A self-moving support structure installation system and method for mining

Abstract

This invention addresses the shortcomings of existing mine tunnel support technologies by providing a self-moving support structure installation system and method. This system can move, rotate, and extend within the tunnel, and perform loading, unloading, and transportation operations, thus accelerating the construction efficiency of mine tunnels, reducing labor intensity, and significantly lowering construction costs. This method is applied to the aforementioned installation system. By combining the installation system and method, mechanization of mine tunnel construction can be achieved. Through the coordinated operation of the installation robot's lateral movement device and the two hydraulic cylinders and rotating installation plate on the robot, the arc segment can be freely adjusted vertically and horizontally within a small range, improving docking accuracy. This invention is of great significance for improving the installation efficiency of I-beam supports in mine tunnels, increasing the safety of the support installation process, reducing labor intensity, and lowering installation costs.

Description

Technical Field

[0001] This invention relates to the field of tunnel support technology in mining, and in particular to a self-moving support structure installation system for mining and an installation method for installing I-beam supports using the same system. Background Technology

[0002] Steel arch frames have high overall rigidity, which can provide greater early support rigidity. They can also be well integrated with anchor bolts, steel mesh, and shotcrete to form a combined support, enhancing the effectiveness of the support. They also have advantages such as good stress conditions and can be prefabricated in advance, and are widely used in the initial support of mining tunnels.

[0003] In mining construction, I-beam supports typically consist of 6-8 arched segments connected by bolts. Currently, commonly used I-beam sizes in tunnel construction include #18 and #20. Due to variations in tunnel cross-sectional dimensions and shape, the weight of the I-beam supports differs, generally exceeding 100 kg per segment, and sometimes reaching over 400 kg. However, in current mining construction, most I-beam supports are erected manually, with a smaller portion using arch-frame installation trolleys, as seen in patented methods.

[0004] CN202010274746.7 (corresponding publication number CN 111425216 A, announcement number CN 111425216 B) discloses a construction system for a composite support structure, including a tunneling machine, anchor bolt construction device, arc plate construction device, steel pipe construction device, etc. However, the overall integrity of this construction system is poor, and each device works independently. Patent CN 202220495598.6 (corresponding announcement number CN 216305963) A bracket installation and repair machine is disclosed in (U). It includes a stepping movement mechanism, an intermediate lifting mechanism, a forearm, and a control system. The stepping movement mechanism controls the forward and backward movement of the installation and repair machine. A first gripping manipulator and a second gripping manipulator are mounted on the stepping movement mechanism. The first and second gripping manipulators grip each section of the installed concrete bracket to fix the position of the installation and repair machine. The intermediate lifting mechanism controls the up and down movement of the internal mechanisms of the installation and repair machine. The stepping movement mechanism is mounted on top of the intermediate lifting mechanism, and the forearm is mounted on the front side of the intermediate lifting mechanism. One end of the forearm is connected to a lateral gripping mechanism, an electromagnetic chuck, or an impact pick. The forearm drives the lateral gripping mechanism, electromagnetic chuck, or impact pick to move and rotate. The control system controls the stepping movement mechanism, the intermediate lifting mechanism, and the forearm. However, this technology is mainly aimed at bracket installation in coal mine roadways. Coal mine roadways typically have small cross-sections, and the stability of the bracket installation and repair machine during construction can be ensured solely by the gripping and locking of the upper stepping mechanism manipulator. However, the support cross-section width required during the excavation of mine-method tunnels is typically over 6 meters. Therefore, when installing the left and right curved supports using the aforementioned technology, relying solely on the upper robotic arm for gripping and locking would cause the entire installation machine to become unstable, leading to overturning. This technology alone cannot be directly applied to the support construction of mine-method tunnels. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a self-moving support structure installation system and method for mining operations.

[0006] The technical solution adopted in this invention is as follows:

[0007] In a first aspect, the present invention provides a self-moving support structure installation system for mining operations, comprising a stepping mechanism, a first horizontal traversing mechanism, a traversing mechanism for an installation mechanical claw, a rotating installation disc mechanism, and an installation mechanical arm. The first horizontal traversing mechanism is installed at the bottom of the stepping mechanism. The first horizontal traversing mechanism includes a horizontal traversing frame, a horizontal traversing cylinder, a balancing manipulator, and a drive motor. The horizontal traversing frame and the bottom of the stepping mechanism are integrated through a groove. The cylinder body of the horizontal traversing cylinder is fixed to the stepping mechanism, and the piston rod is connected to the horizontal traversing frame. The oil cylinder drives the horizontal transverse frame to move to both sides relative to the stepping mechanism; a pair of balancing manipulators are set at the left and right ends of the horizontal transverse frame. The balancing manipulators are installed inside the horizontal transverse frame through movable supports. The balancing manipulators can be popped out and retracted through the transmission motor. When the balancing manipulators pop out, they grab the support structure; at the bottom of the first horizontal transverse mechanism, the installation manipulator claw transverse mechanism is connected to the installation manipulator claw transverse mechanism through multiple vertically set telescopic devices. The installation manipulator claw transverse mechanism is connected to the rotating installation plate mechanism, and the rotating installation plate mechanism is connected to the installation manipulator arm.

[0008] Secondly, the present invention also provides an installation method for a self-moving support structure installation system for mining operations, as follows:

[0009] 1) First, 6 to 8 I-beam supports are erected in advance. The installation machine is installed on the erected I-beam supports through a stepping mechanism. The arc section of the support is transported from the trestle to the work surface by a monorail overhead transport machine.

[0010] 2) Transport the bracket arc segment to the lower part of the installation robot, the installation robot on the rotating installation plate grabs the fixed top arc segment bracket, the installation robot returns to its original position, and the rotating installation plate rotates 180 degrees;

[0011] 3) Control the extension and retraction length of the mechanical claw lateral movement mechanism to determine the installation position of the top arc segment bracket in the horizontal direction;

[0012] 4) Extend the mechanical arm to lift the top arc section support to the installation height, fine-tune the angle of the top arc section support to make the top arc section support fit more closely with the tunnel excavation face, and anchor the top arc section support in the surrounding rock mass.

[0013] 5) The installation robot returns to its original position, the vertical telescopic device extends, and the height of the installation robot decreases; when the installation robot reaches the installation height of the left and right bracket arc segments, it stops; the installation robot on the rotating installation plate grabs the left bracket arc segment transported by the monorail overhead conveyor.

[0014] 6) Install the robotic arm back to its original position, keeping the height unchanged, and operate the horizontal telescopic cylinder of the mechanical claw lateral movement mechanism to make the left first bracket arc segment and the top arc segment bracket on the same plane.

[0015] 7) Rotate the mounting plate 135 degrees clockwise, extend the mechanical arm to align the left arc segment with the top arc segment of the bracket, and connect the two parts with bolts;

[0016] 8) The installation robot retracts and rotates back to its original position, maintaining a constant height, and transports the bracket arc segment to the lower part of the installation robot. The installation robot then grabs the rightmost bracket arc segment that has been transported.

[0017] 9) Install the robotic arm back to its original position, keeping the height unchanged, and operate the horizontal telescopic cylinder of the mechanical claw lateral movement mechanism to make the right first bracket arc segment and the top arc segment bracket on the same plane.

[0018] 10) Rotate the mounting plate counterclockwise by 135 degrees, extend the robotic arm, and bring the right bracket arc to the corresponding installation position.

[0019] 11) By adjusting the installation robot, align the right bracket arc with the top bracket arc, and connect the two parts with bolts;

[0020] 12) The installation robot arm retracts and rotates back to its original position, and the vertical telescopic device continues to extend. When the installation robot arm reaches the second installation height on the left and second installation height on the right, the installation robot arm on the rotating installation plate grabs the arc segment of the second left bracket that has been conveyed.

[0021] 13) Keeping the height of the installation robot arm unchanged, the first horizontal lateral movement mechanism moves to the left as a whole. After reaching the left position, the balancing robot arm extends out through the transmission motor and grabs the arc segment of the installed bracket.

[0022] 14) Operate the horizontal telescopic cylinder of the mechanical claw lateral movement mechanism to make the arc segment of the second left bracket and the arc segment of the already installed bracket on the same plane. Rotate the installation plate clockwise by 45 degrees, extend the mechanical arm, and make the arc segment of the second left bracket reach the corresponding installation position, align the arc segment of the second left bracket with the arc segment of the first left bracket, and connect the two parts.

[0023] 15) The installation robot arm retracts and rotates back to its original position. The balancing robot arm returns to its original position via the drive motor. The horizontal lateral movement cylinder retracts, and the first horizontal lateral movement mechanism moves to the right.

[0024] 16) Keeping the height of the installation robot arm unchanged, the telescopic cylinder of the installation robot arm extends, and the installation robot arm on the rotating installation plate grabs the arc segment of the right second support of the conveyor.

[0025] 17) The entire installation robot arm is moved to the right. After reaching the right position, the balancing robot arm inside the first horizontal lateral movement mechanism pops out and extends to grab the arc segment of the installed bracket to ensure its stability.

[0026] 18) Operate the transverse drive device of the mechanical claw transverse mechanism to make the arc segment of the second right bracket and the installed arc segment on the same plane. Rotate the installation plate counterclockwise by 45 degrees, extend the mechanical arm, and make the arc segment of the second right bracket reach the corresponding installation position. Align the arc segment of the second right bracket with the arc segment of the first right bracket and connect the two parts.

[0027] 19) The installation robot rotates back to its original position, the installation robot moves to the left, the vertical telescopic device retracts, and the installation robot is raised to its original height and returns to its original position;

[0028] 20) The second horizontal traverse mechanism of the monorail overhead conveyor moves to the left, aligning the arc segment of the left third support on the conveyor with the arc segment of the already installed left second support, and connecting the two parts;

[0029] 21) The second horizontal lateral movement mechanism moves to the right, the monorail crane returns to its original position, the monorail crane lifts the right third support arc segment to the working surface at the trestle position, the second horizontal lateral movement mechanism moves to the right, aligns the right third support arc segment on the crane with the already installed right second support arc segment, and connects the three parts with bolts;

[0030] 22) The monorail crane returns to its original position, lifts the inverted bottom arch section to the working face at the trestle position, aligns the inverted bottom arch section on the crane with the installed section, and connects the remaining left three and right three support sections with bolts.

[0031] 23) The stepping mechanism extends forward, and the self-propelled support structure installation machine moves forward to the next set of installation working surfaces;

[0032] 24) The stepping mechanism continues to retract forward, moving the auxiliary beam to the next work station;

[0033] 25) Repeat the above steps to install the next bracket, and so on.

[0034] The beneficial effects of the above embodiments of the present invention are as follows:

[0035] The first objective of this invention is to provide a self-moving support structure installation system for mining operations. This system can move, rotate, and extend within the tunnel, performing loading, unloading, and transportation operations. It can also retract to a space within three meters of the top, facilitating lower-level construction and relocation. The installation machine of this invention, by adding a horizontal lateral movement mechanism, enables overall left-right lateral movement, significantly increasing the size of the installation section. Simultaneously, the horizontal lateral movement mechanism can deploy a balancing manipulator to lock onto the pre-installed I-beam support, ensuring the stability of the installation machine when installing the left second (right second) and left third (right third) arc-shaped support segments. Furthermore, by adding a monorail-mounted transport machine, the required support arc segments are transported from the trestle to the installation surface. The monorail-mounted transport machine is fixed to the pre-installed I-beam support, without affecting other ground-level construction work from the trestle to the working face.

[0036] The second objective of this invention is to provide a method for installing I-beam supports in mining tunnels, thereby accelerating the construction efficiency of mining tunnels, reducing the labor intensity of workers, and significantly lowering construction costs. This method is applied to the aforementioned installation system. By combining the installation system and the installation method, the mechanization of mining tunnel construction can be achieved. Through the coordinated operation of the lateral movement device of the installation robot and the two hydraulic cylinders and rotating installation plate on the installation robot, the arc segment can be freely adjusted vertically and horizontally within a small range, improving docking accuracy. This invention is of great significance for improving the installation efficiency of I-beam supports in mining tunnels, increasing the safety of the support installation process, reducing the labor intensity of workers, and lowering installation costs. Attached Figure Description

[0037] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0038] Appendix Figure 1 This is the main view of the installation machine;

[0039] Appendix Figure 2 These are the main view and side view of the installation machine;

[0040] Appendix Figure 3 This is the front view of a monorail conveyor.

[0041] Appendix Figure 4 This is a side view of a monorail transport machine;

[0042] Appendix Figure 5 This is a front view of the installation machine across the entire cross-section of the I-beam support;

[0043] Appendix Figure 6 This is a front view of the entire cross-section of the monorail transport machine on the I-beam support;

[0044] Appendix Figure 7 This is a front view of the working state of the left support bracket of the support structure installation system;

[0045] Appendix Figure 8 This is a front view of the working state of the right-side support bracket of the support structure installation system;

[0046] Appendix Figure 9 This is a side view of the protective structure installation system;

[0047] Appendix Figure 10 This is a top view of the support structure installation system;

[0048] Appendix Figure 11 It is a three-dimensional axis view of the support structure installation system.

[0049] In the diagram: 1-Grabbing mechanical claw, 2-Stepping mechanical claw, 3-Main beam of stepping device, 4-Auxiliary beam of stepping device, 5-Stepping cylinder, 6-Horizontal transverse frame, 7-Horizontal transverse cylinder, 8-Balancing manipulator, 9-Drive motor, 10-Counterweight box, 11-Three-stage telescopic cylinder, 12-Transverse frame, 13-Horizontal telescopic frame, 14-Horizontal telescopic cylinder, 15-Rotating mounting plate fixing plate, 16-Rotating mounting plate, 17-Installation manipulator, 18-Installation manipulator telescopic cylinder, 19-Installation manipulator seed block; 20-Grabbing manipulator, 21-Slide rail fixing frame, 22-Conveyor slide rail, 23-Transport trolley, 24-Crane horizontal transverse frame, 25-Wire rope, 26-Transmission power motor;

[0050] 27 - Transport support arc segment; 28 - Top support arc segment; 29 - Left first support arc segment; 30 - Right first support arc segment; 31 - Left second support arc segment; 32 - Right second support arc segment; 33 - Left third support arc segment; 34 - Right third support arc segment; 35 - Bottom support arc segment; 36 - Installed I-beam support. Detailed Implementation

[0051] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0052] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless otherwise expressly indicated by the invention, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0053] For ease of description, the words "up," "down," "left," and "right" appearing in this invention only indicate that they are consistent with the up, down, left, and right directions of the accompanying drawings themselves, and do not limit the structure. They are merely for the purpose of facilitating the description of this invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0054] Terminology Explanation: The terms "installation," "connection," "linking," and "fixing" in this invention should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction relationship between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0055] In a typical embodiment of the present invention, a self-moving support structure installation system for mining methods proposed in the present invention includes a self-moving support structure installation machine and a monorail crane transport machine.

[0056] The self-moving support structure installation machine in this embodiment includes: a stepping mechanism, a first horizontal lateral movement mechanism, an installation mechanical claw lateral movement mechanism, a rotating installation disc mechanism, and an installation mechanical arm.

[0057] The aforementioned stepping mechanism includes a gripping mechanical claw 1, a stepping mechanical claw 2, a main beam of the stepping device 3, an auxiliary beam of the stepping device 4, a stepping hydraulic cylinder 5, and a counterweight box 10;

[0058] The mechanical claw 1 is mounted on the main beam 3 of the stepping device, and the mechanical claw 1 includes two rows, with two claws in the first row and six claws in the second row.

[0059] The stepping mechanical claw 2 is welded to the auxiliary beam 4 of the stepping device; the stepping mechanical claw 2 is located between the two rows of gripping mechanical claws 1 mentioned above; both the main beam 3 and the auxiliary beam 4 of the stepping device are I-beams, and the auxiliary beam 4 is located inside the main beam 3 of the stepping device, forming a through groove in which a pulley is embedded; the stepping cylinder 5 has two functions: when the stepping cylinder 5 extends, it drives the auxiliary beam 4 of the stepping device to move forward relative to the main beam 3 of the stepping device; then the auxiliary beam 4 of the stepping device grabs the support structure through the stepping mechanical claw 2 and is fixed in place. At this time, the stepping cylinder 5 retracts, driving the main beam 3 of the stepping device to move forward one step relative to the auxiliary beam 4 of the stepping device, thereby realizing the forward movement of the entire device.

[0060] The counterweight box 10 is fixed to the rear of the stepping mechanism by welding to ensure the stability of the machine during stepping and the installation of the I-beam.

[0061] The first horizontal traversing mechanism in this embodiment includes a horizontal traversing frame 6, a horizontal traversing cylinder 7, a balancing manipulator 8, and a drive motor 9. The horizontal traversing frame 6 and the bottom of the stepping mechanism are embedded together through a groove to form a whole. The cylinder body of the horizontal traversing cylinder 7 is fixed on the stepping mechanism, and the piston rod is connected to the horizontal traversing frame 6. The horizontal traversing cylinder 7 can drive the horizontal traversing frame 6 to move to one side relative to the stepping mechanism. Two pairs of balancing manipulators 8 are installed inside the horizontal traversing frame 6 through movable supports. The drive motor 9 can realize the pop-up and retraction of the balancing manipulators 8. When the balancing manipulators 8 pop up, they grab the support structure. One pair of balancing manipulators 8 is installed at the left end of the horizontal traversing frame 6, and the other pair of balancing manipulators 8 is installed at the right end of the horizontal traversing frame 6.

[0062] The purpose and working principle of installing the first horizontal lateral movement mechanism in this device are as follows: By adding the horizontal lateral movement mechanism, the entire installation machine can be moved laterally left and right, greatly increasing the size of the installation section that can be installed. Simultaneously, the horizontal lateral movement mechanism can extend a balancing manipulator to grip and lock onto the installed I-beam bracket, ensuring the stability of the installation machine when installing the second (second from right) and third (third from right) arc-shaped brackets on the left. This structure controls the overall lateral movement direction of the installation machine by retracting the horizontal lateral movement cylinder. After the horizontal lateral movement frame reaches the designated position, the drive motor drives the balancing manipulator to extend from inside the horizontal lateral movement frame, gripping the installed I-beam bracket. After the lower installation manipulator arm completes the installation of the I-beam bracket, the balancing manipulator releases, and the motor drives the manipulator to retract back into the horizontal lateral movement frame. The horizontal lateral movement cylinder releases, the horizontal lateral movement frame returns to its original position, and the horizontal lateral movement device completes its operation.

[0063] Furthermore, in this embodiment, the mechanical claw lateral movement mechanism includes a lateral movement frame 12, a horizontal telescopic frame 13, and a horizontal telescopic cylinder 14. The lateral movement frame 12 is connected to the horizontal lateral movement frame 6 located above it via a vertically arranged three-stage telescopic cylinder 11. The horizontal telescopic frame 13 and the horizontal telescopic cylinder 14 are arranged inside the lateral movement frame 12. The horizontal telescopic cylinder 14 controls the horizontal telescopic frame 13 to extend and retract in the longitudinal direction. At the same time, a lateral movement drive device, such as a chain drive or a cylinder drive, is provided inside the lateral movement frame 12 to drive the horizontal telescopic frame 13 to move in the lateral direction.

[0064] The rotating mounting plate mechanism includes a rotating mounting plate fixing plate 15 and a rotating mounting plate 16. The rotating mounting plate fixing plate 15 and the horizontal telescopic frame 13 are manufactured as a single unit. When the horizontal telescopic frame 13 extends or retracts, it can extend or retract along with the mounting plate fixing plate 15. The rotating mounting plate fixing plate 15 and the rotating mounting plate 16 are connected by a flange on their back sides.

[0065] The robotic arm installation includes: a robotic arm 17, telescopic cylinders 18, and a counterweight 19. The robotic arm 17 has a flange in the middle, which is connected to the rotating mounting plate 16 as a single unit. Two telescopic cylinders 18 are embedded inside the robotic arm, and the robotic arm 17 is welded to the end of the robotic arm.

[0066] The rear of the robotic arm is filled with heavy objects as counterweights for mounting the robotic arm 19.

[0067] It should be noted that the structures of the aforementioned gripping mechanical claw 1 and stepping mechanical claw 2 are exactly the same, with the stepping mechanical claw 2 positioned between the front and rear rows of the gripping mechanical claw 1.

[0068] The monorail overhead conveyor includes: a fixed frame, a transport mechanism, a second horizontal traverse mechanism, and a hoisting mechanism.

[0069] The fixed frame includes a lock-gripping robot 20 and a slide rail fixed frame 21; the slide rail fixed frame 21 is fixed to the lock-gripping robot 20 by welding; the lock-gripping robot 20 includes multiple sets, and the multiple sets of lock-gripping robot 20 are arranged sequentially along the length direction of the slide rail fixed frame 21. Each set of lock-gripping robot 20 includes two lock-gripping robots, and the two lock-gripping robots are arranged along the width direction of the slide rail;

[0070] The transport mechanism includes: a transport slide rail 22 and a transport trolley 23; the transport slide rail 22 is an I-beam, the upper flange of the I-beam is clamped and locked on the aforementioned slide rail fixing frame 21, and the transport trolley 23 is connected to the I-beam through a groove, the groove cooperates with the rollers of the transport trolley 23, so that the transport trolley 23 can move along the length of the transport slide rail 22.

[0071] A second horizontal traverse mechanism is installed at the bottom of the transport trolley 23. The second horizontal traverse structure is the same as the first horizontal traverse structure described above, and will not be described in detail here. The top of the horizontal traverse frame of the second horizontal traverse structure is fixed to the bottom of the transport trolley 23.

[0072] The hoisting mechanism includes a crane horizontal transverse frame 24, a wire rope 25, and a drive motor 26. The crane horizontal transverse frame is a hollow truss structure. The wire rope 25 and the drive motor 26 are welded inside the crane horizontal transverse frame 24. The drive motor 26 drives the wire rope 25 to wind in both directions. The wire rope 25 is used to hoist the I-beam support.

[0073] The crane horizontal traverse frame 24 is embedded at the bottom of the horizontal traverse mechanism of the second horizontal traverse mechanism, and the left and right movement of the second horizontal traverse mechanism is realized by the hydraulic cylinder 7;

[0074] When the support section of a mining tunnel is large, the limited extendable length of the installation machine prevents the direct installation of the left three (right three) arc-shaped support segments. A second horizontal lateral movement mechanism enables the monorail transport machine to move laterally left and right, transporting the left three (right three) arc-shaped support segments to the installation section. The I-beam support arc segments are then installed manually. The horizontal lateral movement mechanism deploys a balancing robotic arm to grip and lock onto the installed I-beam support, ensuring the stability of the installation machine when transporting the left three (right three) arc-shaped support segments to the left and right installation faces. Compared to traditional mining tunnel construction, this system achieves mechanized transport of support arc segments, increasing installation efficiency and reducing worker workload. It also significantly increases the size of the support section that the entire system can support.

[0075] An embodiment of the present invention provides a method for installing I-beam supports in mining tunnel construction. This method utilizes a self-moving support structure installation system for mining methods. The installation steps are as follows (taking the full-section method as an example):

[0076] 1) In the initial stage of mine tunnel construction, 6 to 8 I-beam supports are erected manually. The support installation system uses a gripping and locking mechanical claw 1 on the erected I-beam supports. The arc section of the support is transported from the trestle to the working face by a monorail overhead transport machine.

[0077] 2) The bracket arc segment is transported manually to the lower part of the installation robot 17. The installation robot 17 on the rotating installation plate 16 grabs the fixed top arc segment bracket, the robot returns to its original position, and the rotating installation plate 16 rotates 180 degrees.

[0078] 3) The extension and retraction length of the horizontal telescopic frame 13 is controlled by controlling the retraction of the horizontal telescopic cylinder 14, thereby determining the installation position of the top arc segment bracket in the horizontal direction.

[0079] 4) Extend the hydraulic cylinder 18 of the installation robot to lift the top arc section support to the installation height, make a fine adjustment to the angle of the top arc section support so that the top arc section support fits more closely with the tunnel excavation face, and manually anchor the top arc section support in the surrounding rock mass.

[0080] 5) The installation robot returns to its original position, the three-stage telescopic cylinder 11 extends, and the height of the installation robot decreases. The installation robot stops when it reaches the installation height of the left and right support arc segments. The installation robot 17 on the rotating installation plate 16 grasps the left support arc segment conveyed by the monorail overhead conveyor.

[0081] 6) Retract the robotic arm 17 to its original position, keeping the height unchanged, and operate the horizontal telescopic cylinder of the robotic claw transverse movement mechanism to make the left arc segment and the top arc segment support in the same plane.

[0082] 7) Rotate the mounting plate 16 clockwise by 135 degrees, extend the telescopic cylinder 18 of the installation robot, align the left arc segment with the top arc segment bracket, and manually connect the two parts with bolts.

[0083] 8) The installation robot 17 retracts and rotates back to its original position, maintaining a constant height. The bracket arc segment is then transported manually to the lower part of the installation robot 17. The installation robot 17 on the rotating installation plate 16 grabs the right bracket arc segment that has been transported.

[0084] 9) Retract the robotic arm 17 to its original position, keeping the height unchanged, and operate the horizontal telescopic cylinder of the robotic claw transverse movement mechanism to make the right arc segment and the top arc segment support in the same plane.

[0085] 10) Rotate the mounting plate 16 counterclockwise by 135 degrees, and extend the telescopic cylinder 18 of the installation robot arm so that the right bracket reaches the corresponding installation position.

[0086] 11) By adjusting the installation robot 17, align the right arc segment with the top bracket arc segment, and connect the two parts with bolts;

[0087] 12) The installation robot arm retracts and rotates back to its original position, and the vertical telescopic device continues to extend. When the installation machine reaches the second left and second right installation heights, the installation robot arm 17 on the rotating installation plate 16 grabs the conveyed second left bracket arc segment.

[0088] 13) Keeping the height of the installation robot arm unchanged, the first horizontal lateral movement mechanism moves to the left as a whole. After reaching the left position, the balancing robot arm 8 of the horizontal movement device is extended by the transmission motor 9 to grab the arc segment of the installed bracket and ensure its stability.

[0089] 14) Operate the horizontal telescopic device of the mechanical claw lateral movement mechanism to make the second arc segment on the left and the arc segment of the installed bracket on the same plane. Rotate the installation plate 16 clockwise by 45 degrees, and the telescopic cylinder 18 of the installation robot arm will retract, so that the second bracket on the left reaches the corresponding installation position, and the second arc segment on the left is aligned with the arc segment of the first bracket on the left. Connect the two parts with bolts.

[0090] 15) The installation robot 17 retracts and rotates back to its original position, the balancing robot 8 returns to its original position via the drive motor 9, the horizontal lateral movement cylinder 7 retracts, and the horizontal lateral movement frame 6 moves to the right. This causes the entire installation machine to move back to its original position to the right.

[0091] 16) Keeping the height of the installation robot arm unchanged, the telescopic cylinder of the installation robot arm extends, and the installation robot arm 17 on the rotating installation plate 16 grabs the right second bracket arc segment of the conveyor.

[0092] 17) The entire installation robot arm is moved to the right. After reaching the right position, the balancing robot arm 8 inside the horizontal transverse frame 6 pops out and extends to grab the installed I-beam to ensure its stability.

[0093] 18) Operate the horizontal telescopic device to make the arc segment of the second right bracket and the installed arc segment on the same plane. Rotate the mounting plate 16 counterclockwise by 45 degrees. The telescopic cylinder 18 of the installation robot arm retracts, so that the second right bracket reaches the corresponding installation position and the arc segment of the second right bracket is aligned with the arc segment of the first right bracket. Connect the two parts with bolts.

[0094] 19) The installation robot arm 17 rotates back to its original position, the installation machine moves to the left, the three-stage telescopic cylinder 11 retracts, and the installation machine height is raised back to its original position;

[0095] 20) The second horizontal traverse mechanism of the monorail crane moves to the left, and the left third arc segment on the crane is aligned with the already installed left second arc segment by manual guidance, and the two parts are connected by bolts;

[0096] 21) The second horizontal transverse movement mechanism moves to the right, and the monorail crane transport machine lifts the right third support arc segment to the working surface at the trestle position. The second horizontal transverse movement mechanism moves right to right, and the right third support arc segment on the transport machine is aligned with the already installed right second support arc segment by manual guidance. The two parts are then connected by bolts.

[0097] 22) The monorail crane returns to its original position and lifts the inverted bottom arch section to the working face at the trestle position. The inverted bottom arch section on the crane is aligned with the installed arch section by manual guidance, and the two parts are connected by bolts.

[0098] 23) The stepping cylinder 5 of the installation machine extends forward, and the bracket installation machine moves forward to the next set of installation working surfaces;

[0099] 24) The stepping cylinder of the installation machine continues to retract forward, driving the auxiliary beam forward to the next station;

[0100] 25) Repeat the above steps to install the next I-beam support, and so on.

[0101] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A self-moving support structure installation system for mining operations, characterized in that, The system includes a self-moving support structure installation machine and a monorail overhead conveyor. The self-moving support structure installation machine comprises a stepping mechanism, a first horizontal traversing mechanism, an installation mechanical claw traversing mechanism, a rotating installation disc mechanism, and an installation mechanical arm. The first horizontal traversing mechanism is installed at the bottom of the stepping mechanism. The first horizontal traversing mechanism includes a horizontal traversing frame, a horizontal traversing cylinder, a balancing manipulator, and a drive motor. The horizontal traversing frame and the bottom of the stepping mechanism are embedded together through a groove to form a whole. The cylinder body of the horizontal traversing cylinder is fixed on the stepping mechanism, and the piston rod is connected to the horizontal traversing frame. The horizontal traversing cylinder drives the horizontal traversing frame to move to both sides relative to the stepping mechanism. A pair of balancing manipulators are provided at the left and right ends of the horizontal traversing frame. The balancing manipulators are installed inside the horizontal traversing frame through movable supports, and the drive motor can realize the ejection and retraction of the balancing manipulators. At the bottom of the first horizontal traversing mechanism, the installation mechanical claw traversing mechanism is connected by multiple vertical telescopic devices. The installation mechanical claw traversing mechanism is connected to the rotating installation plate mechanism, which is connected to the installation mechanical arm. An installation robot is installed on the installation mechanical arm. The monorail overhead conveyor includes a fixed frame, a transport mechanism, a second horizontal traverse mechanism, and a hoisting mechanism; the transport mechanism is installed below the fixed frame, the second horizontal traverse mechanism is installed on the transport mechanism, and the hoisting mechanism is set at the bottom of the second horizontal traverse mechanism.

2. The self-moving support structure installation system for mining methods as described in claim 1, characterized in that, The mechanical claw lateral movement mechanism includes a lateral movement frame, a horizontal telescopic frame, and a horizontal telescopic cylinder. The lateral movement frame is connected to the horizontal lateral movement frame located above it through a vertically arranged three-stage telescopic cylinder. The horizontal telescopic frame and the horizontal telescopic cylinder are installed inside the lateral movement frame. The horizontal telescopic cylinder controls the extension and retraction of the horizontal telescopic frame in the longitudinal direction. At the same time, a lateral movement drive device is installed inside the lateral movement frame to drive the horizontal telescopic frame to move in the lateral direction.

3. The self-moving support structure installation system for mining methods as described in claim 1, characterized in that, The rotating mounting plate mechanism includes a rotating mounting plate fixing plate and a rotating mounting plate; the rotating mounting plate fixing plate and the horizontal telescopic frame are made as a unified whole, and the rotating mounting plate fixing plate and the rotating mounting plate are connected by a flange on the back.

4. The self-moving support structure installation system for mining methods as described in claim 1, characterized in that, The installation robotic arm includes telescopic cylinders and a counterweight. The middle part of the installation robotic arm is connected to the rotating installation plate as a whole. Two telescopic cylinders are embedded inside the installation robotic arm to control the extension and retraction of the robotic arm. The robotic arm is welded to the end of the robotic arm, and the rear of the robotic arm is filled with a heavy object as a counterweight.

5. The self-moving support structure installation system for mining methods as described in claim 1, characterized in that, The fixed frame includes a lock-gripping robot and a slide rail fixed frame; the slide rail fixed frame is fixed to the lock-gripping robot by welding; the lock-gripping robot includes multiple sets, which are arranged sequentially along the length of the slide rail fixed frame, and each set of lock-gripping robot includes two lock-gripping robots, which are arranged along the width of the slide rail fixed frame.

6. The self-moving support structure installation system for mining methods as described in claim 5, characterized in that, The transport mechanism includes a transport slide rail and a transport trolley; the transport slide rail is fixed on the slide rail mounting frame, and the transport trolley can move along the length of the transport slide rail.

7. The self-moving support structure installation system for mining methods as described in claim 1, characterized in that, The second horizontal traverse mechanism is the same as the first horizontal traverse mechanism.

8. The installation method of the self-moving support structure installation system for mining methods as described in any one of claims 1-7, characterized in that, 1) First, 6 to 8 I-beam supports are erected in advance. The installation machine is installed on the erected I-beam supports through a stepping mechanism. The arc section of the support is transported from the trestle to the work surface by a monorail overhead transport machine. 2) Transport the bracket arc segment to the lower part of the installation robot, the installation robot on the rotating installation plate grabs the fixed top arc segment bracket, the installation robot returns to its original position, and the rotating installation plate rotates 180 degrees; 3) Control the extension and retraction length of the mechanical claw lateral movement mechanism to determine the installation position of the top arc segment bracket in the horizontal direction; 4) Extend the mechanical arm to lift the top arc section support to the installation height, fine-tune the angle of the top arc section support to make the top arc section support fit more closely with the tunnel excavation face, and anchor the top arc section support in the surrounding rock mass. 5) The installation robot returns to its original position, the vertical telescopic device extends, and the height of the installation robot decreases; when the installation robot reaches the installation height of the left and right bracket arc segments, it stops; the installation robot on the rotating installation plate grabs the left bracket arc segment transported by the monorail overhead conveyor. 6) Install the robotic arm back to its original position, keeping the height unchanged, and operate the horizontal telescopic cylinder of the mechanical claw lateral movement mechanism to make the left first bracket arc segment and the top arc segment bracket on the same plane. 7) Rotate the mounting plate 135 degrees clockwise, extend the mechanical arm to align the left arc segment with the top arc segment of the bracket, and connect the two parts with bolts; 8) The installation robot retracts and rotates back to its original position, maintaining a constant height, and transports the bracket arc segment to the lower part of the installation robot. The installation robot then grabs the rightmost bracket arc segment that has been transported. 9) Install the robotic arm back to its original position, keeping the height unchanged, and operate the horizontal telescopic cylinder of the mechanical claw lateral movement mechanism to make the right first bracket arc segment and the top arc segment bracket on the same plane. 10) Rotate the mounting plate counterclockwise by 135 degrees, extend the robotic arm, and bring the right bracket arc to the corresponding installation position. 11) By adjusting the installation robot, align the right bracket arc with the top bracket arc, and connect the two parts with bolts; 12) The installation robot arm retracts and rotates back to its original position, and the vertical telescopic device continues to extend. When the installation robot arm reaches the second installation height on the left and second installation height on the right, the installation robot arm on the rotating installation plate grabs the arc segment of the second left bracket that has been conveyed. 13) Keeping the height of the installation robot arm unchanged, the first horizontal lateral movement mechanism moves to the left as a whole. After reaching the left position, the balancing robot arm extends out through the transmission motor and grabs the arc segment of the installed bracket. 14) Operate the horizontal telescopic cylinder of the mechanical claw lateral movement mechanism to make the arc segment of the second left bracket and the arc segment of the already installed bracket on the same plane. Rotate the installation plate clockwise by 45 degrees, extend the mechanical arm, and make the arc segment of the second left bracket reach the corresponding installation position, align the arc segment of the second left bracket with the arc segment of the first left bracket, and connect the two parts. 15) The installation robot arm retracts and rotates back to its original position. The balancing robot arm returns to its original position via the drive motor. The horizontal lateral movement cylinder retracts, and the first horizontal lateral movement mechanism moves to the right. 16) Keeping the height of the installation robot arm unchanged, the telescopic cylinder of the installation robot arm extends, and the installation robot arm on the rotating installation plate grabs the arc segment of the right second support of the conveyor. 17) The entire installation robot arm is moved to the right. After reaching the right position, the balancing robot arm inside the first horizontal lateral movement mechanism pops out and extends to grab the arc segment of the installed bracket to ensure its stability. 18) Operate the transverse drive device of the mechanical claw transverse mechanism to make the arc segment of the second right bracket and the installed arc segment on the same plane. Rotate the installation plate counterclockwise by 45 degrees, extend the mechanical arm, and make the arc segment of the second right bracket reach the corresponding installation position. Align the arc segment of the second right bracket with the arc segment of the first right bracket and connect the two parts. 19) The installation robot rotates back to its original position, moves to the left, the vertical telescopic device retracts, and the installation robot is raised to its original height and returns to its original position; 20) The second horizontal traverse mechanism of the monorail overhead conveyor moves to the left, aligning the arc segment of the left third support on the conveyor with the arc segment of the already installed left second support, and connecting the two parts; 21) The second horizontal lateral movement mechanism moves to the right, the monorail crane returns to its original position, the monorail crane lifts the right third support arc segment to the working surface at the trestle position, the second horizontal lateral movement mechanism moves to the right, aligns the right third support arc segment on the crane with the already installed right second support arc segment, and connects the two parts with bolts; 22) The monorail crane returns to its original position, lifts the inverted bottom arch section to the working face at the trestle position, aligns the inverted bottom arch section on the crane with the installed section, and connects it to the left third and right third support sections with bolts. 23) The stepping mechanism extends forward, and the self-propelled support structure installation machine moves forward to the next set of installation working surfaces; 24) The stepping mechanism continues to retract forward, moving the auxiliary beam to the next work station; 25) Repeat the above steps to install the next bracket, and so on.

Images