like Figure 1 and Figure 2 As shown, according to an embodiment of the first aspect of the present invention, there is provided a transport device for use in tunnel mining equipment, comprising: a transport portion 1, which can be fixedly mounted on the tunnel mining equipment, and is used to transport anchor rods 3; an accessory portion 2, which is located above the transport portion 1, and is fixedly mounted on the tunnel mining equipment, and is used to distribute accessories 14 to the anchor rods 3.

[0047] In this embodiment, the transportation device provided by the present invention includes a transportation part 1 and an accessory part 2, and the transportation part 1 and the accessory part 2 are both fixedly installed on the tunnel mining equipment, and the accessory part 2 is located above the transportation part 1, wherein the transportation part 1 is used to transport the anchor rod 3, and when the anchor rod 3 moves to the designated position below the accessory part 2, the accessory part 2 installs the accessory 14 on the anchor rod 3, and the anchor rod 3 with the accessory 14 installed is continuously transported to the silo of the automatic drilling rig. Through the cooperation between the transportation part 1 and the accessory part 2, the anchor rod 3 can be automatically transported, and the accessory 14 can be automatically installed, and finally automatically installed in the silo of the drilling rig. No manual labor is required throughout the process, and the automatic loading of the anchor rod 3 can be realized, which greatly reduces labor costs and improves work efficiency.

[0048] Among them, it should be noted that the transportation device also includes a controller, which is arranged on the continuous mining machine and is used to control the transportation part 1 to transport the anchor rod 3. When the anchor rod 3 is transported to the lower workstation of the accessory part 2, the controller is also used to control the accessory part 2 to allocate accessories 14 to the anchor rod 3. That is, the automatic control process of anchor rod 3 transportation and accessory 14 installation can be realized through the controller, thereby reducing labor costs and improving work efficiency. An explosion-proof structure needs to be installed on the outside of the controller to ensure the safety of construction.

[0049] In addition, unified control of the transportation part 1 and the accessory part 2 can also be achieved through a programmable logic controller (PLC).

[0050] Furthermore, anti-vibration gaskets can be set at the fixed connections between the transportation part 1 and the accessory part 2 and the tunnel mining equipment, so as to ensure the normal operation of the transportation part 1 and the accessory part 2 on the tunnel mining equipment, and then ensure the stability of the anchor rod 3 during the automatic transportation process. It should be noted that the anti-vibration gasket can be made of nylon material and the accessory 14 can be a flange.

[0051] like Figure 1 and Figure 7 As shown, in any of the above embodiments, further, the transport part 1 includes: a mounting plate 4, one side of which can be fixedly mounted on the tunnel mining equipment; a transmission component, which is arranged on the mounting plate 4 and connected to the mounting plate 4; a manipulator component, which can move relative to the transmission component, and the manipulator component is used to transport the anchor rod 3.

[0052] In this embodiment, the transport unit 1 includes a mounting plate 4, a transmission component and a manipulator component, wherein the transmission component is arranged on the mounting plate 4, and the manipulator component can move relative to the transmission component. By setting the transmission component, the manipulator component can transport the anchor rod 3 by moving on the transmission component, thereby realizing automatic transportation of the anchor rod 3, reducing labor costs and improving work efficiency.

[0053] Furthermore, a protective structure 19 can be set on the mounting plate 4. On the one hand, it can prevent falling rocks and the like from damaging the manipulator assembly. On the other hand, by setting up a protective device, the manipulator assembly can also be protected from dust and water, thereby further ensuring the stability of the process of automatic transportation of the anchor rod 3 by the transportation device.

[0054] It should be noted that the protective structure 19 can be a steel belt or a PVC cover to achieve the protective function.

[0055] like Figures 1 to 7 As shown, in any of the above embodiments, further, the manipulator assembly includes: a lifting part, which can move relative to the transmission assembly; a rotating part, one end of the rotating part is fixedly connected to the lifting part; and a grasping part 5, which is fixedly connected to the other end of the rotating part and is used to grasp the anchor rod 3.

[0056] In this embodiment, the manipulator assembly includes a lifting part, a rotating part and a grabbing part 5, wherein the grabbing part 5 can grab the anchor rod 3, that is, by setting the grabbing part 5, the manipulator assembly can automatically grab the anchor rod 3 from the silo containing the anchor rod 3, and realize the automatic transmission of the anchor rod 3 by moving the lifting part on the transmission assembly. Through the above-mentioned structural setting, the manipulator assembly is compact in structure, and the manipulator assembly can make translational motion relative to the transmission assembly, and can realize the up and down motion of the manipulator assembly within a certain range through the lifting part, so that the transportation device can be suitable for lanes with different cross-sectional sizes, thereby improving the applicability of the transportation device.

[0057] Furthermore, the grabbing part 5 may include a guide rod cylinder. To further ensure the reliability and stability of the grabbing part 5 when grabbing the anchor rod 3, two or more guide rod cylinders may be provided to automatically grab the anchor rod 3 from the anchor rod 3 silo, thereby realizing the transition from manual support to automatic support of the tunnel and improving work efficiency.

[0058] In addition, the grasping part 5 may also include a proximity sensor or a photoelectric sensor to detect the grasping status of the anchor rod 3 and provide real-time feedback to ensure the effectiveness of each grasping by the grasping part 5, avoid the grasping part 5 failing to successfully grasp the anchor rod 3 and transporting it empty, and further realize the automatic control of the grasping of the anchor rod 3.

[0059] It should be noted that the guide rod cylinder may be a finger cylinder. In addition, the grasping portion 5 may also be a hydraulic cylinder or an electromagnet to realize the automatic grasping function of the anchor rod 3 .

[0060] like Figure 3 and Figure 4As shown, in any of the above embodiments, further, the lifting part includes: a walking device 6, one side of the walking device 6 can move on the transmission component; a first driving device, the first driving device is connected to the walking device 6, and is used to drive the walking device 6 to move; a lifting device 7, the lifting device 7 can be movably connected to the other side of the walking device 6, and the lifting device 7 can perform lifting and lowering movements on the other side of the walking device 6.

[0061] In this embodiment, the lifting part includes a walking device 6, a first driving device and a lifting device 7, wherein the first driving device drives the walking device 6 to move on the transmission component, that is, the walking device 6 is driven to move by the first driving device, so that the manipulator component can make a translational movement relative to the transmission component. By setting the lifting device 7, the rotating part and the grasping part 5 can be driven by the lifting device 7 to move up and down, that is, the manipulator component can not only make a translational movement relative to the transmission component, but also make an up and down movement relative to the transmission component, thereby realizing automatic grasping of the anchor rod 3 from the anchor rod 3 silo, and automatically transporting it to the accessory part 2 after grasping, and the accessory part 2 automatically distributes accessories 14 to the anchor rod 3, and finally transports the anchor rod 3 to the drilling rig. The whole process does not require human participation, which reduces labor costs and improves work efficiency.

[0062] In addition, the robot assembly can perform translational motion and up and down lifting motion relative to the transmission assembly, which can allow a certain degree of unevenness of the steel mesh, thereby improving the applicability of the transportation device.

[0063] The lifting part also includes a fourth driving device, which is connected to the lifting device 7 and is used to drive the lifting device 7 to move up and down.

[0064] It should be noted that the walking device 6 can be a plate structure. Specifically, a groove can be provided on the side where the walking device 6 is movably connected to the lifting device 7. The groove extends along the axial direction of the walking device 6. A protrusion can be provided on the side where the lifting device 7 is connected to the walking device 6. The protrusions correspond to the grooves one by one. Alternatively, multiple grooves can be provided on the walking device 6, and multiple protrusions can be provided on the corresponding lifting device 7. Through the cooperation of the grooves and the protrusions, the lifting device 7 and the walking device 6 can be movably connected, that is, the lifting device 7 can move up and down relative to the walking device 6.

[0065] Furthermore, an explosion-proof structure needs to be installed outside the first driving device and the fourth driving device to ensure the safety of the construction work. In addition, the first driving device or the fourth driving device can be a servo motor or a planetary reducer, etc.

[0066] like Figure 7As shown, in any of the above embodiments, further, the rotating part includes: a connecting plate 8, one side of the connecting plate 8 is fixedly connected to the lifting device 7; a rotating device 9, one end of the rotating device 9 is fixedly connected to the second connecting plate 8, and the other end of the rotating device 9 is connected to the grasping part 5, and the rotating device 9 can drive the grasping part 5 to rotate a preset angle.

[0067] In this embodiment, the rotating part includes a connecting plate 8 and a rotating device 9, and the rotating device 9 can drive the grasping part 5 to rotate a preset angle. That is to say, when the grasping part 5 successfully grasps the anchor rod 3, it makes a translational motion on the transmission assembly. When it moves to the lower station of the accessory part 2, the accessory part 2 automatically distributes the accessory 14 to the anchor rod 3. After the anchor rod 3 obtains the accessory 14, the manipulator assembly drives the anchor rod 3 to leave the accessory part 2. At this time, the rotating device 9 drives the grasping part 5 to rotate 180 degrees, that is, the anchor rod 3 is rotated from the left side of the grasping part 5 to the right side of the grasping part 5, thereby avoiding interference between the anchor rod 3 and the accessory part 2 during the automatic transportation process, thereby ensuring the stability of the automatic transportation process of the anchor rod 3.

[0068] It should be noted that the rotating device 9 may be a swing cylinder, that is, the gripping portion 5 drives the anchor rod 3 to rotate 180 degrees through the swing cylinder.

[0069] like Figures 1 to 6 As shown, in any of the above embodiments, further, the transmission component includes: a guide member 10, the guide member 10 is arranged on the mounting plate 4 and fixedly connected to the mounting plate 4; a first transmission member 11, the first transmission member 11 is installed on the mounting plate 4.

[0070] In this embodiment, the transmission component includes a guide member 10 and a first transmission member 11, wherein the guide member 10 and the first transmission member 11 are both installed on the mounting plate 4. By setting the guide member 10, a guiding function can be provided for the manipulator component during its movement relative to the transmission component.

[0071] like Figures 5 to 7 As shown, in any of the above embodiments, further, the walking device 6 includes: a first body, a guide groove, the guide groove and the guide member 10 are arranged correspondingly, the guide groove is opened on the side of the first body close to the transmission component; a second transmission member, the second transmission member is arranged on the same side as the guide groove, and the second transmission member is installed on the first body; wherein the second transmission member cooperates with the first transmission member 11 to enable the manipulator component to move relative to the transmission component.

[0072] In this embodiment, the walking device 6 includes a guide groove and a second transmission member, wherein the guide groove cooperates with the guide member 10 to provide a guiding function for the manipulator assembly, and the second transmission member cooperates with the first transmission member 11 so that the manipulator assembly can move relative to the transmission assembly. Through the cooperation between the guide groove and the guide member 10, the smoothness of the process of automatic transportation of the anchor rod 3 by the manipulator assembly is further guaranteed.

[0073] In addition, the transmission component may include a guide groove, and a guide member 10 may be provided on the walking device 6, so that the cooperation between the guide groove and the guide member 10 provides a guiding function for the translational movement of the manipulator component.

[0074] Furthermore, the first transmission member 11 and the second transmission member can realize the translational movement of the manipulator assembly relative to the transmission assembly through chain transmission, screw transmission, gear rack transmission, etc., thereby realizing automatic transportation of the anchor rod 3.

[0075] like Figure 1 , Figure 3 and Figure 5 As shown, in any of the above embodiments, further, the accessory part 2 includes: a guide rail 12, which can be fixedly installed on the tunnel mining equipment; a storage part 13, which can be fixedly installed on the tunnel mining equipment, and the storage part 13 is used to store accessories 14; a moving component, one end of the moving component is slidably connected to the guide rail 12, and the other end of the moving component is used to move the accessory 14.

[0076] In this embodiment, the accessory part 2 includes a guide rail 12, a storage part 13 and a moving component, wherein the storage part 13 is used to store accessories 14, and the moving component is slidably connected to the guide rail 12. When the manipulator component successfully grabs the anchor rod 3 and transports it to the lower workstation of the accessory part 2, the moving component moves the accessory 14 in the storage part 13, so that the accessory 14 can be automatically installed on the anchor rod 3, thereby realizing automatic assembly of the accessory 14 and the anchor rod 3, and there is no need for manual assembly of the accessory 14, thereby reducing labor costs and improving work efficiency.

[0077] Furthermore, the material storage portion 13 includes a plurality of accessories 14 , which can realize automatic assembly of the plurality of accessories 14 with the plurality of anchor rods 3 , and further realize the automated process of transporting the anchor rods 3 and assembling the accessories 14 .

[0078] It should be noted that the accessory part 2 may also include a camera assembly or a photoelectric sensor. When the manipulator assembly grabs the anchor rod 3 and transports it to the lower station of the accessory part 2, the camera assembly or the photoelectric sensor detects that the anchor rod 3 is transported to the first preset position and provides feedback to the controller. The controller controls the first drive device to stop driving, and controls the fourth drive device to drive the lifting device 7 to move upward to the second preset position. The fourth drive device stops driving, and the controller controls the moving assembly to move the accessories 14 in the storage part 13 to assemble the anchor rod 3.

[0079] like Figure 1 , Figure 3 and Figure 5 As shown, in any of the above embodiments, further, the moving component includes: a second body 15, a second driving device, the second driving device is fixedly connected to the second body 15, and is used to drive the second body 15 to slide on the guide rail 12; a conveying member 16, one end of the conveying member 16 is connected to the second body 15, and the other end of the conveying member 16 is used to move the accessory 14; a third driving device, the third driving device is fixedly connected to the conveying member 16, and is used to drive the conveying member 16 to perform telescopic movement.

[0080] In this embodiment, the moving component includes a second drive device, a conveying member 16 and a third drive device, wherein, after an accessory 14 and an anchor rod 3 are automatically assembled, the third drive device drives the conveying member 16 to return to the initial position, and when the next anchor rod 3 is transported to the lower station of the accessory part 2, the third drive device drives the conveying member 16 to extend. At this time, the second drive device drives the second body 15 to drive the conveying member 16 to move the next accessory 14 to realize the automatic assembly of the next accessory 14 and the next anchor rod 3, that is, the automatic assembly of the accessory 14 and the anchor rod 3 is realized by the second drive device, the third drive device and the conveying member 16, thereby improving work efficiency.

[0081] Among them, the second drive device and the third drive device need to be installed with an explosion-proof structure on the outside to ensure the safety of the construction work. In addition, the second drive device or the third drive device can be a servo motor or a planetary reducer, etc.

[0082] like Figures 1 to 7As shown, in any of the above embodiments, further, the accessory part 2 also includes: a mounting part, one end of the mounting part is fixedly connected to one end of the material storage part 13, and a side of the mounting part connected to the material storage part 13 is provided with a delivery port for the accessory 14, and the size of the delivery port for the accessory 14 is larger than the size of the accessory 14; the mounting part also includes: a third body 17, a batching plate 18, the batching plate 18 is arranged inside the third body 17 and fixedly connected to the third body 17, a mounting port is opened on the batching plate 18, and the size of the mounting port is larger than the size of the accessory 14; a batching port, the batching port is arranged on a side of the third body 17 close to the conveying member 16, and the conveying member 16 can be inserted into the batching port to move the accessory 14 out of the delivery port of the accessory 14.

[0083] In this embodiment, the mounting portion is arranged at one end of the material storage portion 13, and a delivery port for the accessory 14 is arranged at the connection between the mounting portion and the material storage portion 13, wherein the size of the delivery port for the accessory 14 is larger than the size of the accessory 14, so as to ensure that when the conveying member 16 moves the accessory 14, the accessory 14 can be smoothly moved out of the delivery port of the accessory 14. Furthermore, the mounting portion also includes a batching plate 18, which is arranged inside the mounting portion, and a mounting port with a size larger than the size of the accessory 14 is opened on the batching plate 18. After the accessory 14 is moved out of the delivery port of the accessory 14, it automatically rotates 90 degrees by its own gravity and falls into the batching port on the batching plate 18 to complete automatic assembly with the anchor rod 3. A batching port is arranged on one side of the mounting portion close to the conveying member 16, and the conveying member 16 is inserted into the batching port under the drive of the third driving device to move the accessory 14 out of the delivery port of the accessory 14. The above process realizes the automatic assembly process of the accessory 14 and the anchor rod 3 when the anchor rod 3 is transported to the workstation below the mounting portion 2, and no manual participation is required throughout the process, thereby reducing labor costs and improving work efficiency.

[0084] In addition, the material dispensing port can be a long hole arranged laterally along the mounting portion, and the long hole can extend to the material storage portion 13, so that the conveying member 16 can automatically move the accessory 14 out of the accessory 14 conveying port under the drive of the second driving device and the third driving device to complete the automatic assembly with the anchor rod 3.

[0085] It should be noted that the mounting portion and the material storage portion 13 can also be integrally formed, and the integrally formed portion has good mechanical properties and can be mass-produced.

[0086] An embodiment of the second aspect of the present invention provides a tunnel mining device having the transport device provided by any embodiment of the first aspect of the present invention. Therefore, the tunnel mining device has all the beneficial effects of the transport device provided by any of the above embodiments, which will not be repeated here.

[0087] In this embodiment, the transport device includes a transport part 1 and an accessory part 2, which are respectively fixedly installed on the tunnel mining equipment. The accessory part 2 is arranged above the transport part 1. The finger cylinder automatically grabs the anchor rod 3 from the anchor rod silo, and the photoelectric sensor automatically detects whether the finger cylinder successfully grabs the anchor rod 3. After receiving the feedback of successfully grabbing the anchor rod 3, the controller controls the manipulator assembly to drive the anchor rod 3 to move horizontally on the transmission assembly. When the camera assembly or the photoelectric sensor detects that the anchor rod 3 moves to the lower station of the accessory part 2, real-time feedback is given to the controller. The controller controls the first drive device to stop driving, and controls the fourth drive device to drive the lifting device 7 to drive the anchor rod 3 to move upward until one end of the anchor rod 3 is located in the installation port, or partially passes through the installation port. At this time, the fourth drive device stops driving, and the controller controls the third drive device to drive the conveying member 16 to insert into the batching port. The controller then controls the second drive device to drive the conveying member 16 to move the accessory 14 out of the accessory conveying port. After the accessory 14 is moved out of the accessory conveying port, it is automatically flipped 90 degrees by its own gravity and falls into the installation port. After the accessory 14 is moved out of the accessory delivery port, the controller controls the flipping device to flip the accessory 14 90 degrees to assemble it with the anchor rod 3. After the accessory 14 is assembled with the anchor rod 3, the controller controls the fourth driving device to drive the lifting device 7 to move downward, and stops driving after the anchor rod leaves the installation portion. At this time, the swing cylinder drives the grasping part 5 to rotate 180 degrees, and the grasping part 5 drives the anchor rod 3 to rotate from one side to the other side. The controller controls the first driving device to drive the walking device 6, so that the manipulator assembly drives the anchor rod 3 to continue to translate until the anchor rod 3 is transported to the upper station of the drilling rig bin. The controller controls the fourth driving device to drive the lifting device 7 to move downward, and automatically installs the anchor rod 3 into the bin of the drilling rig, realizing the whole process of the anchor rod 3 from automatic grasping to automatic transportation, and then to automatic assembly of accessories 14, and finally automatic transportation and installation to the drilling rig bin. No human participation is required throughout the process, which reduces labor costs and improves work efficiency.

[0088] In addition, by fixing the above-mentioned transport device on the tunnel mining equipment, after cutting the coal seam, the manipulator assembly can automatically assemble the accessories 14 of the anchor rod 3 and automatically transport it to the silo of the drilling rig, thereby improving work efficiency and realizing the integration of mining and anchoring. It should be noted that the tunnel mining equipment can be a continuous mining machine.

[0089] In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention. The terms "connection", "installation", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0090] In the description of the present invention, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means 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 the present invention, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0091] 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 transport device for tunnel mining equipment, characterized in that: include: A transport part (1), the transport part (1) can be fixedly mounted on the tunnel mining equipment, and the transport part (1) is used to transport the anchor rod (3); An accessory part (2) is located above the transport part (1), the accessory part (2) is fixedly mounted on the tunnel mining equipment, and the accessory part (2) is used to distribute accessories (14) to the anchor rod (3); The accessory part (2) comprises: A guide rail (12), wherein the guide rail (12) can be fixedly mounted on the tunnel mining equipment; A material storage part (13), the material storage part (13) can be fixedly mounted on the tunnel mining equipment, and the material storage part (13) is used to store accessories (14); A moving component, one end of which is slidably connected to the guide rail (12), and the other end of which is used to move the accessory (14); The mobile assembly comprises: The second entity (15), a second driving device, the second driving device being fixedly connected to the second body (15) and used for driving the second body (15) to slide on the guide rail (12); A conveying member (16), one end of which is connected to the second body (15), and the other end of which is used to move the accessory (14); a third driving device, the third driving device being fixedly connected to the conveying member (16) and being used for driving the conveying member (16) to perform telescopic movement; The accessory part (2) further comprises: A mounting portion, one end of which is fixedly connected to one end of the material storage portion (13), a side of the mounting portion connected to the material storage portion (13) being provided with an accessory delivery port, the size of the accessory delivery port being larger than the size of the accessory (14); The installation part also includes: The third entity (17), a batching plate (18), the batching plate (18) being arranged inside the third body (17) and fixedly connected to the third body (17), the batching plate (18) being provided with a mounting opening, the size of the mounting opening being larger than the size of the accessory (14); A batching port is provided on a side of the third body (17) close to the conveying member (16); the conveying member (16) can be inserted into the batching port to move the accessory (14) out of the accessory (14) conveying port.

2. The transport device according to claim 1, characterized in that: The transport unit (1) comprises: A mounting plate (4), one side of which can be fixedly mounted on the tunnel mining equipment; A transmission component, the transmission component is arranged on the mounting plate (4) and connected to the mounting plate (4); A manipulator assembly is capable of moving relative to the transmission assembly, and the manipulator assembly is used to transport the anchor rod (3).

3. The transport device according to claim 2, characterized in that: The manipulator assembly comprises: a lifting portion, the lifting portion being movable relative to the transmission assembly; A rotating part, one end of which is fixedly connected to the lifting part; A gripping portion (5), the gripping portion (5) is fixedly connected to the other end of the rotating portion and is used for gripping the anchor rod (3).

4. The transport device according to claim 3, characterized in that: The lifting part comprises: A walking device (6), one side of which is capable of moving on the transmission component; a first driving device, the first driving device being connected to the walking device (6) and being used to drive the walking device (6) to move; A lifting device (7), wherein the lifting device (7) can be movably connected to the other side of the walking device (6), and the lifting device (7) can perform lifting movement on the other side of the walking device (6).

5. The transport device according to claim 4, characterized in that The rotating part comprises: A connecting plate (8), one side of which is fixedly connected to the lifting device (7); A rotating device (9), one end of the rotating device (9) is fixedly connected to the connecting plate (8), and the other end of the rotating device (9) is connected to the grasping portion (5), and the rotating device (9) can drive the grasping portion (5) to rotate at a preset angle.

6. The transport device according to claim 4, characterized in that: The transmission component comprises: A guide member (10), wherein the guide member (10) is disposed on the mounting plate (4) and is fixedly connected to the mounting plate (4); A first transmission component (11), wherein the first transmission component (11) is mounted on the mounting plate (4).

7. The transport device according to claim 6, characterized in that The walking device (6) comprises: the first ontology, A guide groove, the guide groove being arranged corresponding to the guide member (10), and the guide groove being opened on a side of the first body close to the transmission component; A second transmission member, the second transmission member is arranged on the same side as the guide groove, and the second transmission member is mounted on the first body; The second transmission component cooperates with the first transmission component (11) so that the manipulator assembly can move relative to the transmission assembly.

8. A tunnel mining equipment, characterized in that: Comprising the transport device as claimed in any one of claims 1 to 7.

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