Intelligent low-body monorail mobile frame shed robot

Abstract

The application relates to an intelligent low-body monorail mobile frame shed robot, which comprises a track, a main arm, a rotary table, a rotary speed reducer, an extension frame, a body part, a hydraulic system, an electrical system, a driving part and a cable trolley, an auxiliary arm is arranged close to the main arm, the auxiliary arm comprises a gripper, a four-bar linkage mechanism, a four-bar linkage oil cylinder, an extension rod and an auxiliary arm extension oil cylinder; the gripper is hinged to the four-bar linkage mechanism, the other end of the four-bar linkage mechanism is hinged to the extension rod and the auxiliary arm extension oil cylinder, the other end of the auxiliary arm extension oil cylinder is hinged to the extension 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 rotary table, the rotary speed reducer, the extension frame, the body part, the driving part and the cable trolley; the auxiliary arm is arranged to take over the steel beam during operation to replace the supporting arm to continue supporting, the operation efficiency is improved, and the electrical system is combined to provide a hardware basis for realizing self-adaptive control.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of roadway support equipment, in particular to an intelligent low-body monorail mobile shed erecting robot. BACKGROUND

[0002] Coal mine underground shed erecting is currently mainly manual, especially in the process of steel shed transportation and shed erecting, which consumes a lot of manpower and causes irreversible damage to the limbs and cervical spine of personnel who have been engaged in such work for a long time. Some existing shed erecting devices, such as the "suspended step-type shed erecting machine" disclosed in CN114396297A and the "roadway shed erecting machine" disclosed in CN114104969A, have the shortcomings of insufficient degrees of freedom or inability to achieve rapid lane changing with a boom roadheader during underground construction, and therefore have not been widely promoted. To replace manual transportation and shed erecting, a reliable gripper structure for grabbing shed beams is needed, the actions to be completed by the gripper and the path to be taken by the shed beam when grabbing the shed beam from the ground and transporting it to the predetermined position need to be considered, the shed beam should not interfere with the surrounding environment during the entire path, the speed of forward and backward movement of the shed erecting device should be higher than the manual transportation speed, and the shed erecting device should be able to turn during movement.

[0003] With the development of automation technology, the applicant applied for a "single-track hanging shed robot" with publication number CN117605508A on November 2, 2023, which has been put into use and effectively replaced the heavy physical labor in the shed erecting process, greatly improving the safety and efficiency of roadway shed erecting. However, during use, it was found that the above-mentioned device still needs to continuously lift the steel beam with the main arm for subsequent shed erecting operations after lifting the steel beam with the main arm, and the device only erects a single shed beam during each movement, so there is still room for improvement in work efficiency, and the work precision is slightly insufficient. SUMMARY

[0004] The present application is to solve the problem of low work efficiency and work precision of the above-mentioned single-track hanging shed robot,

[0005] An intelligent low-body monorail mobile shed erecting robot is proposed, which sets up an auxiliary arm to take over the steel beam during work to replace the support arm for continuous support, improving work efficiency, and combining with the electrical system to provide a hardware basis for adaptive control.

[0006] In order to achieve the above-mentioned purpose, the present application proposes an intelligent low-body monorail mobile shed erecting robot, which comprises a track, a main arm, a rotary table, a rotary reducer, an extension frame, a body part, a hydraulic system, an electrical system, a driving part and a cable pulley, an auxiliary arm is arranged near the main arm, the auxiliary arm comprises a gripper, a four-bar linkage mechanism, a four-bar linkage cylinder, an extension rod and an auxiliary arm extension cylinder;

[0007] The gripper is hinged to a four-bar linkage mechanism, the other end of the four-bar linkage mechanism is hinged to a telescopic rod and an auxiliary arm telescopic oil cylinder, the other end of the auxiliary arm telescopic oil cylinder is hinged to a telescopic frame;

[0008] The auxiliary arm is electrically connected to an electrical system, the electrical system is electrically connected to a hydraulic system, a main arm, a rotary table, a rotary reducer, a telescopic frame, a body part, a driving part and a cable pulley.

[0009] Further, the number of 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 slidingly connected to the shell, the extension end is fixed to the piston rod of the auxiliary arm telescopic oil cylinder, and the cylinder barrel of the auxiliary arm telescopic oil cylinder is hinged to the shell;

[0010] The electrical system comprises 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 mechanism, and the inclination sensor A is used to detect the posture of the four-bar linkage mechanism;

[0011] The displacement sensor A is arranged on the cylinder barrel of the four-bar linkage oil cylinder and is arranged along the axis of the piston rod of the four-bar linkage oil cylinder, and the displacement sensor A is used to detect the displacement of the piston rod of the four-bar linkage oil cylinder;

[0012] The displacement sensor B is arranged on the shell, and the displacement sensor B is used to detect the displacement of the extension end;

[0013] 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;

[0014] The input end of the controller is connected to the inclination sensor A, the displacement sensor A and the displacement sensor B.

[0015] The auxiliary arm needs to complete horizontal displacement, grabbing, lifting and resetting actions, the controller detects parameters through the displacement sensor A and the inclination sensor A, controls the stroke of the four-bar linkage oil cylinder through the electromagnetic reversing valve A, so as to realize accurate adjustment of the lifting and resetting actions. The gripper is controlled by hydraulic pressure, the gripper is provided with an electromagnetic reversing valve J, and the electromagnetic reversing valve J is connected to the controller. The controller controls the gripper to grab, and the controller detects the stroke of the extension end of the telescopic rod through the displacement sensor B, so as to realize accurate control of the horizontal displacement.

[0016] Further, the main arm comprises a gripper, a gripper swing oil cylinder, a rotary oil cylinder, a vertical arm, a vertical arm reducer, a horizontal arm, a horizontal arm reducer, a forearm adjusting oil cylinder, a telescopic inner cylinder, a telescopic outer cylinder, a large arm pitch oil cylinder and a clamping oil cylinder;

[0017] The claw is provided with a clamping oil cylinder, the claw is hinged with a rotary oil cylinder through a claw swing oil cylinder, the rotary oil cylinder is fixed with a vertical arm, the vertical arm is provided with a vertical arm speed reducer, the vertical arm is rotatably connected with a horizontal arm through the vertical arm speed reducer, the horizontal arm is provided with a horizontal arm speed reducer, the horizontal arm is rotatably connected with a telescopic inner cylinder through the horizontal arm speed reducer, the telescopic inner cylinder is sleeved with a telescopic outer cylinder, the telescopic inner cylinder is slidably connected with the telescopic outer cylinder, a forearm adjusting oil cylinder is arranged between the telescopic inner cylinder and the telescopic outer cylinder, the telescopic outer cylinder is connected with a rotary table through a pin shaft and a large arm pitching oil cylinder, and the rotary table is provided with a rotary speed reducer.

[0018] The degree of freedom of the main arm is increased, and the main arm comprises large arm pitching, large arm telescoping, forearm pitching, horizontal arm swinging, vertical arm pitching, wrist rotating, wrist swinging and claw clamping and opening.

[0019] Further, the electrical system comprises a controller and displacement sensors C, D, E, encoders A, B, C and D connected with the input end of the controller, the displacement sensor C is arranged on the cylinder barrel of the claw swing oil cylinder and is used for detecting the piston rod displacement of the claw swing oil cylinder, the displacement sensor D is arranged on the cylinder barrel of the forearm adjusting oil cylinder and is used for detecting the piston rod displacement of the forearm adjusting oil cylinder, and the displacement sensor E is arranged on the telescopic outer cylinder and is used for detecting the piston rod displacement of the large arm pitching oil cylinder.

[0020] The encoder A is connected with the rotary oil cylinder, the encoder B is connected with the vertical arm speed reducer, the encoder C is connected with the horizontal arm speed reducer, and the encoder D is connected with the rotary speed reducer.

[0021] The hydraulic system comprises electromagnetic reversing valves C, D, E, F and G, and the coils of the electromagnetic reversing valves C, D, E, F and G are connected with the controller.

[0022] The degree of freedom of the main arm is increased, and the main arm comprises large arm pitching, large arm telescoping, forearm pitching, horizontal arm swinging, vertical arm pitching, wrist rotating, wrist swinging and claw clamping and opening.

[0023] The encoder A detects the rotating angle of the rotary oil cylinder, improves the control precision of wrist rotating, the encoder B detects the rotating angle of the vertical arm speed reducer, improves the pitching precision of the vertical arm, the encoder C detects the rotating angle of the horizontal arm speed reducer, improves the control precision of horizontal arm swinging, the encoder D detects the rotating angle of the rotary speed reducer, improves the swinging precision of the main arm, the displacement sensor C detects the piston rod displacement of the claw swing oil cylinder, improves the swinging precision of the wrist, the displacement sensor D detects the piston rod displacement of the forearm adjusting oil cylinder, improves the telescoping precision of the telescopic inner cylinder, and the displacement sensor E detects the piston rod displacement of the large arm pitching oil cylinder, improves the control precision of large arm pitching.

[0024] Further, the telescopic frame comprises a suspension mechanism, an inner slide frame, a support mechanism, an outer slide frame and a telescopic frame oil cylinder;

[0025] The inner slide frame is arranged inside the outer slide frame and is in sliding connection with the outer slide frame, the inner slide frame is fixed with the rotary speed reducer, the telescopic frame oil cylinder is arranged between the inner slide frame and the outer slide frame, the side surface of the outer slide frame is fixedly connected with the support mechanism, and the upper end surface of the outer slide frame is fixedly arranged with the suspension mechanism, the number of the suspension mechanisms is multiple, the suspension mechanism comprises multiple bearing trolleys and a connecting part, two bearing trolleys form a group, the bearing trolleys in a group are connected through the connecting part, the connecting part is hinged to the upper end surface of the outer slide frame, and multiple pulleys are oppositely arranged on the bearing trolley;

[0026] The electrical system comprises a controller, a distance measuring module and a displacement sensor G, the displacement sensor G is arranged on the outer slide frame and is used for detecting the displacement of the inner slide frame, the distance measuring module comprises one of a total station, a laser range finder and a visual positioning instrument, and the distance measuring module and the displacement sensor G are connected with the input end of the controller;

[0027] The hydraulic system comprises an electromagnetic reversing valve H, and the coil of the electromagnetic reversing valve H is connected with the controller.

[0028] The displacement sensor G detects the displacement of the inner slide frame, and the electromagnetic reversing valve H improves the length control precision of the inner slide frame.

[0029] Further, targets B and C are arranged corresponding to the distance measuring module, the targets B and C are arranged in the coal mine tunnel, there is a distance between the targets B and C, and the targets B and C are in the detection range of the distance measuring module.

[0030] When the targets B and C are detected by the distance measuring module at the same time, the accurate position of the telescopic frame is obtained through a triangular positioning method.

[0031] Further, the body part comprises a first connecting rod, a second bearing trolley, an upper platform, a body frame and a supporting leg, one side of the first connecting rod is connected with the telescopic frame, the other side is connected with the upper platform, the body frame is arranged in parallel below the upper platform, a plurality of supporting legs are arranged between the upper platform and the body frame, the upper platform and the body frame are connected through the supporting legs, a plurality of second bearing trolleys are hinged to the upper platform, the second bearing trolley comprises a plurality of oppositely arranged pulleys, and the plurality of oppositely arranged pulleys clamp the track;

[0032] The hydraulic system and the electrical system are fixedly arranged on the body frame;

[0033] The electrical system comprises a controller and an inclination sensor B for detecting the slope of the track, and the inclination sensor B is connected to the controller.

[0034] The inclination sensor B is arranged to detect the slope of the track, thereby facilitating the controller to control the driving motor.

[0035] Further, the driving part comprises two driving motors, two driving wheels, a motor seat and a second connecting rod, the driving motors are arranged on the two opposite sides of the motor seat and fixed to the motor seat, the output shafts of the driving motors are upward, the driving wheels are fixed on the output shafts of the driving motors, and the two driving wheels clamp the track.

[0036] The motor seat and the body part are connected through the second connecting rod.

[0037] The electrical system comprises 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 driving motor.

[0038] The encoder E is arranged to detect the rotation angle of one driving motor, thereby improving the accurate control of the rotary motor, and the accurate control of the position of the application is realized by combining the ranging module, the target B and the target C.

[0039] Further, the electrical system comprises a controller, the controller is provided with a wireless communication module, and the controller is connected with a remote controller through the wireless communication module.

[0040] The remote controller is arranged to facilitate human-computer interaction and manual control by the staff.

[0041] Through the above technical scheme, the application has the following beneficial effects:

[0042] The auxiliary arm is arranged, and the auxiliary arm can assist the main arm to support, release the main arm to perform the next round of steel beam grabbing operation, greatly improve the shed erection efficiency, the auxiliary arm has multiple degrees of freedom, realizes the actions of stretching, lifting, grabbing and resetting, and realizes cooperation with the main arm by combining the controller. The main arm has more degrees of freedom, is more flexible and controllable during erection of the steel beam, meets the multi-action design, provides a hardware basis for realizing self-adaptive control, and provides a hardware basis for realizing automatic shed erection. The telescopic frame is arranged between the body part and the main arm, and a plurality of steel beams can be erected by moving the frame once through the telescopic action of the telescopic frame, thereby further improving the work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 It is a structural schematic view of the intelligent low-fuselage single-track mobile shed erecting robot.

[0044] Figure 2 It is a main arm structural schematic view of the intelligent low-fuselage single-track mobile shed erecting robot.

[0045] Figure 3 The drawing is a telescopic frame structure diagram of a low-body single-track mobile frame shed robot.

[0046] Figure 4 The drawing is a body structure diagram of a low-body single-track mobile frame shed robot.

[0047] Figure 5 The drawing is an auxiliary arm structure diagram of a low-body single-track mobile frame shed robot.

[0048] Figure 6 The drawing is a drive structure diagram of a low-body single-track mobile frame shed robot.

[0049] Figure 7 The drawing is a cooperation diagram of an auxiliary arm and a mechanical arm of a low-body single-track mobile frame shed robot.

[0050] Figure 8 The drawing is a cooperation diagram of an auxiliary arm and a mechanical arm of a low-body single-track mobile frame shed robot.

[0051] Figure 9 The drawing is a control flow diagram of a low-body single-track mobile frame shed robot.

[0052] Figure 10 The drawing is an electrical schematic diagram of a controller of a low-body single-track mobile frame shed robot.

[0053] Figure number: 1 is a main arm, 2 is a rotary table, 3 is a rotary reducer, 4 is a telescopic frame, 5 is a body, 6 is a drive, 7 is a cable pulley, 8 is an auxiliary arm, 9 is a track, 10 is a distance measuring module;

[0054] 101 is a gripper, 102 is a gripper swing cylinder, 103 is a rotary cylinder, 104 is a vertical arm, 105 is a vertical arm reducer, 106 is a horizontal arm, 107 is a horizontal arm reducer, 108 is a forearm adjustment cylinder, 109 is a telescopic inner cylinder, 110 is a telescopic outer cylinder, 111 is a large arm pitch cylinder, 112 is a clamping cylinder;

[0055] 41 is an inner carriage, 42 is a support mechanism, 43 is an outer carriage, 44 is a telescopic frame cylinder, 45 is a bearing trolley, 46 is a connecting part;

[0056] 51 is a first connecting rod, 52 is a second bearing trolley, 53 is an upper platform, 54 is a body frame, 55 is a supporting leg;

[0057] 61 is a drive motor, 62 is a drive wheel, 63 is a motor base, 64 is a second connecting rod;

[0058] 81 is the gripper, 82 is the four-bar linkage, 83 is the four-bar hydraulic cylinder, 84 is the telescopic rod, and 85 is the auxiliary arm telescopic hydraulic cylinder. Detailed Implementation

[0059] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0060] Example 1

[0061] like Figures 1-10 As shown, an intelligent low-profile monorail mobile canopy robot includes a track 9, a main arm 1, a turntable 2, a rotary reducer 3, a telescopic frame 4, a body 5, a hydraulic system, an electrical system, a drive unit 6, and a cable trolley 7. An auxiliary arm 8 is arranged near the main arm 1. The auxiliary arm 8 includes a gripper 81, a four-bar linkage 82, a four-bar cylinder 83, a telescopic rod 84, and an auxiliary arm telescopic cylinder 85.

[0062] The gripper 81 is hinged to the four-bar linkage 82, the other end of the four-bar linkage 82 is hinged to the telescopic rod 84 and the auxiliary arm telescopic cylinder 85, and the other end of the auxiliary arm 8 telescopic cylinder is hinged to the telescopic frame 4.

[0063] The auxiliary arm 8 is electrically connected to the electrical system, which is electrically connected to the hydraulic system, the main arm 1, the turntable 2, the turntable reducer 3, the telescopic frame 4, the main body 5, the drive unit 6, and the cable trolley 7.

[0064] Furthermore, there are two auxiliary arms 8. The telescopic rod 84 includes a housing and an extension end. The extension end is disposed inside the housing and is slidably connected to the housing. The extension end is fixed to the piston rod of the auxiliary arm telescopic cylinder 85. The cylinder of the auxiliary arm telescopic cylinder 85 is hinged to the housing.

[0065] The electrical system includes a controller, tilt sensor A, displacement sensor A and displacement sensor B. The tilt sensor A is fixed to the four-bar linkage 82 and is used to detect the attitude of the four-bar linkage 82.

[0066] The displacement sensor A is installed on the cylinder of the four-bar linkage cylinder 83 and is arranged along the axis of the piston rod of the four-bar linkage cylinder 83. The displacement sensor A is used to detect the displacement of the piston rod of the four-bar linkage cylinder 83.

[0067] The displacement sensor B is mounted on the housing and is used to detect the displacement of the protruding end.

[0068] The hydraulic system includes solenoid directional valve A and solenoid directional valve B, and the coils of solenoid directional valve A and solenoid directional valve B are connected to the output terminal of the controller.

[0069] The input end of the controller is connected to the inclination sensor A, the displacement sensor A and the displacement sensor B.

[0070] As shown in Figure 2 , 5 , 7 and 8, the articulation of the steel beam is explained, at this time the jaw 101 on the main arm 1 grips the steel beam. The controller controls the electromagnetic reversing valve B to work, the telescopic rod 84 is driven to extend by the piston rod of the auxiliary arm telescopic cylinder 85, reaches the position of the jaw 101, during which the displacement sensor B detects the extension end of the telescopic rod 84, whether the telescopic rod 84 is in place is judged by adaptive control, then the controller detects the posture of the four-bar linkage mechanism 82 according to the inclination sensor A, then the controller controls the electromagnetic reversing valve A to work, the four-bar linkage cylinder 83 drives the four-bar linkage mechanism 82 to work, the four-bar linkage mechanism 82 drives the gripper 81 to rise. Finally, the controller controls the clamping cylinder 112 to work, the clamping cylinder 112 controls the jaw 101 to send away, the controller makes the gripper 81 grip through the electromagnetic reversing valve J, the steel beam is gripped by the gripper 81, the controller controls the main arm 1 to continue to work by the displacement sensor E controlling the boom luffing cylinder 111 to drive the main arm 1 to descend, and the auxiliary arm replaces the main arm 1 to support.

[0071] The two auxiliary arms 8 work synchronously during operation.

[0072] Embodiment 2

[0073] Based on embodiment 1, the adjustment of the main arm is explained in this embodiment:

[0074] As shown in Figure 2 and 10 , the main arm 1 includes a jaw 101, a jaw swing cylinder 102, a rotary cylinder 103, a vertical arm 104, a vertical arm speed reducer 105, a horizontal arm 106, a horizontal arm speed reducer 107, a forearm adjustment cylinder 108, a telescopic inner cylinder 109, a telescopic outer cylinder 110, a boom luffing cylinder 111 and a clamping cylinder 112.

[0075] The jaw 101 is provided with the clamping cylinder 112, the jaw 101 is hinged to the rotary cylinder 103 through the jaw swing cylinder 102, the rotary cylinder 103 is fixed to the vertical arm 104, the vertical arm 104 is provided with the vertical arm speed reducer 105, the vertical arm 104 is rotatably connected to the horizontal arm 106 through the vertical arm speed reducer 105, the horizontal arm 106 is provided with the horizontal arm speed reducer 107, the horizontal arm 106 is rotatably connected to the telescopic inner cylinder 109 through the horizontal arm speed reducer 107, the telescopic inner cylinder 109 is externally sleeved with the telescopic outer cylinder 110, the telescopic inner cylinder 109 and the telescopic outer cylinder 110 are slidably connected, the forearm adjustment cylinder 108 is arranged between the telescopic inner cylinder 109 and the telescopic outer cylinder 110, the telescopic outer cylinder 110 is connected to the rotary table 2 through a pin shaft and the boom luffing cylinder 111, and the rotary table 2 is provided with the rotary speed reducer 3.

[0076] The electrical system includes a controller and displacement sensor C, displacement sensor D, displacement sensor E, encoder A, encoder B, encoder C and encoder D connected to the input end of the controller, the displacement sensor C is arranged on the cylinder barrel of the jaw swing oil cylinder 102, and is used to detect the piston rod displacement of the jaw swing oil cylinder 102, the displacement sensor D is arranged on the cylinder barrel of the forearm adjusting oil cylinder 108, and is used to detect the piston rod displacement of the forearm adjusting oil cylinder 108, and the displacement sensor E is arranged on the telescopic outer barrel 110, and is used to detect the piston rod displacement of the forearm adjusting oil cylinder 108;

[0077] The encoder A is connected with the rotary oil cylinder 103, the encoder B is connected with the vertical arm speed reducer 105, the encoder C is connected with the horizontal arm speed reducer 107, and the encoder D is connected with the rotary speed reducer 3;

[0078] When the main arm is working, the following adjustments are made:

[0079] The jaw 101 is adjusted, the controller controls the jaw swing oil cylinder 102 through the electromagnetic reversing valve C, and then the jaw 101 is gripped and released.

[0080] The jaw swing oil cylinder 102 is adjusted, the jaw swing oil cylinder 102 controls the swing of the jaw 101, the controller controls the jaw swing oil cylinder 102 through the electromagnetic reversing valve D during work, the displacement sensor C detects the piston rod displacement of the jaw swing oil cylinder 102, and the adaptive control of the jaw swing oil cylinder 102 is realized.

[0081] The rotary oil cylinder 103 is adjusted, the rotary oil cylinder 103 controls the rotation angle of the wrist, the encoder A detects the rotation angle of the rotary oil cylinder 103, the controller controls the rotary oil cylinder 103 through the electromagnetic reversing valve E during work, and the adaptive control of the rotary oil cylinder 103 is realized through the detection parameter of the encoder A.

[0082] The vertical arm speed reducer 105 is adjusted, the vertical arm speed reducer 105 controls the vertical arm pitching motion, the controller controls the vertical arm speed reducer 105 through the frequency converter during work, and the adaptive control of the rotary oil cylinder 103 is realized through the detection parameter of the encoder B.

[0083] The horizontal arm speed reducer 107 is adjusted, the horizontal arm speed reducer 107 controls the swing of the horizontal arm, the controller controls the vertical arm speed reducer 105 through the frequency converter during work, and the adaptive control of the rotary oil cylinder 103 is realized through the detection parameter of the encoder C.

[0084] The forearm adjusting oil cylinder 108 is adjusted, the forearm adjusting oil cylinder 108 controls the displacement of the telescopic inner barrel, the controller controls the forearm adjusting oil cylinder 108 through the electromagnetic reversing valve F during work, the displacement sensor D detects the piston rod displacement of the forearm adjusting oil cylinder 108, and the adaptive control of the telescopic inner barrel is realized.

[0085] The big arm pitch oil cylinder 111 is adjusted, the big arm pitch oil cylinder 111 controls the main arm 1 pitch movement, and the controller controls the forearm adjustment oil cylinder 108 through the electromagnetic reversing valve G during operation, and the displacement sensor D detects the piston rod displacement of the big arm pitch oil cylinder 111, so that the pitch adaptive control of the main arm 1 is realized.

[0086] The swing reducer 3 is adjusted, the swing reducer 3 controls the main arm 1 swing, and the controller controls the swing reducer 3 through the frequency converter during operation, and the adaptive control of the swing cylinder 103 is realized through the detection parameter of the encoder D.

[0087] Embodiment 3

[0088] Based on embodiment 1, the telescopic frame 4 operation is explained in this embodiment:

[0089] As shown in Figure 3 and 10 , the telescopic frame 4 includes a suspension mechanism, an inner slide 41, a support mechanism 42, an outer slide 43 and a telescopic frame oil cylinder 44;

[0090] The inner slide 41 is arranged inside the outer slide 43, the inner slide 41 is slidably connected with the outer slide 43, the inner slide 41 is fixed with the swing reducer 3, and the telescopic frame oil cylinder 44 is arranged between the inner slide 41 and the outer slide 43, the side surface of the outer slide 43 is fixedly connected with the support mechanism 42, and the upper end surface of the outer slide 43 is fixedly provided with the suspension mechanism, the number of the suspension mechanisms is multiple, the suspension mechanism includes multiple bearing trolleys 45 and connecting parts 46, two bearing trolleys 45 form a group, and the bearing trolleys 45 in a group are connected through the connecting part 46, the connecting part 46 is hinged with the upper end surface of the outer slide 43, and multiple pulleys are oppositely arranged on the bearing trolley 45, and the multiple oppositely arranged pulleys clamp the track 9;

[0091] 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 slide 43, and the displacement sensor G is used for detecting the displacement of the inner slide 41, the distance measuring module 10 includes one of a total station, a laser range finder and a visual positioning instrument, and the distance measuring module 10 and the displacement sensor G are connected with the input end of the controller;

[0092] The hydraulic system includes an electromagnetic reversing valve H, and the coil of the electromagnetic reversing valve H is connected with the controller.

[0093] The target B and the target C are arranged corresponding to the distance measuring module 10, the target B and the target C are arranged in the 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.

[0094] The suspension mechanism is used to hoist the main boom 1, turntable 2, and slewing reducer 3, facilitating the operation of these devices underground in coal mines and providing greater flexibility in the erection of steel beams. An inner slide 41, an outer slide 43, and a telescopic frame cylinder 44 are provided, enabling the telescopic frame 4 to be length-adjustable and allowing for the erection of multiple steel beams in a single machine relocation.

[0095] During operation, the controller controls the solenoid reversing valve H to make the telescopic frame cylinder 44 work, and the displacement sensor G detects the displacement of the inner slide 41. The controller realizes adaptive control of the length of the telescopic frame 4.

[0096] In this embodiment, the ranging module 10 uses a total station, and targets B and C are total station reflectors. During operation, the ranging module 10 is located at position A. When the ranging module 10 simultaneously senses targets B and C, it obtains the distance from A to target B and the distance from A to target C. Since the distance from target B to target C is known, the side length of triangle ABC is determined. The position of A is obtained through triangulation, thereby obtaining the position of the present invention within the mine.

[0097] Example 4

[0098] The operation of the main body 5 and the drive unit 6 will be described in conjunction with Embodiment 3:

[0099] 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 frame 54, and support legs 55. The first connecting rod 51 is connected to the telescopic frame 4 on one side and to the upper platform 53 on the other side. The main frame 54 is arranged parallel to the lower part of the upper platform 53. Multiple support legs 55 are arranged between the upper platform 53 and the main frame 54. The upper platform 53 and the main frame 54 are connected by the support legs 55. Multiple second carrying trolleys 52 are hinged on the upper platform 53. The second carrying trolleys 52 include multiple pulleys arranged opposite each other. The multiple pulleys arranged opposite each other clamp the track 9.

[0100] The hydraulic system and electrical system are fixedly installed on the main frame 54;

[0101] The electrical system includes a controller and an inclination sensor B, which is used to detect the slope of track 9 and is connected to the controller.

[0102] The drive unit 6 includes two drive motors 61, two drive wheels 62, a motor base 63, and a second connecting rod 64. The drive motors 61 are arranged opposite each other on both sides of the motor base 63. The drive motors 61 are fixed to the motor base 63. The output shaft of the drive motors 61 faces upward. The drive wheels 62 are fixedly arranged on the output shaft of the drive motors 61. The two drive wheels 62 clamp the track 9.

[0103] The motor seat 63 is connected with the body part 5 through a second connecting rod 64;

[0104] The electrical system includes a controller and an encoder E, the encoder E and the controller are electrically connected, and the encoder E is also electrically connected with the driving motor 61.

[0105] As shown in Figure 9 and 10 In this embodiment, the driving part 6 can adopt single-wheel driving or double-wheel driving according to the slope of the track 9 detected by the inclination sensor B.

[0106] When the slope of the track 9 is <5°, the controller controls one driving motor 61 to work by the frequency converter, the encoder E detects the rotating speed of the driving motor 61, and then controls the distance of the forward movement of the application, so that the forward distance is combined with the position in embodiment 3.

[0107] When the slope of the track 9 is ≥5°, the controller controls two driving motors 61 to work by the frequency converter, the rotating speed of the two driving motors 61 is controlled synchronously, the rotating speed of the single driving motor 61 is detected by the encoder E, and the distance of the forward movement of the application is obtained.

[0108] The driving part 6 is controlled.

[0109] Embodiment 6

[0110] Based on the above embodiments, wireless communication and human-computer interaction are described in this embodiment:

[0111] As shown in Figure 9 and 10 The electrical system includes a controller, the controller is provided with a wireless communication module, and the controller is connected with a remote controller through the wireless communication module.

[0112] The specific wireless communication module selects a LORA module, the remote controller is an HMI module, and the remote controller sets the LORA module to realize wireless communication with the controller. Artificial control is realized.

[0113] The above-mentioned embodiments are only the preferred embodiments of the application, and are not limited to the scope of the application, so that equivalent changes or modifications made according to the structure, features and principles described in the patent range of the application shall be included in the patent range of the application.

Claims

1. An intelligent low-profile monorail mobile canopy-building robot, comprising a track (9), a main arm (1), a turntable (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 trolley (7), characterized in that, An auxiliary arm (8) is provided near the main arm (1). The auxiliary arm (8) includes a gripper (81), a four-bar linkage (82), a four-bar cylinder (83), a telescopic rod (84), and an auxiliary arm telescopic cylinder (85). The gripper (81) is hinged to the four-bar linkage (82), the other end of the four-bar linkage (82) is hinged to the telescopic rod (84) and the 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, which 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 drive unit (6), and the cable trolley (7); The number of auxiliary arms (8) is two. The telescopic rod (84) includes a housing and an extension end. The extension end is disposed inside the housing and is slidably connected to the housing. The extension end is fixed to the piston rod of the auxiliary arm telescopic cylinder (85). The cylinder of the auxiliary arm telescopic cylinder (85) is hinged to the housing. The electrical system includes a controller, tilt sensor A, displacement sensor A and displacement sensor B. The tilt sensor A is fixed to the four-bar linkage (82) and is used to detect the attitude of the four-bar linkage (82). The displacement sensor A is installed on the cylinder of the four-bar linkage cylinder (83) and is installed along the axis of the piston rod of the four-bar linkage cylinder (83). The displacement sensor A is used to detect the displacement of the piston rod of the four-bar linkage cylinder (83). The displacement sensor B is mounted on the housing and is used to detect the displacement of the protruding end. The hydraulic system includes solenoid directional valve A and solenoid directional valve B, and the coils of solenoid directional valve A and solenoid directional valve B are connected to the output terminal of the controller. The input terminal of the controller is connected to tilt sensor A, displacement sensor A, and displacement sensor B; The main boom (1) includes a gripper (101), a gripper swing cylinder (102), a rotary cylinder (103), a vertical boom (104), a vertical boom reducer (105), a horizontal boom (106), a horizontal boom 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 gripper (101) is equipped with a clamping cylinder (112). The gripper (101) is hinged to a rotary cylinder (103) via a gripper swing cylinder (102). The rotary cylinder (103) is fixed to the vertical arm (104). The vertical arm (104) is equipped with a vertical arm reducer (105). The vertical arm (104) is rotatably connected to the horizontal arm (106) via the vertical arm reducer (105). The horizontal arm (106) is equipped with a horizontal arm reducer (107). The horizontal arm (106) is rotatably connected to the horizontal arm (106) via the vertical arm reducer (107). The boom reducer (107) is rotatably connected to the telescopic inner cylinder (109). The telescopic inner cylinder (109) is fitted with a telescopic outer cylinder (110). The telescopic inner cylinder (109) and the telescopic outer cylinder (110) are slidably connected. A forearm adjustment cylinder (108) is provided between the telescopic inner cylinder (109) and the telescopic outer cylinder (110). The telescopic outer cylinder (110) is connected to the turntable (2) through a pin and a boom pitch cylinder (111). A rotary reducer (3) is provided on the turntable (2). The electrical system includes a controller and displacement sensors C, D, E, encoder A, encoder B, encoder C and encoder D connected to the input terminal of the controller. The displacement sensor C is installed on the cylinder of the gripper swing cylinder (102) and is used to detect the displacement of the piston rod of the gripper swing cylinder (102). The displacement sensor D is installed on the cylinder of the forearm adjustment cylinder (108) and is used to detect the displacement of the piston rod of the forearm adjustment cylinder (108). The displacement sensor E is installed on the telescopic outer cylinder (110) and 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). The hydraulic system includes solenoid directional valve C, solenoid directional valve D, solenoid directional valve E, solenoid directional valve F and solenoid directional valve G, and the coils of solenoid directional valve C, solenoid directional valve D, solenoid directional valve E, solenoid directional valve F and solenoid directional valve G are connected to the controller. The telescopic frame (4) includes a suspension mechanism, which includes multiple carrying trolleys (45) and a connecting part (46). Two carrying trolleys (45) form a group, and a group of carrying trolleys (45) are connected through the connecting part (46). Multiple pulleys are arranged opposite each other on the carrying trolleys (45), and the multiple opposite pulleys clamp the track (9).

2. The intelligent low-profile monorail mobile canopy-building robot according to claim 1, characterized in that, The telescopic frame (4) also includes an inner slide (41), a support mechanism (42), an outer slide (43), and a telescopic frame cylinder (44). The inner slide (41) is located inside the outer slide (43). The inner slide (41) and the outer slide (43) are slidably connected. The inner slide (41) is fixed to the rotary reducer (3). A telescopic frame cylinder (44) is provided between the inner slide (41) and the outer slide (43). A support mechanism (42) is fixedly connected to the side of the outer slide (43). A suspension mechanism is fixedly provided on the upper end face of the outer slide (43). There are multiple suspension mechanisms. The connecting part (46) is hinged to the upper end face of the outer slide (43). The electrical system includes a controller, a ranging module (10) and a displacement sensor G. The displacement sensor G is mounted on the outer carriage (43) and is used to detect the displacement of the inner carriage (41). The ranging module (10) includes one of a total station, a laser rangefinder and a visual positioning device. The ranging module (10) and the displacement sensor G are connected to the input terminal of the controller. The hydraulic system includes a solenoid directional valve H, the coil of which is connected to the controller.

3. The intelligent low-profile monorail mobile canopy robot according to claim 2, characterized in that, The ranging module (10) is equipped with targets B and C, which are located in the coal mine roadway. There is a gap between targets B and C, and targets B and C are within the detection range of the ranging module (10).

4. The intelligent low-profile monorail mobile canopy robot according to claim 1, characterized in that, The main body (5) includes a first connecting rod (51), a second carrying trolley (52), an upper platform (53), a main frame (54), and support legs (55). The first connecting rod (51) is connected to the telescopic frame (4) on one side and to the upper platform (53) on the other side. The main frame (54) is arranged parallel to the lower part of the upper platform (53). Multiple support legs (55) are arranged between the upper platform (53) and the main frame (54). The upper platform (53) and the main frame (54) are connected by the support legs (55). Multiple second carrying trolleys (52) are hinged on the upper platform (53). The second carrying trolleys (52) include multiple pulleys arranged opposite each other. The multiple pulleys arranged opposite each other clamp the track (9). The hydraulic system and electrical system are fixedly installed on the main frame (54); The electrical system includes a controller and an inclination sensor B, which is used to detect the slope of the track (9) and is connected to the controller.

5. The intelligent low-profile monorail mobile canopy robot according to claim 1, characterized in that, The drive unit (6) includes two drive motors (61), two drive wheels (62), a motor base (63), and a second connecting rod (64). The drive motors (61) are arranged opposite each other on both sides of the motor base (63). The drive motors (61) are fixed to the motor base (63). The output shaft of the drive motors (61) faces upward. The drive wheels (62) are fixed on the output shaft of the drive motors (61). The two drive wheels (62) clamp the track (9). The motor mount (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 being electrically connected to the controller and also electrically connected to a drive motor (61).

6. The intelligent low-profile monorail mobile canopy-building robot according to claim 1, characterized in that, The electrical system includes a controller, which is equipped with a wireless communication module and is connected to a remote controller via the wireless communication module.

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