Pre-mining repair device for advanced hydraulic support group before moving

Abstract

The present invention relates to the technical field of obstacle removal equipment, and in particular to a pre-mining repair device used before a group of advanced hydraulic supports are moved, aiming to solve the problem that the existing pre-mining repair device requires manual operation by staff to remove the bottom drum in the tunnel and complete the tunnel repair work, and cannot automatically complete the tunnel repair work. The pre-mining repair device used before the group of advanced hydraulic supports is provided by the present invention, and the third servo motor and the fourth servo motor are used to drive the first roller and the second roller to rotate at high speed to clean the bottom drum in the tunnel respectively, and the pre-mining repair device is used to remove the influence of the bottom drum on the moving frame of the group of advanced hydraulic supports, without the need for underground workers to manually remove the bottom drum. Under the control of the controller, the detection and recognition module is used to identify the bottom drum, the repair module is used to automatically crush the bottom drum, and the obstacle removal guide module is used to remove the crushed bottom drum, and the tunnel repair work is automatically completed, thereby improving the efficiency and intelligence of underground work.

Description

Technical Field

[0001] The invention relates to the technical field of obstacle clearing equipment, and in particular to a pre-harvesting repair device used before a group of advanced hydraulic supports are moved. Background Art

[0002] Affected by the coal mining and excavation project, the top and bottom plates of the tunnel and the surrounding rocks are deformed and displaced into the tunnel under the influence of pressure, and the bottom plate of the tunnel bulges upward to form a bottom drum. The advanced hydraulic supports in the tunnel are advanced in the same way as the coal mining work progresses. During the group movement of the advanced hydraulic supports, the front end or both sides of the base of the advanced hydraulic supports will collide with the bottom drum, causing the angle between the base of the hydraulic supports and the horizontal plane to be too large. The large inclination angle will cause the support to fall or malfunction, affecting the normal working needs of the advanced hydraulic supports, delaying the mining period, failing to meet the planned production volume and causing economic losses, and even threatening the lives of coal mine workers.

[0003] Most of the existing pre-mining repair devices adopt a mechanical arm structure, and the mechanical arm is installed on a mobile platform. The staff manually operates the pre-mining repair device to remove the bottom drum in the tunnel and complete the tunnel repair work. The pre-mining repair device cannot automatically complete the tunnel repair work. Summary of the invention

[0004] The present invention provides a pre-mining repair device for use before a group of advanced hydraulic supports are moved, so as to solve the problem that the existing pre-mining repair device requires manual operation by workers to remove the bottom drum in the tunnel and complete the tunnel repair work, and cannot automatically complete the tunnel repair work.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a pre-harvesting repair device for an advance hydraulic support group before the frame is moved, including a controller, a detection and identification module and a repair module. The controller is installed inside the advance hydraulic support base, the detection and identification module includes a camera and a millimeter-wave radar, the camera and the millimeter-wave radar are respectively connected to the controller signal, the camera is fixedly installed above the middle of the advance hydraulic support, the millimeter-wave radar is fixedly installed in front of the advance hydraulic support base, the repair module includes a roller bracket, a first servo motor, a second servo motor, a first hydraulic cylinder, a second hydraulic cylinder, a first roller, a second roller, a second rotating shaft, a first support plate, a second support plate, and a third rotating shaft. The roller bracket is rotatably connected to the advance hydraulic support base through the first rotating shaft, and the front end of the roller bracket The first servo motor and the second servo motor are fixedly installed, the output shaft of the first servo motor is fixedly connected to the second rotating shaft, the output shaft of the second servo motor is fixedly connected to the third rotating shaft, the drum bracket is rotatably connected to the first support plate through the second rotating shaft, the second rotating shaft is fixedly connected to the first support plate, the drum bracket is rotatably connected to the second support plate through the third rotating shaft, the third rotating shaft is fixedly connected to the second support plate, the first support plate is connected to the first drum, the second support plate is connected to the second drum, pick teeth are arranged on the first drum and the second drum, the third servo motor is installed in the first drum, the fourth servo motor is installed in the second drum, the first hydraulic cylinder and the second hydraulic cylinder are symmetrically installed in front of the base of the advance hydraulic support, and the telescopic rods at the upper ends of the first hydraulic cylinder and the second hydraulic cylinder are connected to the drum bracket.

[0006] In the above-mentioned pre-harvesting repair device for the advance hydraulic support group before moving the frame, it is optional that the first roller includes a first outer cylinder, a first inner cylinder and a first connecting part, the end of the first inner cylinder away from the second roller is fixedly connected to the first support plate, the third servo motor is fixedly installed inside the first inner cylinder, the first connecting part is fixedly installed on the output shaft of the third servo motor, and the outer wall of the first connecting part is fixedly connected to the inner wall of the first outer cylinder; the second roller includes a second outer cylinder, a second inner cylinder and a second connecting part, the end of the second inner cylinder away from the first roller is fixedly connected to the second support plate, the fourth servo motor is fixedly installed inside the second inner cylinder, the second connecting part is fixedly installed on the output shaft of the fourth servo motor, and the outer wall of the second connecting part is fixedly connected to the inner wall of the second outer cylinder.

[0007] In the above-mentioned pre-harvesting repair device for the advance hydraulic support group before moving the frame, it is optional that a roller connecting shaft seat is fixed in a groove at one end of the first outer cylinder away from the first support plate, and a linear motor is fixed in a groove at one end of the second outer cylinder away from the second support plate, and the telescopic shaft of the linear motor is fixedly connected to the roller connecting shaft.

[0008] In the above-mentioned pre-harvest repair device for the group of advanced hydraulic supports before moving the frame, it is optional to also include an obstacle clearing guide module, the obstacle clearing guide module includes a third hydraulic cylinder, a fourth hydraulic cylinder, an obstacle clearing guide plate and a slide rail, the third hydraulic cylinder and the fourth hydraulic cylinder are symmetrically fixedly installed in front of the base of the advanced hydraulic support, the front telescopic rod of the third hydraulic cylinder and the front telescopic rod of the fourth hydraulic cylinder are both connected to the obstacle clearing guide plate, and the obstacle clearing guide plate cooperates with the slide rail on the base of the advanced hydraulic support.

[0009] In the above-mentioned pre-harvesting repair device for the advanced hydraulic support group before the frame is moved, it is optional to install a balancing cylinder in the middle of the advanced hydraulic support.

[0010] In the above-mentioned pre-harvesting repair device for the advance hydraulic support group before moving the frame, optionally, the detection and identification module also includes an infrared sensor, the infrared sensor is connected to the controller signal, the infrared sensor is fixedly installed at the lower middle part of the advance hydraulic support base, and a blocking device is installed in the middle of the advance hydraulic support, and the blocking device is electrically connected to the controller.

[0011] In the above-mentioned pre-harvest repair device for the advanced hydraulic support group before the frame is moved, it is optional that a spray device is symmetrically fixedly installed on the inner side wall of the roller support.

[0012] The pre-mining repair device for use before the advance hydraulic support group is moved, provided by the present invention, reaches a first working state through the first rotation of the first roller and the second roller, and the third servo motor and the fourth servo motor respectively drive the first roller and the second roller to rotate at high speed to clean the bottom drum in front of the advance hydraulic support; then, through the second rotation of the first roller and the second roller, it reaches a second working state, and the third servo motor and the fourth servo motor respectively drive the first roller and the second roller to rotate at high speed to clean the bottom drums on both sides of the advance hydraulic support; the pre-mining repair device is used to remove the influence of the bottom drum on the moving of the advance hydraulic support group, and there is no need for underground workers to manually remove the bottom drum. Under the control of the controller, the detection and identification module is used to identify the bottom drum, the repair module is used to automatically crush the bottom drum, and the obstacle removal guide module is used to remove the crushed bottom drum, so that the tunnel repair work is automatically completed, thereby improving the efficiency and intelligence of underground work.

[0013] The construction of the present invention and other objects and advantageous effects thereof will become more apparent through the description of the preferred embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 A schematic diagram of the initial state structure of a pre-harvesting repair device for a group of advanced hydraulic supports before moving the support frame provided by an embodiment of the present invention;

[0016] Figure 2 A schematic structural diagram of a first working state of a pre-harvesting repair device for a group of advanced hydraulic supports before moving the support frame provided by an embodiment of the present invention;

[0017] Figure 3 A front structural schematic diagram of a first working state of a pre-harvesting repair device for a group of advanced hydraulic supports before moving the support frame provided by an embodiment of the present invention;

[0018] Figure 4 A schematic side structural view of a first working state of a pre-harvesting repair device for a group of advanced hydraulic supports before moving the support frame provided by an embodiment of the present invention;

[0019] Figure 5 A schematic diagram of the top view of the structure of the first working state of the pre-harvesting repair device before the advance hydraulic support group is moved provided by an embodiment of the present invention;

[0020] Figure 6 A schematic diagram of the second working state structure of the pre-harvesting repair device before the advance hydraulic support group is moved provided by an embodiment of the present invention;

[0021] Figure 7 A front structural schematic diagram of a second working state of a pre-harvesting repair device for a group of advanced hydraulic supports before moving the support frame provided by an embodiment of the present invention;

[0022] Figure 8 A schematic cross-sectional view of the first roller and the second roller of a pre-harvesting repair device for a group of advanced hydraulic supports before moving the support frame provided in an embodiment of the present invention;

[0023] Fig. 9 A schematic structural diagram of a roller connecting shaft seat of a pre-harvesting repair device for a group of advanced hydraulic supports before moving the support frame provided by an embodiment of the present invention;

[0024] Fig.10 A schematic structural diagram of the roller connecting shaft of the pre-harvesting repair device for the advanced hydraulic support group before the frame is moved provided in an embodiment of the present invention.

[0025] Description of reference numerals:

[0026] 1-Advanced hydraulic support;

[0027] 2-Roller bracket;

[0028] 3- first rotating shaft;

[0029] 4-Advanced hydraulic support base;

[0030] 5- first servo motor;

[0031] 6- Second servo motor;

[0032] 7- first hydraulic cylinder;

[0033] 8- second hydraulic cylinder;

[0034] 9- first roller;

[0035] 901-the first outer cylinder; 902-the first inner cylinder; 903-the first connection part;

[0036] 10- second roller;

[0037] 1001- second outer tube; 1002- second inner tube; 1003- second connecting part;

[0038] 11- pick;

[0039] 12- second rotating shaft;

[0040] 13- the third hydraulic cylinder;

[0041] 14- fourth hydraulic cylinder;

[0042] 15-Obstacle removal guide plate;

[0043] 16-slide rail;

[0044] 17-Balance cylinder;

[0045] 18-Arresting device;

[0046] 19- Infrared sensor;

[0047] 20- Camera;

[0048] 21- spray device;

[0049] 22- roller connecting shaft seat;

[0050] 23- roller connecting shaft;

[0051] 24-millimeter wave radar;

[0052] 25- first support plate;

[0053] 26- second support plate;

[0054] 27- third rotating shaft;

[0055] 28- third servo motor;

[0056] 29- fourth servo motor;

[0057] 30-Linear motor. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail below in conjunction with the drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The embodiments of the present invention are described in detail below in conjunction with the drawings.

[0059] like Figure 1 , Figure 2As shown, the present invention provides a pre-harvesting repair device for an advanced hydraulic support group before the frame is moved, including a controller, a detection and identification module and a repair module. The controller is installed inside the advanced hydraulic support base 4. The detection and identification module includes a camera 20 and a millimeter-wave radar 24. The camera 20 and the millimeter-wave radar 24 are respectively connected to the controller signal. The camera 20 is fixedly installed above the middle of the advanced hydraulic support 1, and the millimeter-wave radar 24 is fixedly installed in front of the advanced hydraulic support base 4. The repair module includes a roller bracket 2, a first servo motor 5, a second servo motor 6, a first hydraulic cylinder 7, a second hydraulic cylinder 8, a first roller 9, a second roller 10, a second rotating shaft 12, a first support plate 25, a second support plate 26, and a third rotating shaft 27. The roller bracket 2 is rotatably connected to the advanced hydraulic support base 4 through the first rotating shaft 3, and the front end of the roller bracket 2 is fixedly installed with the first servo motor 5 and the second servo motor 6, the output shaft of the first servo motor 5 is fixedly connected to the second rotating shaft 12, the output shaft of the second servo motor 6 is fixedly connected to the third rotating shaft 27, the drum bracket 2 is rotatably connected to the first support plate 25 through the second rotating shaft 12, the second rotating shaft 12 is fixedly connected to the first support plate 25, the drum bracket 2 is rotatably connected to the second support plate 26 through the third rotating shaft 27, the third rotating shaft 27 is fixedly connected to the second support plate 26, the first support plate 25 is connected to the first drum 9, the second support plate 26 is connected to the second drum 10, the first drum 9 and the second drum 10 are both provided with pick teeth 11, the third servo motor 28 is installed in the first drum 9, and the fourth servo motor 29 is installed in the second drum 10, the first hydraulic cylinder 7 and the second hydraulic cylinder 8 are symmetrically installed in front of the advance hydraulic support base 4, and the telescopic rods at the upper ends of the first hydraulic cylinder 7 and the second hydraulic cylinder 8 are both connected to the drum bracket 2.

[0060] It should be noted that the camera 20 and the millimeter-wave radar 24 detect the size and shape of the bottom drum in the tunnel and the distance from the bottom drum to the advance hydraulic support 1, and send the detected bottom drum data to the controller; the telescopic rods at the upper ends of the first hydraulic cylinder 7 and the second hydraulic cylinder 8 are used to control the drum support 2 to rotate around the first rotating shaft 3; when the first hydraulic cylinder 7 and the second hydraulic cylinder 8 are extended to the longest, the first roller 9 and the second roller 10 can repair the roof of the tunnel; the third servo motor 28 and the fourth servo motor 29 respectively drive the first roller 9 and the second roller 10 to rotate at high speed, thereby driving the pick 11 to crush the bottom drum.

[0061] Furthermore, if Figure 1 , Figure 2 , Figure 8As shown, the first roller 9 includes a first outer cylinder 901, a first inner cylinder 902 and a first connecting portion 903, one end of the first inner cylinder 902 away from the second roller 10 is fixedly connected to the first support plate 25, the third servo motor 28 is fixedly installed inside the first inner cylinder 902, the first connecting portion 903 is fixedly installed on the output shaft of the third servo motor 28, and the outer wall of the first connecting portion 903 is fixedly connected to the inner wall of the first outer cylinder 901; the second roller 10 includes a second outer cylinder 1001, a second inner cylinder 1002 and a second connecting portion 1003, one end of the second inner cylinder 1002 away from the first roller 9 is fixedly connected to the second support plate 26, the fourth servo motor 29 is fixedly installed inside the second inner cylinder 1002, the second connecting portion 1003 is fixedly installed on the output shaft of the fourth servo motor 29, and the outer wall of the second connecting portion 1003 is fixedly connected to the inner wall of the second outer cylinder 1001.

[0062] It should be noted that a gap is provided between the outer wall of the first inner cylinder 902 and the inner wall of the first outer cylinder 901 to prevent the first outer cylinder 901 from colliding with the first inner cylinder 902 during rotation, and a gap is provided between the outer wall of the second inner cylinder 1002 and the inner wall of the second outer cylinder 1001 to prevent the second outer cylinder 1001 from colliding with the second inner cylinder 1002 during rotation. Through holes are provided on both the first inner cylinder 902 and the second inner cylinder 1002 to allow the lines of the third servo motor 28 and the fourth servo motor 29 to pass through.

[0063] Furthermore, if Figure 1-Figure 2 , Figure 8-Figure 10 As shown, the roller connecting shaft seat 22 is fixed in the groove at one end of the first outer cylinder 901 away from the first support plate 25, and the linear motor 30 is fixed in the groove at one end of the second outer cylinder 1001 away from the second support plate 26, and the telescopic shaft of the linear motor 30 is fixedly connected to the roller connecting shaft 23.

[0064] It should be noted that the roller connecting shaft seat 22 is always completely in the groove at one end of the first outer cylinder 901. In the initial state, the roller connecting shaft 23 is completely in the groove at one end of the second outer cylinder 1001. When the first roller 9 and the second roller 10 are rotated until their axes coincide and the bottom drum in front of the advance hydraulic support 1 needs to be cleared, the telescopic shaft of the linear motor 30 extends outward to drive the roller connecting shaft 23 from the groove at one end of the second outer cylinder 1001 to cooperate with the roller connecting shaft seat 22. The cooperation between the roller connecting shaft 23 and the roller connecting shaft seat 22 can increase the working stability of the first roller 9 and the second roller 10.

[0065] Furthermore, if Figure 1-Figure 7As shown, the pre-harvest repair device also includes an obstacle clearing guide module, which includes a third hydraulic cylinder 13, a fourth hydraulic cylinder 14, an obstacle clearing guide plate 15 and a slide rail 16. The third hydraulic cylinder 13 and the fourth hydraulic cylinder 14 are symmetrically fixedly installed in front of the advance hydraulic support base 4. The front telescopic rod of the third hydraulic cylinder 13 and the front telescopic rod of the fourth hydraulic cylinder 14 are both connected to the obstacle clearing guide plate 15, and the obstacle clearing guide plate 15 cooperates with the slide rail 16 on the advance hydraulic support base 4.

[0066] It should be noted that there are two obstacle clearing guide plates 15, which are symmetrically arranged in front of the advance hydraulic support base 4. The obstacle clearing guide plates 15 are arc-shaped. Even if the relative positions of the single hydraulic supports on both sides deviate, the obstacle clearing guide plates 15 can also clear the broken objects on the bottom drum in front of the advance hydraulic support 1. The obstacle clearing guide plates 15 cooperate with the slide rails 16 on the advance hydraulic support base 4, so that the obstacle clearing guide plates 15 work more stably. The third hydraulic cylinder 13 and the fourth hydraulic cylinder 14 are used to drive the obstacle clearing guide plates 15 to slide along the slide rails 16; during the period when the pick 11 breaks the bottom drum, the third hydraulic cylinder 13 and the fourth hydraulic cylinder 14 continuously extend and retract to drive the obstacle clearing guide plates 15 to slide back and forth from the middle to the outside of the advance hydraulic support base 4 along the slide rails 16, and the broken bottom drum is cleared to both sides of the tunnel, ensuring that the road in the tunnel is smooth, so that the advance hydraulic support group moves normally and the mining work proceeds normally.

[0067] Furthermore, if Figure 1 As shown, a balancing cylinder 17 is installed in the middle of the advance hydraulic support 1.

[0068] It should be noted that, during the moving process of the advanced hydraulic support 1 , the relative positions of the single hydraulic supports on both sides will be misaligned compared with the initial state. At this time, the relative positions of the single hydraulic supports on both sides are balanced by the balancing cylinder 17 .

[0069] Furthermore, if Figure 1 As shown, the detection and identification module also includes an infrared sensor 19, which is connected to the controller signal. The infrared sensor 19 is fixedly installed at the lower middle part of the advance hydraulic support base 4. A blocking device 18 is installed in the middle of the advance hydraulic support 1, and the blocking device 18 is electrically connected to the controller.

[0070] It should be noted that the blocking device 18 adopts a gate structure, which is a channel entrance and exit management device specially used to restrict the travel of motor vehicles on the road. An alarm is installed in the lane, and the alarm is connected to the controller signal. When the pre-mining repair device is working, the blocking device 18 prohibits the staff from passing. When the infrared sensor 19 detects that there are staff in the middle channel of the advance hydraulic support 1, the alarm sounds. When the pre-mining repair device is not working, the blocking device 18 is automatically released to facilitate the passage of the staff.

[0071] Furthermore, if Figure 2 , Figure 6 As shown, a spray device 21 is symmetrically fixedly installed on the inner side wall of the drum bracket 2.

[0072] It should be noted that when the first roller 9 and the second roller 10 crush the bottom drum, the spray device 21 is started, and the spray device 21 sprays toward the cutting teeth 11 to remove dust.

[0073] In the initial state (such as Figure 1 As shown), the angle between the roller support 2 and the horizontal plane is 60°, all motors are in an inoperative state, the third hydraulic cylinder 13 and the fourth hydraulic cylinder 14 are in a retracted state, two obstacle clearing guide plates 15 are located on both sides of the front end of the advance hydraulic support 1, and the blocking device 18 is in an inoperative state, so as to facilitate the passage of underground mine workers in the tunnel; if the detection and identification module does not detect the bottom drum, the pre-mining repair device is in an initial state.

[0074] When the first roller 9 and the second roller 10 are in the initial state (such as Figure 1 As shown), the first roller 9 and the second roller 10 are both in the cavity of the roller bracket 2; when the first roller 9 and the second roller 10 are in the first working state (as shown Figure 2-Figure 5 As shown), the axes of the first roller 9 and the second roller 10 coincide with each other; when the first roller 9 and the second roller 10 are in the second working state (as shown Figure 6-Figure 7 As shown in FIG. 2 , the first roller 9 and the second roller 10 are located outside the cavity of the roller support 2 .

[0075] If the detection and identification module detects that the bottom drum at the front of the advance hydraulic support is located in front of the advance hydraulic support 1 (the pre-harvesting repair device needs to be in the first working state), the detection and identification module sends the detected bottom drum data to the controller, and the controller controls the first servo motor 5 to rotate, and the first servo motor 5 drives the first support plate 25 to rotate through the second rotating shaft 12, and the rotating first support plate 25 drives the first roller 9 to rotate outward 90° with the second rotating shaft 12 as the center; then the controller controls the second servo motor 6 to rotate, and the second servo motor 6 drives the second support plate 26 to rotate through the third rotating shaft 27, and the rotating second support plate 26 drives the second roller 9 to rotate outward 90° with the second rotating shaft 12 as the center. The drum 10 rotates outward 90° with the third rotating shaft 27 as the center. At this time, the first drum 9 and the second drum 10 are in the first working state; then the controller controls the linear motor 30 to drive the drum connecting shaft 23 to extend and engage with the drum connecting shaft seat 22 on the first drum 9, thereby enhancing the working strength of the pre-mining repair device; then the controller controls the first hydraulic cylinder 7 and the second hydraulic cylinder 8 to extend and retract, thereby causing the drum bracket 2 to rotate close to the bottom drum; then the controller controls the third servo motor 28 and the fourth servo motor 29 to respectively drive the first drum 9 and the second drum 10 to rotate at high speed, thereby causing the picks 11 on the first drum 9 and the second drum 10 to break the bottom drum.

[0076] If the detection and identification module detects that the bottom drum at the front of the advance hydraulic support is located on both sides of the advance hydraulic support 1 (the pre-mining repair device needs to be in the second working state), the detection and identification module sends the detected bottom drum data to the controller. On the basis of the first working state, the controller controls the linear motor 30 to drive the roller connecting shaft 23 to retract, and then the controller controls the first servo motor 5 to rotate, and the first servo motor 5 drives the first support plate 25 to rotate through the second rotating shaft 12, and the rotating first support plate 25 drives the first roller 9 to continue to rotate outward 90° with the second rotating shaft 12 as the center; then the controller controls the second servo motor 6 to rotate, and the second servo motor 6 drives the second support plate 26 to rotate through the third rotating shaft 27, and the rotating second support plate 26 drives the second roller 10 to continue to rotate outward 90° with the third rotating shaft 27 as the center, at this time, the first roller 9 and the second roller 10 are in the second working state; then the controller controls the third servo motor 28 and the fourth servo motor 29 to drive the first roller 9 and the second roller 10 to rotate at high speed respectively, so that the pick 11 on the first roller 9 and the second roller 10 breaks the bottom drum.

[0077] When the pre-harvesting repair device needs to directly enter the second working state from the initial state, the controller controls the first servo motor 5 to rotate, and the first servo motor 5 drives the first support plate 25 to rotate through the second rotating shaft 12, and the rotating first support plate 25 drives the first roller 9 to rotate 180° outward with the second rotating shaft 12 as the center; then the controller controls the second servo motor 6 to rotate, and the second servo motor 6 drives the second support plate 26 to rotate through the third rotating shaft 27, and the rotating second support plate 26 drives the second roller 10 to rotate 180° outward with the third rotating shaft 27 as the center; the first roller 9 and the second roller 10 rotate in sequence to avoid collision between the two during rotation, and the sum of the lengths of the first roller 9 and the second roller 10 is the same as the width of the advance hydraulic support 1, so that the bottom drum in front of the advance hydraulic support 1 can be completely cleared.

[0078] The pre-mining repair device for use before the advance hydraulic support group is moved, provided by the present invention, reaches a first working state through the first rotation of the first roller and the second roller, and the third servo motor and the fourth servo motor respectively drive the first roller and the second roller to rotate at high speed to clean the bottom drum in front of the advance hydraulic support; then, through the second rotation of the first roller and the second roller, it reaches a second working state, and the third servo motor and the fourth servo motor respectively drive the first roller and the second roller to rotate at high speed to clean the bottom drums on both sides of the advance hydraulic support; the pre-mining repair device is used to remove the influence of the bottom drum on the moving of the advance hydraulic support group, and there is no need for underground workers to manually remove the bottom drum. Under the control of the controller, the detection and identification module is used to identify the bottom drum, the repair module is used to automatically crush the bottom drum, and the obstacle removal guide module is used to remove the crushed bottom drum, so that the tunnel repair work is automatically completed, thereby improving the efficiency and intelligence of underground work.

[0079] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying 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, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise precisely and specifically specified.

[0080] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pre-mining repair device for a group of advanced hydraulic supports before moving the support frame, characterized in that: It includes a controller, a detection and identification module and a repair module, wherein the controller is installed inside the advance hydraulic support base, the detection and identification module includes a camera and a millimeter-wave radar, the camera and the millimeter-wave radar are respectively connected to the controller signal, the camera is fixedly installed above the middle of the advance hydraulic support, the millimeter-wave radar is fixedly installed in front of the advance hydraulic support base, the repair module includes a roller support, a first servo motor, a second servo motor, a first hydraulic cylinder, a second hydraulic cylinder, a first roller, a second roller, a second rotating shaft, a first support plate, a second support plate, and a third rotating shaft, the roller support is rotatably connected to the advance hydraulic support base through the first rotating shaft, the first servo motor and the second servo motor are fixedly installed at the front end of the roller support, and the output shaft of the first servo motor is connected to the second rotating shaft The first and second rollers are fixedly connected, the output shaft of the second servo motor is fixedly connected to the third rotating shaft, the roller bracket is rotatably connected to the first support plate through the second rotating shaft, the second rotating shaft is fixedly connected to the first support plate, the roller bracket is rotatably connected to the second support plate through the third rotating shaft, the third rotating shaft is fixedly connected to the second support plate, the first support plate is connected to the first roller, the second support plate is connected to the second roller, picks are arranged on the first roller and the second roller, the third servo motor is installed in the first roller, the fourth servo motor is installed in the second roller, the first hydraulic cylinder and the second hydraulic cylinder are symmetrically installed in front of the base of the advance hydraulic support, and the telescopic rods at the upper ends of the first hydraulic cylinder and the second hydraulic cylinder are connected to the roller bracket; Through the first rotation of the first roller and the second roller, the first working state is reached, and the third servo motor and the fourth servo motor respectively drive the first roller and the second roller to rotate at high speed to clean the bottom drum in front of the advance hydraulic support; and through the second rotation of the first roller and the second roller, the second working state is reached, and the third servo motor and the fourth servo motor respectively drive the first roller and the second roller to rotate at high speed to clean the bottom drums on both sides of the advance hydraulic support.

2. The pre-mining repair device for the advanced hydraulic support group before moving the frame according to claim 1 is characterized in that: The first roller comprises a first outer cylinder, a first inner cylinder and a first connecting portion, one end of the first inner cylinder away from the second roller is fixedly connected to the first supporting plate, a third servo motor is fixedly installed inside the first inner cylinder, the first connecting portion is fixedly installed on the output shaft of the third servo motor, and the outer wall of the first connecting portion is fixedly connected to the inner wall of the first outer cylinder; the second roller comprises a second outer cylinder, a second inner cylinder and a second connecting portion, one end of the second inner cylinder away from the first roller is fixedly connected to the second supporting plate, a fourth servo motor is fixedly installed inside the second inner cylinder, the second connecting portion is fixedly installed on the output shaft of the fourth servo motor, and the outer wall of the second connecting portion is fixedly connected to the inner wall of the second outer cylinder.

3. The pre-mining repair device for the advanced hydraulic support group before moving the frame according to claim 2 is characterized in that: A roller connecting shaft seat is fixed in a groove at one end of the first outer cylinder away from the first support plate, a linear motor is fixed in a groove at one end of the second outer cylinder away from the second support plate, and the telescopic shaft of the linear motor is fixedly connected to the roller connecting shaft.

4. The pre-mining repair device for the advanced hydraulic support group before moving the frame according to claim 3 is characterized in that: It also includes an obstacle clearing guide module, which includes a third hydraulic cylinder, a fourth hydraulic cylinder, an obstacle clearing guide plate and a slide rail. The third hydraulic cylinder and the fourth hydraulic cylinder are symmetrically fixedly installed in front of the advance hydraulic support base. The front telescopic rod of the third hydraulic cylinder and the front telescopic rod of the fourth hydraulic cylinder are both connected to the obstacle clearing guide plate, and the obstacle clearing guide plate cooperates with the slide rail on the advance hydraulic support base.

5. The pre-mining repair device for the advanced hydraulic support group before moving the frame according to claim 4 is characterized in that: A balancing oil cylinder is installed in the middle of the advanced hydraulic support.

6. The pre-mining repair device for the advanced hydraulic support group before moving the frame according to claim 5 is characterized in that: The detection and identification module also includes an infrared sensor, which is connected to the controller signal. The infrared sensor is fixedly installed below the middle of the advance hydraulic support base. A blocking device is installed in the middle of the advance hydraulic support, and the blocking device is electrically connected to the controller.

7. The pre-mining repair device for the advanced hydraulic support group before moving the frame according to claim 6 is characterized in that: The spray device is symmetrically fixedly installed on the inner side wall of the drum bracket.

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