Intelligent short-machine-body single-rail moving shed erecting robot

Abstract

The invention relates to an intelligent short-machine-body single-rail moving shed erecting robot which comprises a rail, a main arm, a rotary table, a rotary speed reducer, a telescopic frame, a body part, a hydraulic system, an electrical system, a driving part and a cable pulley, an auxiliary arm is arranged close to the main arm, and the auxiliary arm comprises a gripper, a four-connecting-rod mechanism, a four-connecting-rod oil cylinder, a telescopic rod and an auxiliary arm telescopic oil cylinder; the gripper is hinged to the four-bar mechanism, the other end of the four-bar mechanism is hinged to the telescopic rod and the auxiliary arm telescopic oil cylinder, and the other end of the auxiliary arm telescopic oil cylinder is hinged to the telescopic frame. The auxiliary arm is electrically connected with the electrical system, and the electrical system is electrically connected with the hydraulic system, the main arm, the rotary table, the rotary speed reducer, the telescopic frame, the body part, the driving part and the cable pulley. The auxiliary arm is arranged to be connected with the steel beam to replace a supporting arm for continuous supporting during operation, the operation efficiency is improved, and a hardware foundation is provided for self-adaptive control in combination with an electrical system.

Description

Technical Field

[0001] The invention relates to the field of tunnel support equipment, and in particular to an intelligent short-body single-rail mobile canopy robot. Background Art

[0002] At present, the construction of underground sheds in coal mines is still mainly done manually, especially in the process of transporting steel sheds and erecting roofs, which consumes a lot of manpower. Long-term work in this type of work will cause irreversible damage to the limbs and cervical spine of personnel. Some existing shed erection equipment, such as the "A Suspended Stepping shed Erecting Machine" disclosed in CN114396297A and the "A Tunnel Erecting Machine" disclosed in CN114104969A, have shortcomings such as insufficient freedom or inability to achieve rapid passing with the cantilever tunneling machine during underground construction, and have not been widely promoted. In order to achieve the replacement of manual labor for transportation and shed erection, it is necessary to design a reliable gripper structure for grabbing shed beams, and it is necessary to consider the actions that the gripper needs to complete to grab the shed beams from the ground and transport them to the predetermined position and the path that the shed beams pass through, so that the shed beams do not have volume interference with the surrounding environment during the entire path, and the speed of the shed erection equipment's forward and backward movement can reach a higher speed than the manual transportation speed; it is necessary to meet the shed erection equipment's ability to turn during movement.

[0003] With the development of automation technology, the applicant applied for "A Monorail Hanging Shed Robot" with publication number CN117605508A on November 2, 2023. The equipment has been put into use, effectively replacing the heavy physical labor in the shed construction process and greatly improving the safety and efficiency of tunnel shed construction. However, during use, it was found that after the main arm of the above-mentioned equipment lifted the steel beam, the main arm continued to lift the steel beam for subsequent shed construction operations, and the equipment only erected a single steel beam at a time. There is still room for improvement in construction efficiency, and the operation accuracy is slightly insufficient. Summary of the invention

[0004] The present invention aims to solve the problem that the construction efficiency and operation accuracy of the above-mentioned monorail hanger shed robot are low. An intelligent short-body monorail mobile shed robot is proposed. An auxiliary arm is set to take over the steel beam instead of the support arm to continue supporting during operation, thereby improving the operation efficiency. The electrical system is combined to provide a hardware basis for realizing adaptive control.

[0005] In order to achieve the above-mentioned purpose, the present invention proposes an intelligent short-body single-rail mobile canopy robot, comprising a track, a main arm, a slewing table, a slewing reducer, a telescopic frame, a main body, a hydraulic system, an electrical system, a driving unit and a cable pulley, an auxiliary arm is arranged near the main arm, and the auxiliary arm comprises a gripper, a four-bar linkage, a four-bar linkage cylinder, a telescopic rod and an auxiliary arm telescopic cylinder; The gripper is hinged to a four-bar linkage, the other end of the four-bar linkage is hinged to a telescopic rod and an auxiliary arm telescopic cylinder, and the other end of the auxiliary arm telescopic cylinder is hinged to a telescopic frame; The auxiliary arm is electrically connected to the electrical system, and the electrical system is electrically connected to the hydraulic system, the main arm, the slewing table, the slewing reducer, the telescopic frame, the main body, the driving part and the cable pulley.

[0006] Furthermore, the number of the auxiliary arms is two, the telescopic rod comprises a shell and an extension end, the extension end is arranged in the shell, the extension end is slidably connected to the shell, the extension end is fixed to the piston rod of the auxiliary arm telescopic cylinder, and the cylinder barrel of the auxiliary arm telescopic cylinder is hinged to the shell; The electrical system includes a controller, an inclination sensor A, a displacement sensor A and a displacement sensor B, wherein the inclination sensor A is fixed to the four-bar linkage, and the inclination sensor A is used to detect the posture of the four-bar linkage; The displacement sensor A is arranged on the cylinder barrel of the four-link oil cylinder and along the axis of the piston rod of the four-link oil cylinder. The displacement sensor A is used to detect the displacement of the piston rod of the four-link oil cylinder. The displacement sensor B is arranged on the housing, and is used to detect the displacement of the extension end; The hydraulic system comprises an electromagnetic reversing valve A and an electromagnetic reversing valve B, and the coils of the electromagnetic reversing valve A and the electromagnetic reversing valve B are connected to the output end of the controller; The input end of the controller is connected to the inclination sensor A, the displacement sensor A and the displacement sensor B.

[0007] The auxiliary arm needs to complete lateral displacement, grasping, lifting and resetting actions. The controller detects parameters through displacement sensor A and inclination sensor A, and controls the stroke of the four-link oil cylinder through electromagnetic reversing valve A, so as to achieve precise adjustment of lifting and resetting actions. The gripper adopts hydraulic control, and the gripper is equipped with electromagnetic reversing valve J, which is connected to the controller. The controller controls the gripper to grasp, and the controller detects the stroke of the extended end of the telescopic rod through displacement sensor B to achieve precise control of lateral displacement.

[0008] Further, the main arm includes a clamping claw, a clamping claw swing cylinder, a rotary cylinder, a vertical arm, a vertical arm reducer, a cross arm, a cross arm reducer, a forearm adjustment cylinder, a telescopic inner cylinder, a telescopic outer cylinder, a boom pitch cylinder and a clamping cylinder; The clamping jaw is provided with a clamping cylinder, and the clamping jaw is hinged with the rotating cylinder through the clamping jaw swinging cylinder, and the rotating cylinder is fixed to the vertical arm, and the vertical arm is provided with a vertical arm reducer, and the vertical arm is rotatably connected to the cross arm through the vertical arm reducer, and the cross arm is provided with a cross arm reducer, and the cross arm is rotatably connected to the telescopic inner cylinder through the cross arm reducer, and a telescopic outer cylinder is sleeved on the outside of the telescopic inner cylinder, and the telescopic inner cylinder is slidably connected to the telescopic outer cylinder, and a forearm adjustment cylinder is provided between the telescopic inner cylinder and the telescopic outer cylinder, and the telescopic outer cylinder is connected to the turntable through a pin shaft and a boom pitch cylinder, and the turntable is provided with a rotating reducer.

[0009] The degrees of freedom of the main arm are increased, and the main arm includes upper arm pitching, upper arm extension and retraction, forearm pitching, horizontal arm swinging, vertical arm pitching, wrist rotation, wrist swinging and hand clamping, clamping and opening actions.

[0010] Further, the electrical system includes a controller and a displacement sensor C, a displacement sensor D, a displacement sensor E, an encoder A, an encoder B, an encoder C and an encoder D connected to an input end of the controller, wherein the displacement sensor C is arranged on the cylinder barrel of the clamping jaw swing cylinder, and the displacement sensor C is used to detect the displacement of the piston rod of the clamping jaw swing cylinder, the displacement sensor D is arranged on the cylinder barrel of the forearm adjustment cylinder, and the displacement sensor D is used to detect the displacement of the piston rod of the forearm adjustment cylinder, and the displacement sensor E is arranged on the telescopic outer cylinder, and the displacement sensor E is used to detect the displacement of the piston rod of the boom pitch cylinder; Encoder A is connected to the rotary cylinder, encoder B is connected to the vertical arm reducer, encoder C is connected to the horizontal arm reducer, and encoder D is connected to the rotary reducer; The hydraulic system includes an electromagnetic reversing valve C, an electromagnetic reversing valve D, an electromagnetic reversing valve E, an electromagnetic reversing valve F and an electromagnetic reversing valve G, and the coils of the electromagnetic reversing valve C, the electromagnetic reversing valve D, the electromagnetic reversing valve E, the electromagnetic reversing valve F and the electromagnetic reversing valve G are connected to the controller.

[0011] The degrees of freedom of the main arm are increased, and the main arm includes upper arm pitching, upper arm extension and retraction, forearm pitching, horizontal arm swinging, vertical arm pitching, wrist rotation, wrist swinging and hand clamping, clamping and opening actions.

[0012] Encoder A detects the rotation angle of the rotary cylinder to improve the wrist rotation control accuracy, encoder B detects the rotation angle of the vertical arm reducer to improve the vertical arm pitch accuracy, encoder C detects the rotation angle of the cross arm reducer to improve the cross arm swing control accuracy, encoder D detects the rotation angle of the rotary reducer to improve the main arm swing accuracy, displacement sensor C detects the piston rod displacement of the clamp swing cylinder to improve the wrist swing accuracy, displacement sensor D detects the piston rod displacement of the forearm adjustment cylinder to improve the telescopic inner cylinder telescopic accuracy, displacement sensor E detects the piston rod displacement of the boom pitch cylinder to improve the boom pitch control accuracy.

[0013] Further, the telescopic frame includes a suspension mechanism, an inner slide, a support mechanism, an outer slide and a telescopic frame cylinder; The inner slide is arranged inside the outer slide, the inner slide is slidably connected to the outer slide, the inner slide is fixed to the rotary reducer, a telescopic frame cylinder is arranged between the inner slide and the outer slide, the side of the outer slide is fixedly connected to the supporting mechanism, and a suspension mechanism is fixedly arranged on the upper end surface of the outer slide, the number of the suspension mechanisms is multiple, the suspension mechanism includes multiple load-bearing trolleys and connecting parts, two load-bearing trolleys form a group, a group of load-bearing trolleys is connected through a connecting part, the connecting part is hinged to the upper end surface of the outer slide, and multiple pulleys are arranged opposite to each other on the load-bearing trolleys, and the multiple pulleys arranged opposite to each other clamp the track; The electrical system includes a controller, a distance measuring module and a displacement sensor G, wherein the displacement sensor G is arranged on the outer carriage and is used to detect the displacement of the inner carriage. The distance measuring module includes one of a total station, a laser rangefinder and a visual locator, and the distance measuring module and the displacement sensor G are connected to the input end of the controller; The hydraulic system includes an electromagnetic reversing valve H, and a coil of the electromagnetic reversing valve H is connected to the controller.

[0014] The displacement sensor G detects the displacement of the inner slide and is combined with the electromagnetic reversing valve H to improve the control accuracy of the inner slide length.

[0015] Furthermore, a target B and a target C are provided corresponding to the ranging module, and the target B and the target C are arranged in a coal mine tunnel, there is a distance between the target B and the target C, and the target B and the target C are within the detection range of the ranging module.

[0016] During operation, the present invention needs to be precisely positioned, and targets B and C are set. When the ranging module detects targets B and C at the same time, the precise position of the present invention is obtained by a triangulation positioning method.

[0017] Further, the main body portion includes a first connecting rod, a second carrying trolley, an upper platform, a main body frame and legs, one side of the first connecting rod is connected to the telescopic frame, and the other side is connected to the upper platform, the main body frame is arranged parallel to the lower side of the upper platform, a plurality of legs are arranged between the upper platform and the main body frame, the upper platform and the main body frame are connected through the legs, a plurality of second carrying trolleys are hinged on the upper platform, the second carrying trolleys include a plurality of pulleys arranged opposite to each other, and the plurality of pulleys arranged opposite to each other clamp the track; The hydraulic system and electrical system are fixedly arranged on the main frame; The electrical system includes a controller and an inclination sensor B. The inclination sensor B is used to detect the slope of the track. The inclination sensor B is connected to the controller.

[0018] The inclination sensor B is arranged to detect the slope of the track so as to facilitate the controller to control the drive motor.

[0019] Furthermore, the driving part includes two driving motors, two driving wheels, a motor seat and a second connecting rod, driving motors are arranged on opposite sides of the motor seat, the driving motors are fixed to the motor seat, the output shafts of the driving motors face upward, driving wheels are fixed on the output shafts of the driving motors, and the two driving wheels clamp the track; The motor seat and the main body are connected via a second connecting rod; The electrical system includes a controller and an encoder E. The encoder E is electrically connected to the controller, and the encoder E is also electrically connected to the drive motor.

[0020] An encoder E is provided to detect the rotation angle of a driving motor to improve the precise control of the rotating motor, and the distance measuring module, target B and target C are combined to realize the precise control of the position of the present invention.

[0021] Furthermore, the electrical system includes a controller, the controller is provided with a wireless communication module, and the controller is connected to a remote controller via the wireless communication module.

[0022] The remote control is set up to facilitate human-computer interaction and manual control by staff.

[0023] Through the above technical solution, the beneficial effects of the present invention are: The present invention is provided with an auxiliary arm, which can assist the main arm in supporting and release the main arm for the next round of steel beam grabbing operation, greatly improving the efficiency of scaffolding. The auxiliary arm has multiple degrees of freedom, realizing telescopic, lifting, grabbing and resetting actions, and combined with the controller to realize the coordinated operation with the main arm. The main arm of the present invention has more degrees of freedom, and is more flexible to mobilize when erecting steel beams, with strong controllability, which meets the multi-action design, provides a hardware foundation for realizing adaptive control, and provides a hardware foundation for realizing automatic scaffolding. A telescopic frame is provided between the main body and the main arm, and the telescopic frame can be extended and retracted to realize the erection of multiple steel beams at one time, further improving the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The present invention is a structural schematic diagram of an intelligent short-body monorail mobile canopy robot.

[0025] Figure 2 The present invention is a schematic diagram of the main arm structure of an intelligent short-body monorail mobile canopy robot.

[0026] Figure 3 The present invention is a schematic diagram of the telescopic frame structure of an intelligent short-body monorail mobile canopy robot.

[0027] Figure 4The present invention is a schematic diagram of the main body structure of an intelligent short-body monorail mobile canopy robot.

[0028] Figure 5 The present invention is a schematic diagram of the auxiliary arm structure of an intelligent short-body monorail mobile canopy robot.

[0029] Figure 6 The present invention is a schematic diagram of the structure of the driving part of an intelligent short-body monorail mobile canopy robot.

[0030] Figure 7 This is one of the diagrams showing the coordinated operation of the auxiliary arm and the mechanical arm of an intelligent short-body monorail mobile canopy robot according to the present invention.

[0031] Figure 8 This is the second diagram of the coordinated operation of the auxiliary arm and the mechanical arm of an intelligent short-body monorail mobile shed robot of the present invention.

[0032] Fig. 9 The present invention is a control flow chart of an intelligent short-body monorail mobile canopy robot.

[0033] Fig.10 The present invention is an electrical schematic diagram of a controller of an intelligent short-body monorail mobile canopy robot.

[0034] Figure numbers: 1 is the main arm, 2 is the rotary table, 3 is the rotary reducer, 4 is the telescopic frame, 5 is the main body, 6 is the driving part, 7 is the cable pulley, 8 is the auxiliary arm, 9 is the track, and 10 is the distance measurement module; 101 is the clamping claw, 102 is the clamping claw swing cylinder, 103 is the rotary cylinder, 104 is the vertical arm, 105 is the vertical arm reducer, 106 is the horizontal arm, 107 is the horizontal arm reducer, 108 is the forearm adjustment cylinder, 109 is the telescopic inner cylinder, 110 is the telescopic outer cylinder, 111 is the upper arm pitch cylinder, and 112 is the clamping cylinder; 41 is an inner slide, 42 is a supporting mechanism, 43 is an outer slide, 44 is a telescopic frame cylinder, 45 is a carrying trolley, and 46 is a connecting part; 51 is the first connecting rod, 52 is the second carrying trolley, 53 is the upper platform, 54 is the main frame, and 55 is the supporting leg; 61 is a driving motor, 62 is a driving wheel, 63 is a motor seat, and 64 is a second connecting rod; 81 is a gripper, 82 is a four-link mechanism, 83 is a four-link cylinder, 84 is a telescopic rod, and 85 is an auxiliary arm telescopic cylinder. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments: Example 1 like Figures 1 to 10As shown, an intelligent short-body single-rail mobile canopy robot comprises a track 9, a main arm 1, a rotary table 2, a rotary reducer 3, a telescopic frame 4, a main body 5, a hydraulic system, an electrical system, a driving unit 6 and a cable pulley 7. An auxiliary arm 8 is arranged near the main arm 1, and the auxiliary arm 8 comprises a gripper 81, a four-bar linkage 82, a four-bar linkage cylinder 83, a telescopic rod 84 and an auxiliary arm telescopic cylinder 85; The gripper 81 is hinged to a four-bar linkage 82, the other end of the four-bar linkage 82 is hinged to a telescopic rod 84 and an auxiliary arm telescopic cylinder 85, and the other end of the auxiliary arm 8 telescopic cylinder is hinged to the telescopic frame 4; The auxiliary arm 8 is electrically connected to the electrical system, and the electrical system is electrically connected to the hydraulic system, the main arm 1, the rotary table 2, the rotary reducer 3, the telescopic frame 4, the main body 5, the driving part 6 and the cable pulley 7.

[0036] Furthermore, the number of the auxiliary arms 8 is two, the telescopic rod 84 includes a shell and an extension end, the extension end is arranged in the shell, the extension end is slidably connected to the shell, the extension end is fixed to the piston rod of the auxiliary arm telescopic cylinder 85, and the cylinder barrel of the auxiliary arm telescopic cylinder 85 is hinged to the shell; The electrical system includes a controller, an inclination sensor A, a displacement sensor A and a displacement sensor B. The inclination sensor A is fixed to the four-bar linkage 82, and the inclination sensor A is used to detect the posture of the four-bar linkage 82; The displacement sensor A is arranged on the cylinder barrel of the four-link oil cylinder 83 and is arranged along the axis of the piston rod of the four-link oil cylinder 83. The displacement sensor A is used to detect the displacement of the piston rod of the four-link oil cylinder 83. The displacement sensor B is arranged on the housing, and is used to detect the displacement of the extension end; The hydraulic system comprises an electromagnetic reversing valve A and an electromagnetic reversing valve B, and the coils of the electromagnetic reversing valve A and the electromagnetic reversing valve B are connected to the output end of the controller; The input end of the controller is connected to the inclination sensor A, the displacement sensor A and the displacement sensor B.

[0037] like Figure 2 , 5, 7 and 8, the articulation of the steel beam is explained. At this time, the clamp 101 on the main arm 1 grabs the steel beam. The controller controls the electromagnetic reversing valve B to energize and work, and the telescopic rod 84 is driven to extend by the piston rod of the auxiliary arm telescopic cylinder 85 to reach the position of the clamp 101. During this period, the displacement sensor B detects the extended end of the telescopic rod 84, and determines whether the telescopic rod 84 is in place through adaptive control. Then the controller detects the posture of the four-bar linkage 82 according to the inclination sensor A. After that, the controller controls the electromagnetic reversing valve A to work, and the four-bar linkage cylinder 83 drives the four-bar linkage 82 to work, and the four-bar linkage 82 drives the gripper 81 to rise. Finally, the controller controls the clamping cylinder 112 to work, and the clamping cylinder 112 controls the gripper 101 to be released. The controller controls the gripper 81 to grab the steel beam through the electromagnetic reversing valve J, and the controller controls the boom pitching cylinder 111 through the displacement sensor E to drive the main arm 1 to descend and continue to work, and the auxiliary arm replaces the main arm 1 for support.

[0038] During operation, the two auxiliary arms 8 work synchronously.

[0039] Example 2 Based on Example 1, the main arm adjustment is described in this example: like Figure 2 and 10 As shown, the main arm 1 includes a clamping claw 101, a clamping claw swing cylinder 102, a rotary cylinder 103, a vertical arm 104, a vertical arm reducer 105, a cross arm 106, a cross arm reducer 107, a forearm adjustment cylinder 108, a telescopic inner cylinder 109, a telescopic outer cylinder 110, a boom pitch cylinder 111 and a clamping cylinder 112; The clamping jaw 101 is provided with a clamping cylinder 112, and the clamping jaw 101 is hinged with the rotating cylinder 103 through the clamping jaw swing cylinder 102, and the rotating cylinder 103 is fixed to the vertical arm 104, and the vertical arm 104 is provided with a vertical arm reducer 105, and the vertical arm 104 is rotatably connected to the cross arm 106 through the vertical arm reducer 105, and the cross arm 106 is provided with a cross arm reducer 107, and the cross arm 106 is rotatably connected to the telescopic inner cylinder 109 through the cross arm reducer 107, and the telescopic inner cylinder 109 is sleeved with a telescopic outer cylinder 110 on the outside, and the telescopic inner cylinder 109 is slidably connected with the telescopic outer cylinder 110, and a forearm adjustment cylinder 108 is provided between the telescopic inner cylinder 109 and the telescopic outer cylinder 110, and the telescopic outer cylinder 110 is connected to the turntable 2 through a pin shaft and a boom pitch cylinder 111, and the turntable 2 is provided with a rotating reducer 3.

[0040] The electrical system includes a controller and a displacement sensor C, a displacement sensor D, a displacement sensor E, an encoder A, an encoder B, an encoder C and an encoder D connected to an input end of the controller, wherein the displacement sensor C is arranged on the cylinder barrel of the clamping jaw swing cylinder 102, and the displacement sensor C is used to detect the displacement of the piston rod of the clamping jaw swing cylinder 102, the displacement sensor D is arranged on the cylinder barrel of the forearm adjustment cylinder 108, and the displacement sensor D is used to detect the displacement of the piston rod of the forearm adjustment cylinder 108, and the displacement sensor E is arranged on the telescopic outer cylinder 110, and the displacement sensor E is used to detect the displacement of the piston rod of the forearm adjustment cylinder 108; Encoder A is connected to the rotary cylinder 103, encoder B is connected to the vertical arm reducer 105, encoder C is connected to the horizontal arm reducer 107, and encoder D is connected to the rotary reducer 3; When the main arm is in operation, the following adjustments should be made: The clamping jaw 101 is adjusted, and the controller controls the clamping jaw swing cylinder 102 through the electromagnetic reversing valve C to achieve the grasping and releasing of the clamping jaw 101; The jaw swing cylinder 102 is adjusted, and the jaw swing cylinder 102 controls the swing of the jaw 101. During operation, the controller controls the jaw swing cylinder 102 through the electromagnetic reversing valve D, and the displacement sensor C detects the displacement of the piston rod of the jaw swing cylinder 102 to achieve adaptive control of the jaw swing cylinder 102.

[0041] The rotary cylinder 103 is adjusted, the rotary cylinder 103 controls the rotation angle of the wrist, and the encoder A detects the rotation angle of the rotary cylinder 103. During operation, the controller controls the rotary cylinder 103 through the electromagnetic reversing valve E, and realizes adaptive control of the rotary cylinder 103 through the detection parameters of the encoder A.

[0042] The vertical arm reducer 105 is adjusted, and the vertical arm reducer 105 controls the pitching movement of the vertical arm. During operation, the controller controls the vertical arm reducer 105 through the frequency converter, and realizes the adaptive control of the rotary cylinder 103 through the detection parameters of the encoder B.

[0043] The cross arm reducer 107 is adjusted, and the cross arm reducer 107 controls the swing of the cross arm. During operation, the controller controls the vertical arm reducer 105 through the frequency converter, and realizes the adaptive control of the rotary cylinder 103 through the detection parameters of the encoder C.

[0044] The forearm adjustment cylinder 108 is adjusted, and the forearm adjustment cylinder 108 controls the displacement of the telescopic inner cylinder. During operation, the controller controls the forearm adjustment cylinder 108 through the electromagnetic reversing valve F, and the displacement sensor D detects the displacement of the piston rod of the forearm adjustment cylinder 108 to achieve adaptive control of the telescopic inner cylinder.

[0045] The boom pitch cylinder 111 is adjusted, and the boom pitch cylinder 111 controls the pitch movement of the main arm 1. During operation, the controller controls the forearm adjustment cylinder 108 through the electromagnetic reversing valve G, and the displacement sensor D detects the displacement of the piston rod of the boom pitch cylinder 111 to realize the pitch adaptive control of the main arm 1.

[0046] The rotary reducer 3 is adjusted, and the rotary reducer 3 controls the swing of the main arm 1. During operation, the controller controls the rotary reducer 3 through the frequency converter, and realizes the adaptive control of the rotary cylinder 103 through the detection parameters of the encoder D.

[0047] Example 3 Based on Example 1, the operation of the telescopic frame 4 is described in this example: like Figure 3 and 10 As shown, the telescopic frame 4 includes a suspension mechanism, an inner slide 41, a support mechanism 42, an outer slide 43 and a telescopic frame cylinder 44; The inner slide 41 is arranged inside the outer slide 43, the inner slide 41 is slidably connected to the outer slide 43, the inner slide 41 is fixed to the rotary reducer 3, a telescopic frame cylinder 44 is arranged between the inner slide 41 and the outer slide 43, the side of the outer slide 43 is fixedly connected to the support mechanism 42, the upper end surface of the outer slide 43 is fixedly provided with a suspension mechanism, the number of the suspension mechanisms is multiple, the suspension mechanism includes multiple load-bearing trolleys 45 and connecting parts 46, two load-bearing trolleys 45 form a group, a group of load-bearing trolleys 45 is connected by a connecting part 46, the connecting part 46 is hinged to the upper end surface of the outer slide 43, a plurality of pulleys are arranged opposite to each other on the load-bearing trolleys 45, and the plurality of pulleys arranged opposite to each other clamp the track 9; The electrical system includes a controller, a distance measuring module 10 and a displacement sensor G. The displacement sensor G is arranged on the outer carriage 43. The displacement sensor G is used to detect the displacement of the inner carriage 41. The distance measuring module 10 includes one of a total station, a laser rangefinder and a visual locator. The distance measuring module 10 and the displacement sensor G are connected to the input end of the controller. The hydraulic system includes an electromagnetic reversing valve H, and a coil of the electromagnetic reversing valve H is connected to the controller.

[0048] A target B and a target C are provided corresponding to the distance measuring module 10 . The target B and the target C are provided in a coal mine tunnel. There is a distance between the target B and the target C, and the target B and the target C are within the detection range of the distance measuring module 10 .

[0049] The suspension mechanism is used to move the main arm 1, the rotary table 2 and the rotary reducer 3, so that the above equipment can be operated underground in the coal mine and can be more flexible when erecting steel beams. An inner slide 41, an outer slide 43 and a telescopic frame cylinder 44 are provided to adjust the length of the telescopic frame 4 and realize the erection of multiple steel beams at one time.

[0050] During operation, the controller controls the electromagnetic reversing valve H to make the telescopic frame oil cylinder 44 work, and the displacement sensor G detects the displacement of the inner slide 41, and the controller realizes the length control of the telescopic frame 4 by adaptive control.

[0051] In this embodiment, the ranging module 10 uses a total station, and targets B and C are reflectors of the total station. During operation, the position of the ranging module 10 is A. When the ranging module 10 senses targets B and C at the same time, the distance from A to target B and the distance from A to target C are obtained. The distance from target B to target C is known, so the side length of triangle ABC is determined, and the position of A is obtained by the triangulation positioning method, thereby obtaining the position of the present invention in the mine.

[0052] Example 4 The operation of the main body 5 and the driving part 6 is described in conjunction with Example 3: like Figure 4 and 6 As shown, the main body 5 includes a first connecting rod 51, a second carrying trolley 52, an upper platform 53, a main body frame 54 and legs 55. One side of the first connecting rod 51 is connected to the telescopic frame 4, and the other side is connected to the upper platform 53. The main body frame 54 is arranged parallel to the lower side of the upper platform 53. A plurality of legs 55 are arranged between the upper platform 53 and the main body frame 54. The upper platform 53 and the main body frame 54 are connected through the legs 55. A plurality of second carrying trolleys 52 are hinged on the upper platform 53. The second carrying trolleys 52 include a plurality of pulleys arranged opposite to each other. The plurality of pulleys arranged opposite to each other clamp the track 9. The hydraulic system and the electrical system are fixedly arranged on the main frame 54; The electrical system includes a controller and an inclination sensor B. The inclination sensor B is used to detect the slope of the track 9. The inclination sensor B is connected to the controller.

[0053] The driving part 6 includes two driving motors 61, two driving wheels 62, a motor seat 63 and a second connecting rod 64. The driving motors 61 are arranged on opposite sides of the motor seat 63. The driving motors 61 are fixed to the motor seat 63. The output shaft of the driving motor 61 faces upward. The driving wheels 62 are fixed on the output shaft of the driving motor 61. The two driving wheels 62 clamp the track 9. The motor seat 63 is connected to the main body 5 via a second connecting rod 64; The electrical system includes a controller and an encoder E. The encoder E is electrically connected to the controller, and the encoder E is also electrically connected to the drive motor 61.

[0054] like Fig. 9 and 10As shown, in this embodiment, the driving unit 6 can adopt single-wheel drive or dual-wheel drive according to the slope of the track 9 detected by the inclination sensor B.

[0055] When the single wheel is driven, the slope of the track 9 is less than 5°. The controller controls a drive motor 61 through a frequency converter to energize and work. The encoder E detects the rotation speed of the drive motor 61, and then controls the forward distance of the present invention, so that the forward distance is combined with the position in Example 3.

[0056] When the two wheels are driven, the slope of the track 9 is ≥5°. The controller controls the two drive motors 61 to be powered on through the inverter. The two drive motors 61 are synchronously controlled to have the same speed. The speed of a single drive motor 61 is detected by the encoder E to obtain the forward distance of the present invention.

[0057] The drive unit 6 is controlled.

[0058] Example 6 Based on the above embodiments, wireless communication and human-computer interaction are described in this embodiment: like Fig. 9 and 10 As shown, the electrical system includes a controller, the controller is provided with a wireless communication module, and the controller is connected to a remote controller via the wireless communication module.

[0059] The specific wireless communication module uses the LORA module, the remote controller is the HMI module, and the remote controller is equipped with the LORA module for wireless communication with the controller to realize manual control.

[0060] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made according to the structures, features and principles described in the patent scope of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. An intelligent low-body single-rail mobile canopy robot, comprising a track (9), a main arm (1), a rotary table (2), a rotary reducer (3), a telescopic frame (4), a main body (5), a hydraulic system, an electrical system, a drive unit (6) and a cable pulley (7), characterized in that: An auxiliary arm (8) is arranged near the main arm (1), and the auxiliary arm (8) comprises a gripper (81), a four-link mechanism (82), a four-link oil cylinder (83), a telescopic rod (84), and an auxiliary arm telescopic oil cylinder (85); The gripper (81) is hinged to a four-bar linkage (82); the other end of the four-bar linkage (82) is hinged to a telescopic rod (84) and an auxiliary arm telescopic oil cylinder (85); the other end of the auxiliary arm (8) telescopic oil cylinder is hinged to a telescopic frame (4); The auxiliary arm (8) is electrically connected to an electrical system, and the electrical system is electrically connected to a hydraulic system, a main arm (1), a slewing platform (2), a slewing reducer (3), a telescopic frame (4), a main body (5), a driving unit (6), and a cable pulley (7).

2. The intelligent short-body single-rail mobile canopy robot according to claim 1, characterized in that: The number of the auxiliary arms (8) is two, the telescopic rod (84) comprises a shell and an extension end, the extension end is arranged in the shell, the extension end is slidably connected to the shell, the extension end is fixed to the piston rod of the auxiliary arm telescopic cylinder (85), and the cylinder barrel of the auxiliary arm telescopic cylinder (85) is hinged to the shell; The electrical system comprises a controller, an inclination sensor A, a displacement sensor A and a displacement sensor B, the inclination sensor A being fixed to the four-bar linkage (82), and the inclination sensor A being used to detect the posture of the four-bar linkage (82); The displacement sensor A is arranged on the cylinder barrel of the four-link oil cylinder (83) and is arranged along the axis of the piston rod of the four-link oil cylinder (83). The displacement sensor A is used to detect the displacement of the piston rod of the four-link oil cylinder (83); The displacement sensor B is arranged on the housing, and is used to detect the displacement of the extension end; The hydraulic system comprises an electromagnetic reversing valve A and an electromagnetic reversing valve B, and the coils of the electromagnetic reversing valve A and the electromagnetic reversing valve B are connected to the output end of the controller; The input end of the controller is connected to the inclination sensor A, the displacement sensor A and the displacement sensor B.

3. The intelligent short-body single-rail mobile canopy robot according to claim 1, characterized in that: The main arm (1) comprises a clamping claw (101), a clamping claw swinging cylinder (102), a rotating cylinder (103), a vertical arm (104), a vertical arm reducer (105), a cross arm (106), a cross arm reducer (107), a forearm adjustment cylinder (108), a telescopic inner cylinder (109), a telescopic outer cylinder (110), a boom pitch cylinder (111) and a clamping cylinder (112); The clamping jaw (101) is provided with a clamping cylinder (112). The clamping jaw (101) is hinged to a rotary cylinder (103) via a clamping jaw swing cylinder (102). The rotary cylinder (103) is fixed to a vertical arm (104). The vertical arm (104) is provided with a vertical arm reducer (105). The vertical arm (104) is rotatably connected to a horizontal arm (106) via the vertical arm reducer (105). The horizontal arm (106) is provided with a horizontal arm reducer (107). The cross arm reducer (107) is rotatably connected to the telescopic inner cylinder (109); a telescopic outer cylinder (110) is sleeved on the outside of the telescopic inner cylinder (109); the telescopic inner cylinder (109) and the telescopic outer cylinder (110) are slidably connected; a forearm adjustment cylinder (108) is arranged between the telescopic inner cylinder (109) and the telescopic outer cylinder (110); the telescopic outer cylinder (110) and the slewing platform (2) are connected via a pin shaft and a boom pitch cylinder (111); and the slewing platform (2) is provided with a slewing reducer (3).

4. The intelligent short-body single-rail mobile canopy robot according to claim 3, characterized in that: The electrical system comprises a controller and a displacement sensor C, a displacement sensor D, a displacement sensor E, an encoder A, an encoder B, an encoder C and an encoder D connected to an input end of the controller, wherein the displacement sensor C is arranged on the cylinder barrel of the clamping jaw swinging oil cylinder (102), and the displacement sensor C is used to detect the displacement of the piston rod of the clamping jaw swinging oil cylinder (102); the displacement sensor D is arranged on the cylinder barrel of the forearm adjustment oil cylinder (108), and the displacement sensor D is used to detect the displacement of the piston rod of the forearm adjustment oil cylinder (108); the displacement sensor E is arranged on the telescopic outer cylinder (110), and the displacement sensor E is used to detect the displacement of the piston rod of the forearm adjustment oil cylinder (108); Encoder A is connected to the rotary cylinder (103), encoder B is connected to the vertical arm reducer (105), encoder C is connected to the horizontal arm reducer (107), and encoder D is connected to the rotary reducer (3); The hydraulic system includes an electromagnetic reversing valve C, an electromagnetic reversing valve D, an electromagnetic reversing valve E, an electromagnetic reversing valve F and an electromagnetic reversing valve G, and the coils of the electromagnetic reversing valve C, the electromagnetic reversing valve D, the electromagnetic reversing valve E, the electromagnetic reversing valve F and the electromagnetic reversing valve G are connected to the controller.

5. The intelligent short-body single-rail mobile canopy robot according to claim 1, characterized in that: The telescopic frame (4) comprises a suspension mechanism, an inner slide frame (41), a support mechanism (42), an outer slide frame (43) and a telescopic frame oil cylinder (44); The inner slide (41) is arranged inside the outer slide (43), the inner slide (41) is slidably connected to the outer slide (43), the inner slide (41) is fixed to the rotary reducer (3), a telescopic frame cylinder (44) is arranged between the inner slide (41) and the outer slide (43), the side of the outer slide (43) is fixedly connected to the support mechanism (42), the upper end surface of the outer slide (43) is fixedly arranged with a suspension mechanism, the number of the suspension mechanisms is multiple, the suspension mechanism includes multiple load-bearing trolleys (45) and connecting parts (46), two load-bearing trolleys (45) form a group, a group of load-bearing trolleys (45) is connected by a connecting part (46), the connecting part (46) is hinged to the upper end surface of the outer slide (43), and multiple pulleys are arranged opposite to each other on the load-bearing trolley (45), and the multiple pulleys arranged opposite to each other clamp the track (9); The electrical system comprises a controller, a distance measuring module (10) and a displacement sensor G, wherein the displacement sensor G is arranged on the outer slide (43), and the displacement sensor G is used to detect the displacement of the inner slide (41). The distance measuring module (10) comprises one of a total station, a laser rangefinder and a visual locator, and the distance measuring module (10) and the displacement sensor G are connected to an input end of the controller; The hydraulic system includes an electromagnetic reversing valve H, and a coil of the electromagnetic reversing valve H is connected to the controller.

6. The intelligent short-body single-rail mobile canopy robot according to claim 5, characterized in that: A target B and a target C are provided corresponding to the distance measuring module (10); the target B and the target C are provided in a coal mine tunnel; there is a distance between the target B and the target C; and the target B and the target C are within the detection range of the distance measuring module (10).

7. The intelligent short-body single-rail mobile canopy robot according to claim 1, characterized in that: The main body (5) comprises a first connecting rod (51), a second carrying trolley (52), an upper platform (53), a main body frame (54) and supporting legs (55); one side of the first connecting rod (51) is connected to the telescopic frame (4), and the other side is connected to the upper platform (53); the main body frame (54) is arranged parallel to the lower side of the upper platform (53); a plurality of supporting legs (55) are arranged between the upper platform (53) and the main body frame (54); the upper platform (53) and the main body frame (54) are connected via the supporting legs (55); a plurality of second carrying trolleys (52) are hingedly connected to the upper platform (53); the second carrying trolleys (52) comprise a plurality of pulleys arranged opposite to each other; the plurality of pulleys arranged opposite to each other clamp the track (9); A hydraulic system and an electrical system are fixedly arranged on the main body frame (54); The electrical system comprises a controller and an inclination sensor B, wherein the inclination sensor B is used to detect the slope of the track (9), and the inclination sensor B is connected to the controller.

8. The intelligent short-body single-rail mobile canopy robot according to claim 1, characterized in that: The driving part (6) comprises two driving motors (61), two driving wheels (62), a motor seat (63) and a second connecting rod (64); the driving motors (61) are arranged on opposite sides of the motor seat (63); the driving motors (61) are fixed to the motor seat (63); the output shaft of the driving motor (61) faces upward; the driving wheels (62) are fixed on the output shaft of the driving motor (61); and the two driving wheels (62) clamp the track (9); The motor seat (63) and the main body (5) are connected via a second connecting rod (64); The electrical system comprises a controller and an encoder E, wherein the encoder E is electrically connected to the controller, and the encoder E is also electrically connected to the drive motor (61).

9. The intelligent short-body single-rail mobile canopy robot according to claim 1, characterized in that: The electrical system comprises a controller, the controller is provided with a wireless communication module, and the controller is connected to a remote controller via the wireless communication module.

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