A coal mine breaking robot

Abstract

The application discloses a coal mine breaking robot, and relates to the technical field of breaking robots, comprising a self-propelled base, a lifting frame, a shaping and cutting mechanism and a bidirectional breaking mechanism. The shaping and cutting mechanism and the bidirectional breaking mechanism are arranged on the lifting frame, the output end of a hydraulic cylinder drives a rack and a push-pull rod to move synchronously and reciprocally through a mounting seat, and automatic flattening and restoration shaping is completed. Meanwhile, the main breaking head and the auxiliary breaking head are used to complete fast vertical and inclined breaking of the accumulated caving-in materials above the supporting iron net, new supporting iron nets are not needed, and the situation that the accumulated large-volume coal rock body caving-in materials may instantaneously fall due to insufficient supporting force is avoided. The breaking robot can also ensure that only the accumulated caving-in materials above the supporting iron net are broken, and there is no direct contact with the surrounding rock which has not been deteriorated and caved-in on the coal rock body, thereby avoiding the situation that the falling range is further expanded.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of breaking and demolishing robots, in particular to a coal mine breaking and demolishing robot. BACKGROUND

[0002] Under the mine, due to the insufficient support density of the support in the process of mine excavation and lining, and other reasons, the mine pressure is unbalanced, which leads to the vertical collapse phenomenon of the local deterioration of the coal and rock body in the shallow part of the roadway. Generally, it is manifested as small range roof fall or local range roof fall of the roadway. The large volume of coal and rock body collapse will be accumulated on the coal mine roadway support iron net, which will cause deformation or damage, and seriously affect the mine ventilation and personnel safety. Therefore, the falling or collapse needs to be quickly broken and demolished. The existing technology usually adopts the method of first erecting a temporary support smaller than the original roadway specification, and then holding a breaking and demolishing tool to break and demolish. After the breaking and demolishing treatment of the support iron net and the collapse is completed, the new support iron net is reinstalled.

[0003] However, in the long-term use process of the existing technology, some disadvantages are found, such as: 1. The coal and rock body collapse in the roof of the roadway has obvious gravity sinking and falling characteristics. The small volume of coal and rock body collapse will fall through the support iron net to the roadway, so that only part of the large volume of coal and rock body collapse is accumulated on the support iron net, which does not cause substantial damage to the support iron net. The support iron net which only deforms without damage is also broken and demolished. The accumulated large volume of coal and rock body collapse may fall instantly due to insufficient bearing capacity, which not only increases the cost but also has safety risks in the operation process; 2. The surrounding rock which is not deteriorated and collapsed on the shallow coal and rock body generally has a relatively smooth interface. The direct breaking and demolishing of the handheld breaking and demolishing tool may cause unnecessary breaking and demolishing effect on the surrounding rock which is not deteriorated and collapsed on the coal and rock body, and there is a risk of further expanding the falling range. SUMMARY

[0004] The purpose of the present application is to provide a coal mine breaking and demolishing robot to solve the above-mentioned defects in the prior art.

[0005] A coal mine breaking and demolishing robot, comprising a self-propelled base, a lifting frame, a shaping and cutting mechanism, and a bidirectional breaking and demolishing mechanism. The lifting frame is installed on the self-propelled base, and a gas pump is installed on the lifting frame. The shaping and cutting mechanism is installed on the lifting frame and is used for shaping and restoring the coal mine roadway support iron net or separating the deformation area. The bidirectional breaking and demolishing mechanism is also installed on the lifting frame and is used for vertically and obliquely breaking and demolishing the accumulated collapse on the support iron net.

[0006] Preferably, the shaping cutting mechanism comprises a mounting frame, a hydraulic cylinder and a turnover top plate, the mounting frame is mounted on the lifting frame, the mounting frame is provided with a plurality of mounting frames which are evenly distributed, the hydraulic cylinder is mounted on the side end of the mounting frame, the output end of the hydraulic cylinder is provided with a mounting seat, the side end of the mounting frame is slidingly provided with a rack, the mounting seat is fixedly connected to the lower end of the rack, a plurality of gears which are engaged with the rack are mounted on the mounting frame, one end of the turnover top plate is connected to the other side of the gear, the other end of the turnover top plate is rotatably connected to the mounting frame on the other side, cutting knives are mounted on the two sides of the turnover top plate, a push-pull rod is further mounted on the mounting seat, the push-pull rod is slidingly arranged on the mounting frame, a rotating rod is further slidingly arranged on the mounting frame below the push-pull rod, an opening rotating part is movably mounted on the rotating rod, a guide block is slidingly arranged on the push-pull rod, the guide block is slidingly arranged on the opening rotating part, springs are sleeved on the two sides of the guide block, and an arc-shaped push rod is further mounted on the middle part of the guide block.

[0007] Preferably, the bidirectional breaking mechanism comprises a booster base, a main breaking head and a vice breaking head, the lifting frame is slidingly provided with a communication pipe, the end of the communication pipe is connected with the air pump through a hose, the booster base is provided with a plurality of booster bases which are evenly arranged on the communication pipe, the main breaking head is arranged on the booster base through a piston, the vice breaking head is symmetrically and obliquely arranged on the upper part of the main breaking head, the side end of the booster base is provided with a sealed cavity, the lower part of the main breaking head in the booster base is a multi-opening structure which is connected with the sealed cavity, and the end of the arc-shaped push rod is arranged in the sealed cavity.

[0008] Preferably, the upper surface of the turnover top plate is smooth and convex, and the lower surface of the turnover top plate is smooth and concave.

[0009] Preferably, the cutting knives on the turnover top plate are not in rigid contact with the main breaking head.

[0010] Preferably, the arc-shaped push rod penetrates through the opening in the middle part of the opening rotating part.

[0011] Preferably, the main breaking head is arranged in the gap between the adjacent two turnover top plates.

[0012] Preferably, the main breaking head and the vice breaking head are arranged above the turnover top plate.

[0013] The present application has the following advantages:

[0014] By setting the shaping cutting mechanism and the bidirectional breaking mechanism on the lifting frame, the output end of the hydraulic cylinder drives the rack and the push-pull rod to move synchronously and reciprocally through the mounting seat, in the process of sliding of the rack on the mounting frame, a plurality of turnover top plates are driven to turn synchronously through a plurality of gears meshing with the rack, in the turning process of the turnover top plates, the supporting iron net is pushed from the center of the middle convex part to the both sides to change the convex trend in the reverse direction, and after losing the support of the turnover top plates, the self-weight rebounds downward, automatically completes the flattening and restoration, and respectively by the main breaking head and the auxiliary breaking head, the collapsed materials accumulated above the supporting iron net are completed quickly and vertically and obliquely broken, without the need of new supporting iron net and avoiding the situation that the accumulated large-size coal and rock body collapsed materials may fall instantaneously due to insufficient supporting force;

[0015] In the moving process of the push-pull rod, the guide block slides on the opening rotating part, and under the action of the rotating rod, the opening rotating part is turned, so that the arc-shaped push rod can slide reciprocally in the sealed cavity, and then under the action of the transmission liquid in the sealed cavity and the multi-opening structure on the main breaking head connected with the sealed cavity, the auxiliary breaking head on the both sides of the main breaking head is reciprocally pushed and pulled, so as to complete the synchronous and quick oblique breaking of the collapsed materials accumulated above the supporting iron net, so as to ensure that only the collapsed materials accumulated on the supporting iron net are broken, without direct contact with the surrounding rock which is not deteriorated and collapsed on the coal and rock body, thereby avoiding the further expansion of the caving range. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present application.

[0017] Figure 2 It is another perspective structural schematic diagram of part of the structure in the present application.

[0018] Figure 3 It is an assembly schematic diagram of the shaping cutting mechanism and the bidirectional breaking mechanism in the present application.

[0019] Figure 4 It is a local assembly schematic diagram of part of the structure in the present application.

[0020] Figure 5 It is a local structure schematic diagram in the shaping cutting mechanism in the present application.

[0021] Figure 6 It is an internal structure schematic diagram of the bidirectional breaking mechanism in the present application.

[0022] Wherein, 1 - self - walking base, 2 - lifting frame, 3 - shaping cutting mechanism, 4 - two - way breaking mechanism, 5 - air pump, 301 - mounting bracket, 302 - hydraulic cylinder, 303 - turnover top plate, 304 - mounting seat, 305 - rack, 306 - gear, 307 - cutting knife, 308 - push - pull rod, 309 - rotating rod, 310 - opening rotating part, 311 - guide block, 312 - spring, 313 - arc - shaped push rod, 41 - booster base, 42 - main breaking head, 43 - auxiliary breaking head, 44 - communication pipe, 45 - hose, 46 - piston, 47 - sealed cavity. DETAILED DESCRIPTION

[0023] To make the technical means, creative features, purposes and effects of the present application easy to understand, the following will further describe the present application in combination with specific embodiments.

[0024] As shown in Figures 1 to 6 A coal mine breaking robot, comprising a self - walking base 1, a lifting frame 2, a shaping cutting mechanism 3 and a two - way breaking mechanism 4, the lifting frame 2 is installed on the self - walking base 1, and the air pump 5 is installed on the lifting frame 2, the shaping cutting mechanism 3 is installed on the lifting frame 2 and is used for shaping and recovering the coal mine roadway support iron net or separating the deformation area, and the two - way breaking mechanism 4 is also installed on the lifting frame 2 and is used for vertically and obliquely breaking and removing the accumulated caving material on the support iron net.

[0025] In the embodiment, the shaping cutting mechanism 3 comprises a mounting bracket 301, a hydraulic cylinder 302 and a turnover top plate 303, the mounting bracket 301 is installed on the lifting frame 2, and the mounting bracket 301 is evenly arranged, the hydraulic cylinder 302 is installed on the side end of the mounting bracket 301, the mounting seat 304 is installed on the output end of the hydraulic cylinder 302, the side end of the mounting bracket 301 is slidably provided with the rack 305, the mounting seat 304 is fixedly connected to the lower end of the rack 305, a plurality of gears 306 meshing with the rack 305 are also installed on the mounting bracket 301, one end of the turnover top plate 303 is connected to the other side of the gear 306, the other end of the turnover top plate 303 is rotatably connected to the other side of the mounting bracket 301, the cutting knife 307 is installed on both sides of the turnover top plate 303, the push - pull rod 308 is also installed on the mounting seat 304, the push - pull rod 308 is slidably arranged on the mounting bracket 301, the rotating rod 309 is also slidably arranged on the mounting bracket 301 below the push - pull rod 308, the opening rotating part 310 is movably installed on the rotating rod 309, the guide block 311 is slidably arranged on the opening rotating part 310, the spring 312 is sleeved on both sides of the guide block 311, and the arc - shaped push rod 313 is also installed on the middle part of the guide block 311.

[0026] It is worth mentioning that the projection of the axis of the gear 306 in the horizontal direction is placed above the center of the turnover roof 303.

[0027] In the embodiment, the bidirectional breaking mechanism 4 comprises a booster base 41, a main breaking head 42 and a secondary breaking head 43, a communication pipe 44 is slidingly installed on the lifting frame 2, the end of the communication pipe 44 is connected with the air pump 5 through a hose 45, the booster base 41 has a plurality of and is evenly installed on the communication pipe 44, the main breaking head 42 is installed on the booster base 41 through a piston 46, the secondary breaking head 43 is symmetrically and obliquely arranged at the upper part of the main breaking head 42, a sealed cavity 47 is arranged at the side end of the booster base 41, the lower part of the main breaking head 42 in the booster base 41 is a multi-opening structure connected with the sealed cavity 47, and the end of the arc-shaped push rod 313 is arranged in the sealed cavity 47.

[0028] It is to be noted that the self-propelled base 1 is in a caterpillar type, and a remote control terminal is connected through an electric control box inside the self-propelled base 1, so as to facilitate free travel and accurate positioning in a complex coal mine tunnel, the lifting frame 2 is a height-adjustable hydraulic lifting structure, a visual communication system is installed on the side of the lifting frame 2, and the upper surface of the lifting frame 2 is arranged in an inclined manner, broken and fragmented falling objects can be directly discharged to both sides of the travel route of the robot, and the booster base 41 can move in a small range on the communication pipe 44, and the pipeline path is still in a sealed environment during the movement.

[0029] In the embodiment, the upper surface of the turnover roof 303 is in a smooth and raised shape, the upper convex end of the raised part can first upwardly support the coal mine tunnel support iron net, and the coal mine tunnel support iron net is automatically repaired after being separated from the support state, the lower surface of the turnover roof 303 is in a smooth and concave shape, broken and fragmented falling objects can be temporarily stored on the concave lower surface of the turnover roof 303, so as to avoid the concentration of falling objects, and the cutting knife 307 on the turnover roof 303 is not in rigid contact with the main breaking head 42.

[0030] In the embodiment, the arc-shaped push rod 313 penetrates the opening in the middle of the open rotating part 310.

[0031] In addition, the main breaking head 42 is arranged in the gap between two adjacent turnover roofs 303, and the main breaking head 42 and the secondary breaking head 43 are arranged above the turnover roof 303.

[0032] Working process and principle: during use, first, the self-propelled base 1 is controlled to travel to the roof fall accident, the hydraulic control system in the lifting frame 2 is started, the shaping and cutting mechanism 3 and the bidirectional breaking mechanism 4 are driven to rise synchronously until the convex end face of the overturned roof plate 303 is supported on the deformed coal mine roadway support iron net, at this time, under the elastic action of the spring 312 on both sides of the guide block 311, the main breaking head 42 can be stably moved horizontally in a small range, that is, it can easily and automatically penetrate the mesh of the deformed coal mine roadway support iron net, then the air pump 5 and the hydraulic cylinder 302 are started at the same time, the output end of the hydraulic cylinder 302 drives the rack 305 and the push-pull rod 308 to move synchronously and reciprocally through the mounting seat 304.

[0033] During the sliding of the rack 305 on the mounting frame 301, a plurality of overturned roof plates 303 are driven by a plurality of gears 306 engaged with the rack 305 to overturn synchronously, because the projection of the axis of the gear 306 on the horizontal direction is above the center of the overturned roof plate 303, during the overturning process of the overturned roof plate 303, the convex end face of the overturned roof plate 303 is moved from the center to the two sides to push the support iron net, and the support iron net is deformed in the reverse direction of the convex trend, at the same time, the air pump 5 drives the main breaking head 42 to reciprocate quickly through the hose 45, the communication pipe 44 and the piston 46 in the pressure boosting base 41, so that the collapsed material accumulated above the support iron net is broken quickly and vertically.

[0034] During the movement of the push-pull rod 308, the guide block 311 slides on the open rotating part 310, and under the action of the rotating rod 309, the open rotating part 310 is driven to overturn, so that the arc-shaped pushing rod 313 can slide reciprocally in the sealed cavity 47, and then the main breaking head 42 is reciprocally pushed and pulled on both sides of the vice breaking head 43 through the multi-opening structure on the main breaking head 42 and the transmission liquid in the sealed cavity 47, so that the collapsed material accumulated above the support iron net is broken quickly and synchronously in the oblique direction.

[0035] After the bidirectional breaking is completed, the small volume collapsed material falls through the mesh of the support iron net to the inclined surface of the lifting frame 2, and the broken and crushed collapsed material is directly discharged to the two sides of the robot travel route.

[0036] For the support iron net in the damaged state, the output end of the hydraulic cylinder 302 controls the overturned roof plate 303 to be in the upward state with a smooth concave surface, and controls the lifting frame 2 to continue to move upward, and drives the cutting knife 307 to cut the support iron net in the damaged state, and the broken and crushed collapsed material is temporarily stored on the concave surface of the overturned roof plate 303, so that the collapsed material is prevented from being accumulated and falling instantaneously.

[0037] Based on the above, the present application is provided with shaping cutting mechanism 3 and bidirectional breaking mechanism 4 on the lifting frame 2, the output end of the hydraulic cylinder 302 drives the rack 305 and the push-pull rod 308 to move synchronously and reciprocally through the mounting seat 304, in the process of sliding of the rack 305 on the mounting frame 301, a plurality of turnover top plates 303 are driven synchronously to turn over through a plurality of gears 306 engaged with the rack 305, in the turning over process of the turnover top plate 303, the supporting iron net is pushed and poked from the center of the convex middle part to the both sides of the end to change the reverse shape of the convex trend, and the supporting iron net is automatically restored to the original shape under the action of the self-weight after losing the support of the turnover top plate 303, and the collapsed material accumulated above the supporting iron net is broken vertically and obliquely by the main breaking head 42 and the auxiliary breaking head 43 respectively, without the need for new supporting iron net, and the situation that the accumulated large volume of coal and rock body collapsed material may fall instantly due to insufficient supporting force is avoided.

[0038] In the process of moving the push-pull rod 308, the guide block 311 slides on the open rotating part 310, and under the action of the rotating rod 309, the open rotating part 310 is turned over, so that the arc-shaped push rod 313 can slide reciprocally in the sealed cavity 47, and then the main breaking head 42 reciprocally pushes and pulls the auxiliary breaking head 43 on both sides through the multi-opening structure connected with the sealed cavity 47 on the main breaking head 42 and the transmission liquid in the sealed cavity 47, so as to complete the synchronous and rapid oblique breaking of the collapsed material accumulated above the supporting iron net, so as to ensure that only the collapsed material accumulated on the supporting iron net is broken, without direct contact with the surrounding rock which has not been deteriorated and collapsed on the coal and rock body, thereby avoiding the situation of further expanding the caving range.

[0039] As known from common technical knowledge, the present application can be realized by other embodiments without departing from the spirit or essential characteristics thereof. Therefore, the above disclosed embodiments are only examples and are not the only ones. All changes within the scope of the present application or within the scope equivalent to the present application are included in the present application.

Claims

1. A demolition robot for coal mines, characterized in that, It includes a self-propelled base (1), a lifting frame (2), a shaping and cutting mechanism (3), and a two-way demolition mechanism (4). The lifting frame (2) is installed on the self-propelled base (1), and an air pump (5) is installed on the lifting frame (2). The shaping and cutting mechanism (3) is installed on the lifting frame (2) and is used to shape and restore the support iron mesh of the coal mine roadway or to separate the deformation zone. The two-way demolition mechanism (4) is also installed on the lifting frame (2) and is used to vertically and obliquely break and demolish the collapsed material placed on the support iron mesh. The shaping and cutting mechanism (3) includes a mounting frame (301), a hydraulic cylinder (302), and a tilting top plate (303). The mounting frame (301) is mounted on the lifting frame (2). There are several mounting frames (301) evenly distributed. The hydraulic cylinder (302) is mounted on the side end of the mounting frame (301). A mounting seat (304) is mounted on the output end of the hydraulic cylinder (302). A rack (305) is slidably mounted on the side end of the mounting frame (301). The mounting seat (304) is fixedly connected to the lower end of the rack (305). Several gears (306) that mesh with the rack (305) are also mounted on the mounting frame (301). One end of the tilting top plate (303) is connected to the other side of the gear (306). The other end is rotatably connected to the mounting bracket (301) on the other side. Cutting blades (307) are installed on both sides of the flip-top plate (303). A push-pull rod (308) is also installed on the mounting base (304). The push-pull rod (308) is slidably mounted on the mounting bracket (301). A rotating rod (309) is also slidably mounted on the mounting bracket (301) below the push-pull rod (308). An open rotating part (310) is movably mounted on the rotating rod (309). A guide block (311) is slidably mounted on the push-pull rod (308). The guide block (311) is slidably mounted on the open rotating part (310). Springs (312) are sleeved on both sides of the guide block (311). An arc-shaped push rod (313) is also installed in the middle of the guide block (311). The bidirectional demolition mechanism (4) includes a pressure base (41), a main demolition head (42), and a secondary demolition head (43). A connecting pipe (44) is slidably installed on the lifting frame (2). The end of the connecting pipe (44) is connected to the air pump (5) through a hose (45). Several pressure bases (41) are evenly distributed on the connecting pipes (44). The main demolition head (42) is installed on the pressure base (41) through a piston (46). The secondary demolition head (43) is symmetrically and obliquely arranged on the upper part of the main demolition head (42). A sealing cavity (47) is opened on the side end of the pressure base (41). The lower part of the main demolition head (42) inside the pressure base (41) is a multi-opening structure connected to the sealing cavity (47). The end of the arc-shaped push rod (313) is located inside the sealing cavity (47).

2. The demolition robot for coal mines according to claim 1, characterized in that: The flip The upper surface of the top plate (303) is smooth and raised, while the lower surface of the flipped top plate (303) is smooth and concave.

3. The demolition robot for coal mines according to claim 2, characterized in that: There is no rigid contact between the cutting blade (307) on the flip-top plate (303) and the main demolition head (42).

4. A demolition robot for coal mines according to claim 2, characterized in that: The arc-shaped push rod (313) passes through the opening in the middle of the opening rotating part (310).

5. A demolition robot for coal mines according to claim 1, characterized in that: The main demolition head (42) is placed in the gap between two adjacent flip-top plates (303).

6. A demolition robot for coal mines according to claim 5, characterized in that: The main demolition head (42) and the auxiliary demolition head (43) are both positioned above the flip-top plate (303).

Images