An overhead walking self-shifting support robot

Abstract

The present invention provides an overhead walking self-shifting support robot, comprising: a track, a plurality of traveling mechanisms, a manipulator, a front pushing device and a rear pushing device; wherein, the traveling mechanisms are movably connected to the track and travel along the track; the front pushing device comprises: at least two front support cylinders, a first driving system, and at least two front fixed bases; the manipulator is fixedly arranged on the housing of the first driving system; a front braking device for locking or separating the front pushing device from the track; the rear pushing device comprises: at least two rear support cylinders, a second driving system and at least two rear fixed bases; a rear braking device for locking or separating the rear pushing device from the track. The overhead walking self-shifting support robot of the present invention replaces manual handling, improves the support erection efficiency, reduces the labor intensity of personnel, improves the safety during the support erection process, and reduces the personnel input while ensuring the original roadway space and support strength.

Description

Technical Field

[0001] The present invention relates to the technical field of roadway support, and particularly to an overhead walking type self-shifting support robot. Background Art

[0002] At present, the installation of roadway support frames mainly relies on manual labor. Due to the narrow roadway space, large mechanical equipment lacks construction space, and the installation of the support often requires multiple people to pry, push and pull to adjust before the installation can be completed. The number of personnel input is large, the labor intensity is high, and the efficiency is low. Taking the concrete-filled steel tube support as an example: a working platform needs to be built before installing the support, and the working platform needs to be removed after installation. Each section of the support installation relies on anchor chains and hoist chains to assist in lifting, and manual positioning is carried out. Only 2 concrete-filled steel tube supports can be installed per shift. Summary of the Invention

[0003] To solve the above problems, the present invention provides an overhead walking type self-shifting support robot, which solves the problems of large number of personnel input, high labor intensity and low efficiency in the installation of supports in the prior art.

[0004] To achieve the above object, the present invention is realized through the following technical solutions:

[0005] An overhead walking type self-shifting support robot, comprising: a track, a plurality of walking mechanisms, a manipulator, a front pushing device and a rear pushing device; wherein, the walking mechanism is movably connected to the track and walks along the track; the front pushing device includes: at least two front support cylinders, a first driving system, and at least two front fixed bases. At least one front support cylinder is respectively hinged on both sides of the housing of the first driving system, and the rod of the front support cylinder is hinged to the top of the front fixed base; the top of the housing of the first driving system is fixedly connected to the walking mechanism; the manipulator is fixedly arranged on the housing of the first driving system; a front braking device for locking or separating the front pushing device from the track; the rear pushing device includes: at least two rear support cylinders, a second driving system and at least two rear fixed bases. At least one rear support cylinder is respectively hinged on both sides of the housing of the second driving system, and the rod of the rear support cylinder is hinged to the top of the rear fixed base; the top of the housing of the second driving system is fixedly connected to the walking mechanism; a rear braking device for locking or separating the rear pushing device from the track.

[0006] Further, the track is an I-beam; each walking mechanism includes: two connecting pieces and a plurality of wheels, wherein at least 1 wheel is rotatably connected to the inner side of the connecting piece, the two connecting pieces are respectively arranged on both sides of the I-beam, and the wheels walk along the edge of the I-beam.

[0007] Further, it further includes: a track support member, which includes two sections of first I-beams and a second I-beam arranged in parallel. The upper part of the second I-beam is stuck in the channel formed between the two sections of the first I-beams, and the bottom of the second I-beam is fixedly connected to the top of the track.

[0008] Further, the front fixed base and the rear fixed base are located on the support plate inside the bracket; the top of the first I-beam is fixed on the top beam of the bracket.

[0009] Further, the front braking device and the rear braking device have the same structure, and both include: a brake oil cylinder and a braking system. The top of the housing of the braking system is fixedly connected to the traveling mechanism, and the housings of the braking systems of the front braking device and the rear braking device are respectively connected to the rear side of the front pushing device and the front side of the rear pushing device.

[0010] Further, it further includes: at least 2 pairs of guide columns. The top of the guide column is hinged on the top beam, and a T-shaped clamping position is fixedly provided at the bottom of the guide column; at least one pair of guide columns are respectively provided on both sides of the front pushing device and the rear pushing device.

[0011] Further, it further includes: two sets of driving mechanisms, which are respectively used to drive the front pushing device and the rear pushing device.

[0012] The overhead walking type self-shifting support robot of the present invention replaces manual handling. While ensuring the original roadway space and support strength, it improves the support erection efficiency, reduces the labor intensity of personnel, improves the safety during the support erection process, and reduces the personnel input; the uneven ground of the roadway and fixed facilities such as belt conveyors or tracks in the roadway have all set obstacles for the robot to walk. At the same time, in the coal mine underground, the biggest problem faced by the robot is the walking power problem. The present invention uses the support to support the track and has its own power, effectively solving the above problems. Description of the Drawings

[0013] Figure 1 It is a schematic structural diagram of the overhead walking type self-shifting support robot in the embodiment;

[0014] Figure 2 It is a schematic structural diagram of the front pushing device in the embodiment;

[0015] Figure 3 It is a schematic structural diagram of the rear pushing device in the embodiment;

[0016] Figure 4 It is a schematic structural diagram of the track support in the embodiment;

[0017] Figure 5 It is a schematic structural diagram of the support in the embodiment. Detailed Embodiments

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] An overhead walking type self-shifting support robot provided by an embodiment, as Figures 1-3 shown, includes: a track 1, a plurality of traveling mechanisms, a manipulator 3, a front pushing device 4, and a rear pushing device 5; wherein, the traveling mechanisms are movably connected to the track 1 and travel along the track 1; the front pushing device 4 includes: at least two front support oil cylinders 41, a first driving system 42, and at least two front fixing bases 43. At least one front support oil cylinder 41 is respectively hinged to both sides of the housing of the first driving system 42, and the front support oil cylinder rod is hinged to the top of the front fixing base 43; the top of the housing of the first driving system 42 is fixedly connected to the traveling mechanism; the manipulator 3 is fixedly arranged on the housing of the first driving system 42; a front braking device 6 is used to lock or separate the front pushing device 4 from the track 1; the rear pushing device 5 includes: at least two rear support oil cylinders 51, a second driving system 52, and at least two rear fixing bases 53. At least one rear support oil cylinder 51 is respectively hinged to both sides of the housing of the second driving system 52, and the rear support oil cylinder rod is hinged to the top of the rear fixing base 53; the top of the housing of the second driving system 52 is fixedly connected to the traveling mechanism; a rear braking device 7 is used to lock or separate the rear pushing device 5 from the track 1. The manipulator 3 is preferably fixedly arranged at the front end of the housing of the first driving system 42.

[0020] In the above embodiment, the track 1 and the traveling mechanism can adopt the prior art as long as they can cooperate with each other to travel. Preferably, the track 1 is an I-beam; as Figure 2 shown, each traveling mechanism includes: two connecting pieces 21 and a plurality of wheels 22, wherein, at least 1 wheel 22 is rotatably connected to the inner side of the connecting piece 21, and the two connecting pieces 21 are respectively arranged on both sides of the I-beam, and the wheels 22 travel along the edge of the I-beam.

[0021] The overhead walking type self-shifting support robot in the embodiment, as Figure 4 shown, further includes: a track support member, which includes two sections of first I-beams 11 and a second I-beam 12 arranged in parallel. The upper part of the second I-beam 12 is stuck in the channel formed between the two sections of the first I-beams 11, and the bottom of the second I-beam 12 is fixedly connected to the top of the track 1.

[0022] In the above embodiments, the track 1 and the first I-beam 11 can be fixed to the top of the roadway or other supporting devices, and the front fixing base 43 and the rear fixing base 53 can be supported on other supporting devices. The support 8 can be of other shapes. Preferably, as Figure 5 shown, the support 8 includes: two columns 83 and a roof beam 82 located at the top of the columns 83. The three form a doorframe-shaped support, and a support plate 81 is provided on the inner side of the middle of the column 83. As Figure 4 and 5 shown, preferably, the front fixing base 43 and the rear fixing base 53 are located on the support plate 81 on the inner side of the support 8; the top of the first I-beam 11 is fixed to the roof beam 82 of the support 8.

[0023] In the embodiment, the front braking device 6 and the rear braking device 7 can adopt the existing technology, as long as they can lock or separate the front pushing device 4 or the rear pushing device 5 from the track 1; for example, a braking mechanism directly acting on the wheels at the top of the front pushing device 4 or the rear pushing device 5. Preferably, the front braking device 6 and the rear braking device 7 have the same structure and both include: a brake cylinder and a braking system. The top of the housing of the braking system is fixedly connected to the traveling mechanism, and the housings of the braking systems of the front braking device 6 and the rear braking device 7 are respectively connected to the rear side of the front pushing device 4 and the front side of the rear pushing device 5.

[0024] In the embodiment, the first drive system 42 is a hydraulic system, serving as the power source for the front pushing device 4, the rear pushing device 5 and the manipulator 3; the second drive system 52 is an electric control box, serving as the monitoring and control system of the overhead walking type self-shifting support robot.

[0025] The overhead walking type self-shifting support robot in the embodiment further includes: at least 2 pairs of guide columns 9. The tops of the guide columns 9 are hinged to the roof beam 82, and a T-shaped clamping position 91 is fixedly provided at the bottom of the guide columns 9; at least one pair of guide columns 9 are respectively provided on both sides of the front pushing device 4 and the rear pushing device 5. The guide columns 9 are used for guiding when the front pushing device 4 and the rear pushing device 5 are moving through.

[0026] The overhead walking type self-shifting support robot in the embodiment further includes: two sets of drive mechanisms, respectively used to drive the front pushing device 4 and the rear pushing device 5.

[0027] In the above embodiments, the manipulator can adopt the prior art. Preferably, the manipulator is composed of a base, a support column, a large arm, a large arm oil cylinder, a small arm, a small arm oil cylinder, a gripper assembly, and a connecting assembly. One end of the support column is rotatably arranged on the base; one end of the large arm is connected to the other end of the support column through a pin shaft, the cylinder barrel end of the large arm oil cylinder is axially connected to the side wall of the support column, and the piston rod end of the large arm oil cylinder is connected to the large arm; one end of the small arm is also connected to the other end of the large arm through a pin shaft, the cylinder barrel end of the small arm oil cylinder is axially connected to the large arm, and the piston rod end of the small arm oil cylinder is connected to one end of the small arm; the gripper assembly is connected to the other end of the small arm through a connecting assembly. For details, please refer to the patent number 201920999752.1.

[0028] In the above embodiments, when the front support oil cylinder 41 drives the front pushing device 4 to move forward under the drive of the driving mechanism, the oil cylinder rod retracts away from the support plate 81; when the front pushing device 4 is fixed, the oil cylinder rod extends to play a supporting role. At the same time, the front braking device 6 is locked with the track 1; when the rear support oil cylinder 51 drives the rear pushing device 5 to move forward under the drive of the driving mechanism, the oil cylinder rod retracts away from the support plate 81; when the rear pushing device 5 is fixed, the oil cylinder rod extends to play a supporting role. At the same time, the rear braking device 7 is locked with the track 1.

[0029] For the overhead walking type self-shifting support robot in the above embodiments, at least two brackets are first fixed to support the track 1, the front pushing device 4 and the rear pushing device 5; during operation, the manipulator grabs the two columns of the bracket and fixes them manually respectively, then grabs the roof beam and places it on the tops of the two fixed columns, and then fixes it manually. At this time, the installation of one bracket is completed; when moving, the track 1 is a movable track. When the front pushing device 4 moves forward, the rear pushing device 5 is fixed and locked with the track 1 to fix the track; when the rear pushing device 5 moves forward, the front pushing device 4 is fixed and locked with the track 1 to fix the track, completing a moving cycle; the manipulator then continues to support the next bracket, and the bracket is fixed manually. The overhead walking type self-shifting support robot in the embodiment is applicable to the support of difficult roadways, and is not only applicable to the installation of section steel supports such as U-shaped steel and miner steel in roadways, but also can be used for the installation of concrete-filled steel tube supports.

[0030] The overhead walking type self-shifting support robot in the above embodiments replaces manual handling, improves the support erection efficiency, reduces the labor intensity of personnel, improves the safety during the support erection process, and reduces the personnel input while ensuring the original roadway space and support strength; the uneven ground of the roadway and fixed facilities such as belt conveyors or tracks in the roadway have set obstacles for the robot to walk. At the same time, in the coal mine underground, the biggest problem faced by the robot is the walking power problem. The present invention uses the bracket to support the track and has its own power, effectively solving the above problems.

[0031] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An overhead walking self-shifting support robot, characterized in that Including: A track (1), a plurality of traveling mechanisms, a manipulator (3), a front pushing device (4) and a rear pushing device (5); wherein, the traveling mechanisms are movably connected to the track (1) and travel along the track (1); The front pushing device (4) includes: at least two front support cylinders (41), a first drive system (42), and at least two front fixed bases (43). On both sides of the housing of the first drive system (42), at least one front support cylinder (41) is respectively hinged. The front support cylinder rod is hinged to the top of the front fixed base (43); the top of the housing of the first drive system (42) is fixedly connected to the traveling mechanism; the manipulator (3) is fixedly arranged on the housing of the first drive system (42); A front braking device (6) for locking or separating the front pushing device (4) from the track (1); The rear pushing device (5) includes: at least two rear support cylinders (51), a second drive system (52) and at least two rear fixed bases (53). On both sides of the housing of the second drive system (52), at least one rear support cylinder (51) is respectively hinged. The rear support cylinder rod is hinged to the top of the rear fixed base (53); the top of the housing of the second drive system (52) is fixedly connected to the traveling mechanism; A rear braking device (7) for locking or separating the rear pushing device (5) from the track (1); The front fixed base (43) and the rear fixed base (53) are located on the support plate (81) inside the bracket (8); It further includes: two sets of drive mechanisms respectively used for driving the front pushing device (4) and the rear pushing device (5).

2. The overhead walking self-shifting support robot according to claim 1, wherein The track (1) is an I-beam; each traveling mechanism includes: two connectors (21) and a plurality of wheels (22), wherein, at least 1 wheel (22) is rotatably connected to the inner side of the connector (21), the two connectors (21) are respectively arranged on both sides of the I-beam, and the wheels (22) travel along the edge of the I-beam.

3. The overhead stepping self-shifting support robot according to claim 2, wherein, It further includes: a track support member, which includes two sections of first I-beams (11) and a second I-beam (12) arranged in parallel. The upper part of the second I-beam (12) is stuck in the channel formed between the two sections of first I-beams (11), and the bottom of the second I-beam (12) is fixedly connected to the top of the track (1).

4. The overhead walking type self-shifting support robot according to claim 3, wherein The top of the first I-beam (11) is fixed on the top beam (82) of the bracket (8).

5. The overhead walking type self-shifting support robot according to claim 1 or 2, characterized in that, The front braking device (6) and the rear braking device (7) have the same structure, and both include: a braking cylinder and a braking system. The top of the housing of the braking system is fixedly connected to the traveling mechanism. The housing of the braking system of the front braking device (6) and the housing of the braking system of the rear braking device (7) are respectively connected to the rear side of the front pushing device (4) and the front side of the rear pushing device (5).

6. The overhead walking type self-shifting support robot according to claim 1, wherein, It further includes: At least 2 pairs of guide columns (9), the tops of the guide columns (9) are hinged on the top beam (82), and a T-shaped clamping position (91) is fixedly arranged at the bottom of the guide columns (9); at least one pair of guide columns (9) are respectively arranged on both sides of the front pushing device (4) and the rear pushing device (5).

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