A full-face automatic anchor and protection integrated robot for coal mine roadway

Abstract

The application discloses a kind of coal mine tunnel full-face automatic anchor protection integrated robot, the robot includes walking module, power source and control module, laser radar positioning module, net storage module, net taking module, net transport module, net laying module and anchoring module, each module cooperates with each other, and anchor protection operation of automation is realized;Robot is started by remote control and enters tunnel, and laser radar positioning module is scanned to tunnel to realize accurate positioning and navigation with three dimensions;In anchor protection area, net transport module will anchor net be delivered to net laying module, and anchor net is laid in roof and side help area by net laying manipulator;Meanwhile, anchoring module is reinforced to tunnel and anchor net by anchor rod drilling machine;When anchor net is exhausted, net storage, net taking and net transport module automatically supplement new anchor net, ensure continuous anchor protection operation;The application improves the degree of automation of tunnel anchor protection operation, reduces manual labor intensity, and improves safety and support stability.

Description

Technical Field

[0001] This invention relates to the field of coal mine roadway support, and in particular to an integrated robot for automatic anchoring of the entire cross-section of coal mine roadways, which aims to improve the automation and intelligence of anchoring operations, reduce the labor intensity of workers, and improve work efficiency and safety. Background Technology

[0002] In the process of anchoring in coal mine roadways, traditional manual operation has many problems such as high labor intensity, low efficiency, and poor safety. With the development of coal mining towards intelligentization, traditional manual anchoring operations can no longer meet the high efficiency and safety requirements of modern coal mine production. Therefore, it is of great significance to develop an integrated robot for full-section automatic anchoring in coal mine roadways. Summary of the Invention

[0003] This invention addresses the problems of low anchoring efficiency and roof rock collapse and spalling in existing coal mine roadways by proposing an integrated robot for full-section automatic anchoring of coal mine roadways.

[0004] The technical solution is as follows: The robot of this invention mainly comprises the following modules: walking module, power source and control module, laser radar positioning module, net storage module, net retrieval module, net transportation module, net laying module, and anchoring module.

[0005] The aforementioned walking module includes drive wheels, tracks, track rollers, trolley frame, support rollers, tensioning device, guide wheels, chassis platform, and hydraulic motor; different bandwidths can be selected and replaced according to the ground pressure of different terrains to adapt to complex coal mine roadway terrain, and its power comes from the aforementioned hydraulic pump station.

[0006] The power source and control module includes an integrated electrical control cabinet, a hydraulic pump station, guardrails, pressure control valves, a cooling fan, an oil tank, a main pump, and an auxiliary pump. The main pump and auxiliary pump draw hydraulic oil from the oil tank and supply it to the traveling module, net storage module, net retrieval module, net laying module, and anchoring module, as well as draw back hydraulic oil. The pressure control valve controls the flow of hydraulic oil through different valves. The guardrails protect the power source and control module from being scraped by the tunnel wall.

[0007] The lidar positioning module includes a data processing center, a laser transmitter, a signal feedback sensor, a lidar frame, and a lidar mounting base; the lidar positioning module is responsible for three-dimensional modeling and real-time positioning of the tunnel, providing high-precision navigation and work area identification.

[0008] The aforementioned net storage module adopts a scissor-type hydraulic lifting net storage box design, including an anchor net box, a lifting platform support, a gravity sensor, and a scissor-type lifting hydraulic cylinder. It serves to store anchor nets and automatically adjust the height of the anchor net box according to the decrease in the number of anchor nets in the box.

[0009] The net-retrieval module includes a horizontal moving screw, a vertical moving screw, a gantry column, an anchor net retrieval robot, a fixing sleeve for the retrieval robot, a gravity interconnection sensor, a crossbeam, and a connecting beam. The horizontal and vertical moving screws are used to adjust the position of the anchor net retrieval robot. The anchor net retrieval robot is used to grab the anchor net from the anchor net box in the net storage module. The gravity interconnection sensor is used to receive the gravity sensor signal to prepare for net retrieval. The gantry column, crossbeam, and connecting beam are used to fix the horizontal and vertical moving screws and protect the net storage module, thereby achieving precise grabbing and transportation of the anchor net.

[0010] The net conveying module adopts a double-layer anchor net conveyor structure, mainly including a drive motor, an anchor net electromagnetic fixing plate assembly, a pressure sensor, a net conveying module base, and upper and lower conveyors. The anchor net electromagnetic fixing plate assembly fixes both ends of the anchor net through an electromagnetic field, and the anchor net is transported to the net laying module by the drive motor and the conveyor. The pressure sensor is responsible for sensing the pressure brought by the anchor net. When the pressure drops, it transmits the signal to the gravity sensor and gravity interconnection sensor, thereby realizing the continuous supply of anchor net.

[0011] The net laying module includes an anchor net laying robot and a net laying module base. The anchor net laying robot includes two side net laying robots and a central roof net laying robot. The net laying module automatically lays nets across the entire cross-section of the coal mine roadway by grabbing the anchor nets in the net transport module.

[0012] The anchoring module includes a top plate anchoring module, a top plate anchoring module fixing seat, a side wall anchoring module, gantry columns, and crossbeams; the anchoring module starts up simultaneously with the mesh laying module, realizing simultaneous anchoring and mesh laying operations.

[0013] The aforementioned fully automated integrated anchoring robot for coal mine roadways addresses the problems of high labor intensity, low efficiency, and poor safety in full-section anchoring operations in coal mine roadways. It proposes a highly automated and safe fully automated integrated anchoring robot. The robot's structure includes multiple modules, which coordinate to achieve an automated anchoring operation process. The basic working process of this invention is as follows: The robot is started via a remote control center, activating the walking module, which drives the hydraulic motor-driven tracked chassis to move the robot forward and enter the coal mine roadway. This process is achieved by the aforementioned power source and control module; the robot... After the robot enters the tunnel, the laser radar positioning module is activated. This module uses the laser emitter and the signal feedback sensor to perform a three-dimensional scan of the tunnel, generating a three-dimensional image of the tunnel. This enables precise anchoring and navigation control, ensuring the robot can accurately reach the work area. When the robot reaches the anchoring work area, the net transport module is activated. The net transport module consists of a double-layer anchor net transport machine and a synchronous belt drive mechanism. Through a chain drive mechanism, the anchor nets in the storage and retrieval modules are transported to the net laying module. The anchor nets pre-installed on the net transport module are delivered to their designated positions after positioning. This prepares for subsequent netting operations. After the netting module is activated, the anchor netting laying robot begins work. This module consists of two sidewall netting laying robots and one roof netting laying robot. The anchor netting laying robot grabs the anchor netting from the netting transport module and lays it on the roof and sidewall areas of the roadway. Simultaneously, the anchoring module is activated. This module includes two sidewall anchoring modules and one roof anchoring module. This module uses a bolt drilling rig to reinforce the roof, sidewalls, and anchor netting, ensuring that the bolts fix the roadway and the anchor netting are firmly fixed to the roadway surface, enhancing the stability and safety of the roadway support. When the net transport module detects a decrease in the number of anchor nets, it automatically activates the net retrieval module. The net retrieval module uses the anchor net retrieval robot to extract new anchor nets from the net storage box and transport them to the anchor net electromagnetic fixing plate group of the net transport module. After the anchor net is fixed on the anchor net electromagnetic fixing plate group of the net transport module, the net transport module is activated again to transport the anchor net to the net laying module. At the same time, the scissor-type hydraulic lifting net storage box in the net storage module automatically adjusts its height according to the decrease in the weight of the anchor net, ensuring the smooth progress of the net retrieval process. This process is repeated repeatedly to ensure continuous anchoring operations in the roadway.

[0014] The advantages of this invention are:

[0015] 1. The net-laying module of the robot of this invention adopts a multi-degree-of-freedom manipulator collaborative net-laying structure design. The anchoring module adopts a structure layout of one top anchor and two side anchors, covering the area at the junction of the roof and sidewalls to ensure the full-section net-laying effect. The anchoring module anchors the roof and sidewalls through an anchor drilling machine and monitors the drilling depth in real time to ensure the roadway support strength.

[0016] 2. The robot of this invention adopts an automated net supply and grasping system. The net storage module and net retrieval module monitor the remaining amount of anchor net in real time through gravity sensors and gravity interconnection sensors, and automatically adjust the storage height and supply status of anchor net to ensure a stable supply of anchor net. At the same time, the grasping manipulator equipped with the net retrieval module can accurately locate and grasp the anchor net and place it in the net transport module, reducing errors and improving the accuracy of operation.

[0017] 3. The robot of this invention adopts a double-layer net transport structure. The net transport module uses a double-layer conveyor to ensure the stability of the anchor net during transportation and reduce the risk of slippage or falling. The upper and lower sets of anchor net electromagnetic fixing plates can firmly fix the anchor net during transportation. The pressure sensor of the net transport module can monitor the remaining quantity of anchor net in real time and transmit the signal to the net transport module and the net retrieval module to ensure that there is enough anchor net to supply, so that the net laying module and the anchoring module can work continuously.

[0018] 4. The robot of this invention adopts a precise lidar positioning system. Through the lidar positioning module, the robot can perform real-time three-dimensional scanning of the tunnel environment and generate a high-precision three-dimensional model, providing accurate data support for the collaboration of various modules. Compared with traditional manual positioning, this system ensures the accuracy of the anchor position, avoids repetition or omission, and improves the intelligence and safety of tunnel support operations.

[0019] 5. The walking module of the robot of this invention adopts a four-track design. This structure can not only evenly distribute the weight of the equipment and reduce damage to the tunnel surface, but also cross complex terrain. This structure can also travel for a long time on soft ground and in long tunnels, and is suitable for various types of tunnels. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the roof and sidewall anchoring in an integrated robot for automatic anchoring of the entire cross-section of a coal mine roadway according to the present invention.

[0021] Figure 2 This is a schematic diagram of the roof and sidewall anchoring at the junction of the roof and sidewalls in an integrated automatic anchoring robot for full-section coal mine roadways according to the present invention.

[0022] Figure 3 This is a schematic diagram of the overall assembly structure of an integrated automatic anchoring robot for full-section coal mine roadways according to the present invention.

[0023] Figure 4 and Figure 5 This is a schematic diagram of the walking module in an integrated robot for automatic anchoring of the entire cross-section of a coal mine roadway, according to the present invention.

[0024] Figure 6 This is a schematic diagram of the power source and control module in an integrated automatic anchoring robot for the entire cross-section of a coal mine roadway according to the present invention.

[0025] Figure 7 This is a schematic diagram of the hydraulic pump station in the power source and control module of the fully automatic anchoring robot for coal mine roadways according to the present invention.

[0026] Figure 8 This is a schematic diagram of the storage mesh module in an integrated robot for automatic anchoring of the entire cross-section of a coal mine roadway according to the present invention.

[0027] Figure 9 This is a schematic diagram of the net-retrieving module in an integrated robot for automatic anchoring and protection of the entire cross-section of a coal mine roadway, according to the present invention.

[0028] Figure 10 This is a schematic diagram of the anchor net retrieval robot in the automatic anchor protection integrated robot net retrieval module for full-section coal mine roadways of the present invention.

[0029] Figure 11 This is a schematic diagram of the lead screw in the automatic anchoring robot net-retrieving module for the entire cross-section of a coal mine roadway, according to the present invention.

[0030] Figure 12 This is a schematic diagram of the network transport module in an integrated automatic anchoring robot for full-section coal mine roadways according to the present invention.

[0031] Figure 13 This is a schematic diagram of the conveyor in the integrated robot network transport module of a full-section automatic anchoring protection robot for coal mine roadways according to the present invention.

[0032] Figure 14 This is a schematic diagram of the drag chain frame in the conveyor of the integrated robot network transport module for full-section automatic anchoring protection of coal mine roadways according to the present invention.

[0033] Figure 15 This is a schematic diagram of the net-laying module in an integrated robot for automatic anchoring of the entire cross-section of a coal mine roadway according to the present invention.

[0034] Figure 16 This is a schematic diagram of the anchor net laying robot in the net laying module of the automatic anchor protection integrated robot for the entire cross-section of a coal mine roadway according to the present invention.

[0035] Figure 17 and Figure 18 This is a schematic diagram of the full-section mesh laying module in the fully automatic anchoring integrated robot for coal mine roadways of the present invention.

[0036] Figure 19 This is a schematic diagram of the anchoring module in an integrated robot for automatic anchoring of the entire cross-section of a coal mine roadway, according to the present invention.

[0037] Figure 20 This is a schematic diagram of the anchoring module in the automatic anchoring integrated robot for full-section anchoring of coal mine roadways of the present invention, which anchors the junction of the roof and sidewalls.

[0038] Figure 21 This is a schematic diagram of the side anchor drilling machine in the anchoring module of the fully automatic anchoring robot for coal mine roadways according to the present invention.

[0039] Figure 22 This is a schematic diagram of the laser radar positioning module in an integrated robot for automatic anchoring of the entire cross-section of a coal mine roadway according to the present invention.

[0040] Figure 23 This is a schematic diagram showing the installation position of the laser radar positioning module in an integrated robot for automatic anchoring of the entire cross-section of a coal mine roadway according to the present invention.

[0041] In the diagram: 1. Walking module; 2. Power source and control module; 3. LiDAR positioning module; 4. Net storage module; 5. Net retrieval module; 6. Net transport module; 7. Net laying module; 8. Anchoring module; 9. Anchor net; 10. Drive wheel; 11. Track; 12. Carrier wheel; 13. Track roller; 14. Tensioning device; 15. Guide wheel; 16. Chassis platform; 17. Hydraulic motor; 18. Integrated electrical control cabinet; 19. Pressure control valve; 20. Cooling fan; 21. Auxiliary pump; 22. Main pump; 23. Anchor net box; 24. Lifting platform support; 25. Scissor lift hydraulic cylinder; 26. Lateral movement screw; 27. Anchor net retrieval robot; 28. Longitudinal movement screw; 29. ​​Gantry column; 30. Crossbeam; 31. Connecting beam; 32. 33. Net-retrieving hand fingers; 34. Net-retrieving hand rotary hydraulic cylinder; 35. Wrist rotary motor fixing ring; 36. Net-retrieving arm telescopic rod; 37. Hydraulic cylinder outer cylinder; 38. Net-retrieving hand clamping cylinder; 39. Wrist rotary motor; 40. Screw drive motor; 41. Screw slider; 42. Screw guide rail; 43. Shaft end stop; 44. Drive motor; 45. Anchor net electromagnetic fixing plate assembly; 46. Net conveying module base; 47. Conveyor column; 48. Lower conveyor; 49. Drive sprocket; 50. Conveyor fixed beam; 51. Drive shaft; 52. Drive pulley; 53. Driven sprocket; 54. Flange bearing; 55. Cable drag chain frame; 56. Chain assembly; 57. Cable drag chain frame fixed beam; 58. Cable drag chain frame outer shell; 59. Idler roller; 60. Anchor net laying robot. Netting module base 61, netting fingers 62, netting finger slide rail 63, netting finger clamping cylinder 64, netting hand rotary motor 65, netting wrist rotary motor 66, netting hand forearm 67, netting hand forearm connecting beam 68, netting hand lifting hydraulic cylinder 69, netting hand upper arm 70, netting hand upper arm swing motor 71, netting hand bottom rotary platform 72, netting robot arm base 73, top plate anchoring module 74, top plate anchoring module fixing seat 75, side wall anchoring module 76, side wall anchor drilling rig 77, drilling rig swing device 78, elevator connecting beam 79, elevator drive pulley 80, side wall drilling rig slide rail 81, elevator flange bearing 82, elevator drive motor 83. Data processing center 84, laser emitter 85, signal feedback sensor 86, lidar frame 87, lidar mounting base 88, hydraulic pump station 89, gravity sensor 90, gravity interconnection sensor 91, net-retrieving robot arm fixing sleeve 92, pressure sensor 93, synchronous belt 94, top plate positioning and depth detection sensor 95, swing hydraulic cylinder 96, elevator mounting plate 98, side panel positioning and depth detection sensor 99, gripping positioning sensor 100, conveyor synchronous belt 101, upper conveyor 102, outer fixing plate 103, elevator 104, elevator synchronous belt 105, oil tank 106, lead screw housing 107, lead screw shaft 108, sliding sleeve 109. Detailed Implementation

[0042] The present invention will be further described below with reference to the embodiments of the present invention. The technical solutions of the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort, and all modifications, equivalent substitutions, improvements, etc., should be included within the protection scope of the present invention.

[0043] Reference Figures 1 to 3 This invention relates to an integrated robot for automatic anchoring of the entire cross-section of a coal mine roadway, mainly comprising a walking module 1, a power source and control module 2, a laser radar positioning module 3, a net storage module 4, a net retrieval module 5, a net transport module 6, a net laying module 7, an anchoring module 8, and an anchor net 9; the walking module 1 is used to install the power source and control module 2, the net storage module 4, the net retrieval module 5, the net transport module 6, the net laying module 7, and the anchoring module 8; the laser radar positioning module 3 is respectively installed on the gantry columns of the net retrieval module 5 and the anchoring module 8; the anchor net 9 is placed in the net storage module 4 and the net transport module 6; the power source and control module 1... The control module 2 is bolted to the rear of the walking module 1; the net storage module 4 is bolted to the walking module 1 and located at the front of the power source and control module 2; the net retrieval module 5 is bolted to the walking module 1 and surrounds the net storage module 4; the net transport module 6 is bolted to the walking module 1 and located at the front of the net retrieval module 5; the net laying module 7 is bolted to the walking module 1 and located at the front of the net transport module 6; the anchoring module 8 is bolted to the walking module 1 and located at the front of the net laying module 7, to achieve efficient anchoring. Figure 1 and Figure 2 The image shows the details of the robot's full-section anchoring process. Figure 3 The diagram shows the overall structure of the robot.

[0044] Reference Figure 4 and Figure 5The walking module 1 includes a drive wheel 10, tracks 11, track rollers 12, a trolley frame 13, support rollers 14, a tensioning device 15, guide wheels 16, a chassis platform 17, and a hydraulic motor 18. The drive wheel 10, tracks 11, track rollers 12, support rollers 14, tensioning device 15, guide wheels 16, and hydraulic motor 18 in the walking module 1 are all mounted on the trolley frame 13. In this invention, the walking module 1 adopts a four-track design. Compared with the traditional double-track or wheeled structure, this structure has better stability. The four tracks can distribute the weight of the equipment more evenly, especially in complex terrain or poor geological conditions in coal mine roadways, effectively reducing the risk of overturning. Coal mine roadways are often accompanied by obstacles such as gravel, water, and muddy ground. The four-track design increases the ground contact area of ​​the equipment, enhances its ability to pass through, and ensures continuous and safe anchoring operations. Compared to dual-tracked equipment, four-tracked equipment can better traverse obstacles, making the robot more adaptable to various tunnel terrains. The four-tracked system also offers better steering flexibility, allowing for easy turning and maneuvering in narrow tunnels, facilitating operation. The four-tracked system balances the load on the equipment, reducing the pressure on each track and effectively minimizing damage to the tunnel floor, thus extending the tunnel's service life, especially suitable for soft ground and long-distance construction tunnels. The four-tracked equipment incorporates an advanced automation and intelligent control system, precisely controlling the movement of each track, resulting in smoother operation in complex terrain and the ability to adjust operations based on real-time terrain conditions, improving work efficiency. The tracks distribute the load, reducing friction and wear between the ground and the equipment, extending its service life. Furthermore, the four-tracked system allows the equipment to continue operating even with partial track failures, reducing downtime caused by equipment maintenance.

[0045] Reference Figure 6 and Figure 7 The power source and control module 2 includes an integrated electrical control cabinet 19, a hydraulic pump station 89, and a guardrail; see reference. Figure 7The hydraulic pump station 89 includes a pressure control valve 20, a cooling fan 21, an auxiliary pump 22, a main pump 23, and an oil tank 106. The integrated electrical control cabinet 19 and the hydraulic pump station 89 are both fixed to the rear of the walking module 1 and secured with bolts. The guardrail is bolted to the walking module 1 and surrounds the integrated electrical control cabinet 19 and the hydraulic pump station 89. The cooling fan 21 is bolted to the side of the oil tank 106. The auxiliary pump 22 and the main pump 23 are bolted above the oil tank 106. The pressure control valve 20 is threaded to the oil outlets of the auxiliary pump 22 and the main pump 23. The guardrail protects the integrated electrical control cabinet 19 and the hydraulic pump station 89 from collisions with the tunnel wall. In this invention, the power source and control module 2 plays a crucial role, providing stable and sufficient power to the various functional modules of the robot. The hydraulic pump station 89 drives the walking module 1, the net storage module 4, the net retrieval robot 28, the net laying finger clamping cylinder 64 of the net laying robot 60, the net laying hand lifting hydraulic cylinder 69, and the anchoring module 8 through a hydraulic system, ensuring the robot's smooth movement and precise operation in complex roadway environments. Simultaneously, the integrated electrical control cabinet 19 serves as the control center, integrating the robot's overall instruction processing and distribution functions. It receives operation instructions from the remote control center and coordinates the motor's power output and the collaborative work of each module through an advanced electrical control system, achieving automated control and real-time monitoring. The integrated electrical control cabinet 19 also integrates a safety protection mechanism, enabling timely response in abnormal situations to ensure the robot's safe operation. Through the efficient collaboration between the power source and the control module 2, the robot can achieve efficient, precise, and safe operation of full-section automatic anchoring, significantly improving the automation level of coal mine roadway maintenance.

[0046] Reference Figure 8The storage module 4 includes an anchor net box 24, a lifting platform support 25, a scissor lift hydraulic cylinder 26, and a gravity sensor 90. The anchor net box 24 is bolted to the lifting platform support 25. The scissor lift hydraulic cylinder 26 is hinged to the lifting platform support 25. The lifting platform support 25 is bolted to the traveling module 1. The gravity sensor 90 is bolted to the bottom of the lifting platform support 25, and its signal line is connected to the scissor lift hydraulic cylinder 26 to sense changes in gravity. The storage module 4 is designed with a large-capacity anchor net box, ensuring that the module can store a large amount of anchor netting, supporting… Long-term continuous operation reduces the need for frequent replenishment. The net storage module 4 is equipped with a gravity sensor 90. When the weight of the anchor net 9 in the anchor net box 24 is detected to decrease, the hydraulic cylinder 26 of the scissor lift will automatically lift the anchor net box 24. The gravity sensor 90 communicates with the gravity interconnection sensor 91 in the net retrieval module 5 to ensure that the anchor net 9 is at a suitable retrieval height for the net retrieval module 5. This process provides convenient retrieval conditions for the net retrieval module 5 and ensures a stable and continuous supply of the anchor net 9. The design of the net storage module 4 takes into account close cooperation with the net retrieval module 5, realizing automatic net supply and efficient collaborative operation.

[0047] Reference Figures 9 to 11 The net-retrieving module 5 includes a transverse moving screw 27, a net-retrieving robot 28, a longitudinal moving screw 29, a gantry column 30, a crossbeam 31, a connecting beam 32, a gravity interconnection sensor 91, and a net-retrieving robot fixing sleeve 92; wherein the net-retrieving robot 28 includes net-retrieving hand fingers 33, net-retrieving hand rotary hydraulic cylinder 34, wrist rotary motor fixing ring 35, net-retrieving arm telescopic rod 36, hydraulic cylinder outer cylinder 37, net-retrieving hand clamping cylinder 38, and wrist rotary motor 39; the transverse moving screw 27 and the longitudinal moving screw 29 include a screw drive motor 40, a screw slider 41, a screw guide rail 42, a shaft end stop 43, a screw housing 107, a screw shaft 108, and a sliding sleeve 109; see reference. Figure 9The gantry columns 30 are mounted on the walking module 1 and connected by bolts; the crossbeam 31 is connected between two gantry columns 30 and connected by bolts; the two connecting beams 32 are connected between two adjacent gantry columns 30 and connected by bolts; the two longitudinal moving screws 29 are mounted on the two connecting beams 32 and connected by bolts; the transverse moving screw 27 is fixed to the two longitudinal moving screws 29 by screw sliders 41; the net-collecting robot arm fixing sleeve 92 is fixed to the transverse moving screw 27 by screw sliders 41; the anchor net collecting robot arm 28 is fixed to the net-collecting robot arm fixing sleeve 92 by bolts; the gravity interconnection sensor 91 is mounted on the net-collecting robot arm fixing sleeve 92 by bolts; (Refer to...) Figure 10 The net-retrieving hand fingers 33 are hinged to the net-retrieving hand clamping cylinder 38; the net-retrieving hand clamping cylinder 38 is connected to the net-retrieving hand rotary hydraulic cylinder 34; the net-retrieving hand rotary hydraulic cylinder 34 and the net-retrieving arm telescopic rod 36 are hinged; the wrist rotary motor fixing ring 35 is fixed to the net-retrieving arm telescopic rod 36; the wrist rotary motor 39 is bolted to the wrist rotary motor fixing ring 35; the net-retrieving arm telescopic rod 36 and the hydraulic cylinder outer cylinder 37 are concentrically installed; see reference. Figure 11 The lead screw drive motor 40 is bolted to the lead screw housing 107; the lead screw guide rail 42 is bolted to the lead screw housing 107; the shaft end stop 43 is bolted to the lead screw housing 107; both ends of the lead screw shaft 108 are mounted on the shaft end stop 43; the lead screw slider 41 and the sliding sleeve 109 are coaxially mounted on the lead screw shaft 108; the anchor net picking robot 28 is precisely positioned by the transverse moving lead screw 27 and the longitudinal moving lead screw 29, enabling it to quickly and accurately pick up the anchor net 9, reducing errors; the anchor net picking robot 28 transports the picked-up anchor net 9 to the anchor net electromagnetic fixing plate group 45 of the net transport module 6, ensuring the stability of the anchor net 9 during transportation and preventing the anchor net 9 from slipping or being damaged.

[0048] Reference Figures 12 to 14The conveying module 6 includes a drive motor 44, an anchor mesh electromagnetic fixing plate assembly 45, a conveying module base 46, a conveyor column 47, a synchronous belt 94, a conveyor synchronous belt 101, a lower conveyor 48, and an upper conveyor 102; the lower conveyor 48 and the upper conveyor 102 include a drive sprocket 49, a conveyor fixing beam 50, a drive shaft 51, a drive pulley 52, a driven sprocket 53, a flange bearing 54, a drag chain frame 55, a chain assembly 56, a drag chain frame fixing beam 57, a pressure sensor 93, and an outer fixing plate 103; the drag chain frame 55 includes a drag chain frame housing 58 and idler rollers 59; see reference. Figure 12 The drive motor 44 is connected to the lower conveyor 48 via the synchronous belt 94; the anchor mesh electromagnetic fixing plate assembly 45 is fixed to the upper conveyor 102 and the lower conveyor 48 by bolts; the upper conveyor 102 and the lower conveyor 48 are connected by the conveyor synchronous belt 101 and fixed by the conveyor column 47; see reference. Figure 13 The drive sprocket 49, drive shaft 51, drive pulley 52, and flange bearing 54 are coaxially connected and bolted to the outer fixing plate 103 via the flange bearing 54; the conveyor fixing beam 50 is bolted to the drag chain frame 55; the drag chain frame 55, drag chain frame fixing beam 57, and outer fixing plate 103 are bolted together; the net conveying module base 46 is bolted to the drag chain frame fixing beam 57; the chain group 56 cooperates with the drive sprocket 49 and driven sprocket 53; the idler roller 59 and the drag chain frame housing 58 are connected by hinge pins; the net conveying module 6 is responsible for transporting the pre-installed anchor net 9 from the net storage module 4 and the net retrieval module 5 to the net laying module 7, ensuring that the anchor net laying robot 60 can obtain the required anchor net 9 at any time; the net conveying module 6 utilizes the drive motor 44 and the drive belt The synchronous belt drive mechanism composed of wheel 52 enables smooth transport of the anchor net, ensuring stability during transportation. The net transport module 6 adopts a double-layer transport mode and is equipped with the anchor net electromagnetic fixing plate group 45, which can firmly fix the anchor net 9 when needed, preventing accidental slippage or falling during transportation. When the pressure sensor 93 of the net transport module 6 detects that the anchor net 9 is insufficient, the pressure sensor 93 is responsible for sensing the pressure brought by the anchor net. When the pressure drops, it transmits the signal to the gravity sensor 90 and gravity interconnection sensor 91. The net storage module 4 adjusts the height, and the net retrieval module 5 automatically starts to grab the anchor net 9, thereby realizing a continuous supply of anchor nets. The net transport module 6 is linked with other modules through the integrated electrical control cabinet 19, ensuring that the operation of the net transport module 6 can work efficiently and collaboratively with the net laying module 7 and the anchoring module 8 throughout the entire anchoring process, improving the overall operation efficiency.

[0049] Reference Figures 15 to 18 The net-laying module 7 includes an anchor net-laying robot 60 and a net-laying module base 61; the anchor net-laying robot 60 includes net-laying fingers 62, net-laying finger slide rails 63, net-laying finger clamping cylinders 64, net-laying hand rotary motors 65 and 66, net-laying wrist rotary motors 66, net-laying hand forearms 67, net-laying hand forearm connecting beams 68, net-laying hand lifting hydraulic cylinders 69, net-laying hand upper arms 70, net-laying hand upper arm swing motors 71, net-laying hand bottom rotary platform 72, net-laying robot base 73, and gripping and positioning sensors 100; see reference. Figure 15 The anchor mesh laying robot 60 is connected to the mesh laying module base 61 by bolts; see reference. Figure 16 The net-laying finger 62 is coaxially connected to the net-laying finger slide rail 63; the net-laying finger clamping cylinder 64 is hinged to the net-laying finger 62; the net-laying hand rotary motor 65 is hinged to the net-laying finger clamping cylinder 64; the net-laying wrist rotary motor 66 is connected to the net-laying hand forearm 67 and net-laying hand forearm connecting beam 68 by bolts, and is coaxially connected to the net-laying hand rotary motor 65; the net-laying hand forearm 67 and net-laying hand forearm connecting beam 68 are hinged to the net-laying hand lifting hydraulic cylinder 69 and the net-laying hand upper arm 70; the net-laying hand lifting hydraulic cylinder 69 and net-laying hand upper arm 70 are coaxially connected to the net-laying hand upper arm swing motor 71; the bottom rotary platform 72 of the net-laying hand is coaxially connected to the net-laying robot base 73; in the machine After the robot enters the work area, the remote control center first activates the net-laying module 7 to ensure the normal operation of all parts of the system. Then, the swing motor 71 of the net-laying arm drives the net-laying arm 70 and the net-laying forearm 67 to extend forward. When they reach the predetermined position to grab the anchor net 9, the net-laying finger 62 moves along the net-laying finger slide rail 63 under the action of the net-laying finger clamping cylinder 64. Based on the precise identification of the anchor net holes by the grabbing positioning sensor 100, the anchor net is grabbed. Finally, after grabbing the anchor net 9, the bottom rotating platform 72 of the anchor net hand and the lifting hydraulic cylinder 69 of the anchor net hand begin to work. The robotic arms on both sides of the anchor net laying robot 60 begin to lay nets on the side walls, and the middle robotic arm begins to lay nets on the top plate. The specific operation is as follows: Figure 17 As shown; for any un-netted areas that may exist at the junction of the top slab and sidewalls, the net-laying hand rotary motor 65 and the net-laying hand lifting hydraulic cylinder 69 will adjust their posture to lay netting in that area, as detailed in the following operation. Figure 18 As shown, this ensures the smooth progress of the netting installation.

[0050] Reference Figures 19 to 21The anchoring module 8 includes a gantry column 30, a crossbeam 31, a top plate anchoring module 74, a top plate anchoring module fixing seat 75, a side wall anchoring module 76, and a top plate positioning and depth detection sensor 95; the side wall anchoring module 76 includes a side wall anchor drill 77, a drill rig swing device 78, a lifting platform connecting beam 79, a lifting platform drive pulley 80, a side wall drill rig slide rail 81, a lifting platform flange bearing 82, a lifting platform drive motor 83, a swing hydraulic cylinder 96, a lifting platform mounting plate 98, a side wall positioning and depth detection sensor 99, a lifting platform 104, and a lifting platform synchronous belt 105; see reference. Figure 19 The gantry columns 30 are mounted on the chassis platform 17 of the traveling module 1 and connected by bolts; the crossbeam 31 is connected between two gantry columns 30 and connected by bolts; the top plate anchoring module fixing seat 75 is fixed to the adjacent gantry columns 30 by bolts; the top plate anchoring module 74 is mounted on the top plate anchoring module fixing seat 75 by bolts; the side wall anchoring module 76 is connected to the two adjacent gantry columns 30 by bolts through the lifting platform mounting plate 98; see reference. Figure 21 The side-mounted anchor drilling rig 77 is bolted to the drilling rig swing device 78; the lifting platform connecting beam 79 is bolted to the lifting platform 104; the lifting platform drive motor 83 is connected to the lifting platform drive pulley 80 via the lifting platform synchronous belt 105; the drilling rig swing device 78 is coaxially connected to the side-mounted drilling rig slide rail 81; the swing hydraulic cylinder 96 is hinged to the drilling rig swing device 78; the anchoring process is as follows: Figure 19 and Figure 20 First, the remote control center starts the anchoring module 8, activating its core components, including the top slab anchoring module 74 and the sidewall anchoring module 76. After startup, the sidewall anchor drilling rig 77 in the sidewall anchoring module 76 begins operation, precisely positioning and drilling holes in the sidewall using the drilling rig swing device 78 and the sidewall positioning and depth detection sensor 99. Simultaneously, the drilling rig swing device 78 and the lifting drive motor 83 are activated to ensure that the anchor rod can be drilled in at an appropriate height, depth, and angle. At the same time, the top slab anchoring module 74 and the top slab positioning and depth detection sensor 95 also work synchronously, with the drilling rig responsible for drilling holes in the top slab for anchoring. During the drilling process, the top slab positioning and depth detection sensor 95 and the sidewall positioning and depth detection sensor 99 monitor the drilling depth and position of the anchor rod in real time to ensure that the anchoring effect meets safety standards.

[0051] Reference Figure 22 and Figure 23The lidar positioning module 3 includes a data processing center 84, a laser emitter 85, a signal feedback sensor 86, a lidar frame 87, and a lidar mounting base 88. The data processing center 84 is bolted to the lidar frame 87. The laser emitter 85 is bolted to the lidar frame 87 and is located below the data processing center 84. The signal feedback sensor 86 is bolted to the lidar frame 87 and is located below the laser emitter 85. The lidar mounting base 88 is bolted to the rear of the lidar frame 87. Figure 23 The laser radar positioning module 3 is bolted to the gantry column 30. The laser radar positioning module 3 is crucial in the operation of the automatic anchoring robot for full-section coal mine roadways, primarily responsible for environmental perception, location positioning, and navigation. First, when the robot starts and enters the coal mine roadway, the laser emitter 85 emits a laser beam to perform a high-precision scan of the surrounding roadway, acquiring real-time three-dimensional environmental data. This data is fed back to the data processing center 84 via the signal feedback sensor 86, generating a detailed three-dimensional roadway model. When the robot travels to the working area, the laser radar positioning module 3... It is responsible for accurately locating the anchoring position and providing directional navigation; it can identify obstacles and structural features in the tunnel to ensure that the robot chooses the best travel path and avoids collisions; during the net laying operation, the laser radar positioning module 3 guides the precise movement of the net laying module 7 and the anchoring module 8 by monitoring the relative position of the robot and the target position; it can provide real-time feedback and adjust the actions of the net laying module 7 and the anchoring module 8 to ensure that the anchor net 9 is accurately placed in the predetermined position; for the unanchored area at the junction of the roof and sidewalls, the laser radar positioning module 3 can identify it in time and guide the net laying module 7 and the anchoring module 8 to make remedial measures to ensure uniform coverage of the entire cross section.

[0052] The principle of this invention: The fully automated coal mine roadway anchoring robot of this invention addresses the problems of high labor intensity, low efficiency, and poor safety in coal mine roadway anchoring by employing a series of efficient and automated modules working collaboratively. The robot's walking module 1 is driven by the hydraulic motor 18, providing stable movement. Its positioning function is achieved by the laser radar positioning module 3, which includes the laser emitter 85 and the signal feedback sensor 86. This module is responsible for acquiring real-time three-dimensional data of the roadway, generating a coal mine roadway model through the data processing center 84, and determining the anchoring position and direction. When the robot enters the working area, the net transport module 6 begins to transport the pre-installed anchor net 9 to the laying... Netting module 7; the anchor netting robot 60 of the netting module 7 is responsible for grasping and laying anchor nets 9. The robot includes multiple adjustable motion parts, which can accurately grasp the anchor nets 9 and adjust its posture according to the roadway conditions to ensure effective netting laying on the roof, side walls, and their junctions. At the same time, the anchoring module 8 is activated to drive anchor bolts into the roof, side walls, and their junctions to ensure the stability of the roadway structure. When the number of anchor nets decreases, the netting module 5 is activated to send the anchor nets 9 to the anchor net electromagnetic fixing plate group 45 of the netting transport module 6 for fixing, so that the nets 9 can be transported again for the next laying. The whole process is monitored and controlled by a remote control center to ensure that the robot can complete the anchoring operation of the coal mine roadway efficiently and continuously.

[0053] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing examples, those skilled in the art can still modify the technical solutions described in the foregoing examples or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fully automated anchoring robot for coal mine roadways, characterized in that, It includes a walking module (1), a power source and control module (2), a lidar positioning module (3), a net storage module (4), a net retrieval module (5), a net transport module (6), a net laying module (7), an anchoring module (8), and an anchor net (9). The walking module (1) is used to install the power source and control module (2), the storage network module (4), the network retrieval module (5), the network transportation module (6), the network laying module (7), and the anchoring module (8); The laser radar positioning module (3) is installed on the gantry column (30) of the net-collecting module (5) and the anchoring module (8), respectively; The anchor net (9) is placed in the storage net module (4) and the transportation net module (6); The power source and control module (2) are bolted to the rear of the walking module (1); The storage network module (4) is bolted to the walking module (1) and is located at the front end of the power source and control module (2); The net-collecting module (5) is bolted to the walking module (1) and surrounds the net-storage module (4) in the middle; The net transport module (6) is bolted to the walking module (1) and located at the front end of the net collection module (5); The net laying module (7) is bolted to the walking module (1) and located at the front end of the net transport module (6); The anchoring module (8) is bolted to the walking module (1) and located at the front end of the netting module (7); The storage net module (4) includes an anchor net box (24), a lifting platform bracket (25), a scissor lift hydraulic cylinder (26), and a gravity sensor (90). The anchor mesh box (24) is fixedly installed on the elevator bracket (25) by bolts; the hydraulic cylinder (26) of the scissor lift is hinged on the elevator bracket (25); the elevator bracket (25) is installed on the walking module (1) by bolts; the gravity sensor (90) is installed on the bottom of the elevator bracket (25) by bolts; The net retrieval module (5) includes a transverse moving screw (27), an anchor net retrieval robot (28), a longitudinal moving screw (29), a gantry column (30), a crossbeam (31), a connecting beam (32), a gravity interconnection sensor (91), and a net retrieval robot fixing sleeve (92). The anchor net retrieval robot (28) includes the net retrieval hand fingers (33), the net retrieval hand rotary hydraulic cylinder (34), the wrist rotary motor fixing ring (35), the net retrieval arm telescopic rod (36), the hydraulic cylinder outer cylinder (37), the net retrieval hand clamping cylinder (38), and the wrist rotary motor (39). The transverse moving lead screw (27) and the longitudinal moving lead screw (29) include a lead screw drive motor (40), a lead screw slider (41), a lead screw guide rail (42), a shaft end stop (43), a lead screw housing (107), a lead screw shaft (108), and a sliding sleeve (109). The gantry column (30) is installed on the walking module (1) and connected with bolts; The crossbeam (31) is connected between the two gantry columns (30) and bolted together; Two connecting beams (32) are connected between two adjacent gantry columns (30) and bolted together; Two longitudinal moving screws (29) are fixedly installed on two connecting beams (32); The transverse moving screw (27) is fixed to two longitudinal moving screws (29) by the screw slider (41); The fixed sleeve (92) of the net-retrieving robot is fixed on the transverse moving screw (27) by the screw slider (41); The anchor net retrieval robot (28) is fixed to the anchor net retrieval robot fixing sleeve (92) by bolts; The gravity interconnection sensor (91) is bolted to the fixing sleeve (92) of the net-retrieving robot; The fingers (33) of the net-collecting hand are hinged to the clamping cylinder (38) of the net-collecting hand; The net-retrieving hand clamping cylinder (38) is connected to the net-retrieving hand rotary hydraulic cylinder (34); The hydraulic cylinder (34) for retrieving the net and the telescopic rod (36) for retrieving the net are hinged together; The wrist rotation motor fixing ring (35) is fixed to the telescopic rod (36) of the net-retrieving arm; The wrist rotation motor (39) is fixedly mounted on the wrist rotation motor retaining ring (35); The telescopic rod (36) of the net-retrieving arm is coaxially assembled in the outer cylinder (37) of the hydraulic cylinder; The lead screw drive motor (40) is mounted on the lead screw housing (107) by bolts; The lead screw guide rail (42) is fixedly installed on the lead screw housing (107); The shaft end stop (43) is bolted to the lead screw housing (107); The two ends of the lead screw shaft (108) are mounted on the shaft end stop (43); The lead screw slider (41) and the sliding sleeve (109) are coaxially mounted on the lead screw shaft (108).

2. The fully automated anchoring robot for coal mine roadways according to claim 1, characterized in that, The walking module (1) includes a drive wheel (10), track (11), track roller (12), trolley frame (13), support roller (14), tensioning device (15), guide wheel (16), chassis platform (17) and hydraulic motor (18); the drive wheel (10), track (11), track roller (12), support roller (14), tensioning device (15), guide wheel (16) and hydraulic motor (18) in the walking module (1) are all mounted on the trolley frame (13).

3. The fully automated anchoring robot for coal mine roadways according to claim 1, characterized in that, The power source and control module (2) includes an integrated electrical control cabinet (19), a hydraulic pump station (89), and a guardrail; the hydraulic pump station (89) includes a pressure control valve (20), a cooling fan (21), an auxiliary pump (22), a main pump (23), and an oil tank (106); the integrated electrical control cabinet (19) and the hydraulic pump station (89) are both fixed to the rear of the walking module (1) and secured with bolts; the guardrail is fixed to the walking module (1) with bolts and surrounds the integrated electrical control cabinet (19) and the hydraulic pump station (89) in the middle; the cooling fan (21) is fixed to the side of the oil tank (106) with bolts; the auxiliary pump (22) and the main pump (23) are installed above the oil tank (106) with bolts; the pressure control valve (20) is connected to the oil outlet of the auxiliary pump (22) and the main pump (23) with threads.

4. The fully automated anchoring robot for coal mine roadways according to claim 1, characterized in that, The aforementioned mesh conveying module (6) includes a drive motor (44), an anchor mesh electromagnetic fixing plate assembly (45), a mesh conveying module base (46), a conveyor column (47), a synchronous belt (94), a conveyor synchronous belt (101), a lower conveyor (48), and an upper conveyor (102); the lower conveyor (48) and the upper conveyor (102) include a drive sprocket (49), a conveyor fixing beam (50), a drive shaft (51), a drive pulley (52), a driven sprocket (53), a flange bearing (54), a drag chain frame (55), a chain assembly (56), a drag chain frame fixing beam (57), a pressure sensor (93), and an outer fixing plate (103); the drag chain frame (55) includes a drag chain frame housing (58) and idlers (59); the drive motor (44) is connected to the lower conveyor (48) via the synchronous belt (94); the anchor mesh electromagnetic fixing plate assembly (45) is connected via bolts. The chain assembly (56) is fixed on the upper conveyor (102) and the lower conveyor (48); the upper conveyor (102) and the lower conveyor (48) are connected by the conveyor timing belt (101) and fixedly supported by the conveyor column (47); the drive sprocket (49), drive shaft (51), drive pulley (52) and flange bearing (54) are coaxially connected and the flange bearing (54) is fixed to the outer fixing plate (103) by bolts; the conveyor fixing beam (50) is bolted to the drag chain frame (55); the drag chain frame (55), the drag chain frame fixing beam (57) and the outer fixing plate (103) are bolted together; the conveyor module base (46) is bolted to the drag chain frame fixing beam (57); the chain assembly (56) is engaged with the drive sprocket (49) and the driven sprocket (53); the idler roller (59) and the drag chain frame housing (58) are engaged by hinge pins.

5. The fully automated anchoring robot for coal mine roadways according to claim 1, characterized in that, The net laying module (7) includes an anchor net laying robot (60) and a net laying module base (61); the anchor net laying robot (60) is bolted to the net laying module base (61); the net laying module base (61) is bolted to the walking module (1); the anchor net laying robot (60) includes a net laying finger (62), a net laying finger slide rail (63), a net laying finger clamping cylinder (64), a net laying hand rotary motor (65), a net laying wrist rotary motor (66), a net laying hand forearm (67), a net laying hand forearm connecting beam (68), a net laying hand lifting hydraulic cylinder (69), a net laying hand upper arm (70), a net laying hand upper arm swing motor (71), a net laying hand bottom rotary platform (72), a net laying robot base (73), and a gripping positioning sensor (1). 00); the net-laying finger (62) is coaxially connected to the net-laying finger slide rail (63); the net-laying finger clamping cylinder (64) is hinged to the net-laying finger (62); the net-laying hand rotary motor (65) is hinged to the net-laying finger clamping cylinder (64); the net-laying wrist rotary motor (66) is connected to the net-laying hand forearm (67) and the net-laying hand forearm connecting beam (68) by bolts, and is coaxially connected to the net-laying hand rotary motor (65); the net-laying hand forearm (67) and the net-laying hand forearm connecting beam (68) are hinged to the net-laying hand lifting hydraulic cylinder (69) and the net-laying hand upper arm (70); the net-laying hand lifting hydraulic cylinder (69) and the net-laying hand upper arm (70) are coaxially connected to the net-laying hand upper arm swing motor (71); the bottom rotary platform (72) of the net-laying hand is coaxially connected to the net-laying robot base (73).

6. The fully automated anchoring robot for coal mine roadways according to claim 1, characterized in that, The anchoring module (8) includes a gantry column (30), a crossbeam (31), a top plate anchoring module (74), a top plate anchoring module fixing seat (75), a side wall anchoring module (76), and a top plate positioning and depth detection sensor (95); the side wall anchoring module (76) includes a side wall anchor drill (77), a drill swing device (78), a hoist connecting beam (79), a hoist drive pulley (80), a side wall drill slide rail (81), a hoist flange bearing (82), a hoist drive motor (83), a swing hydraulic cylinder (96), a hoist mounting plate (98), a side wall positioning and depth detection sensor (99), a hoist (104), and a hoist synchronous belt (105); the gantry column (30) is installed on the chassis platform (17) of the walking module (1) and connected with bolts; the crossbeam (31) is connected to The two gantry columns (30) are connected by bolts; the top plate anchoring module fixing seat (75) is fixed to the adjacent gantry column (30) by bolts; the top plate anchoring module (74) is installed on the top plate anchoring module fixing seat (75) by bolts; the side wall anchoring module (76) is connected to the two adjacent gantry columns (30) by bolts through the elevator mounting plate (98); the side wall anchor drilling rig (77) is installed on the drilling rig swing device (78) by bolts; the elevator connecting beam (79) is fixed to the elevator (104) by bolts; the elevator drive motor (83) is connected to the elevator drive pulley (80) through the elevator synchronous belt (105); the drilling rig swing device (78) is coaxially connected to the side wall drilling rig slide rail (81); the swing hydraulic cylinder (96) is hinged to the drilling rig swing device (78).

7. The fully automated anchoring robot for coal mine roadways according to claim 1, characterized in that, The laser radar positioning module (3) includes a data processing center (84), a laser emitter (85), a signal feedback sensor (86), a laser radar frame (87), and a laser radar mounting base (88). The data processing center (84) is bolted to the laser radar frame (87). The laser emitter (85) is bolted to the laser radar frame (87) and located below the data processing center (84). The signal feedback sensor (86) is bolted to the laser radar frame (87) and located below the laser emitter (85). The laser radar mounting base (88) is bolted to the rear of the laser radar frame (87). The laser radar mounting base (88) is bolted to the gantry column (30) of the net-collecting module (5) and the anchoring module (8).

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