Automatic laying device for flexible net of coal mine roadway driving working face

Abstract

The invention relates to the technical field of roadway net laying, and discloses an automatic laying device for a flexible net of a coal mine roadway driving face, which solves the problem of low laying efficiency and comprises a platform, a fixed base is arranged at the top of the platform, a mechanical large arm is arranged at the top of the fixed base, and a mechanical small arm is arranged at the top of the mechanical large arm. A reversing wrist is arranged at the right end of the small mechanical arm, a clamp body is arranged at the rear end of the reversing wrist, two clamping discs are arranged at the rear end of the clamp body, a locking pipe is fixed to the inner side of each clamping disc, a flexible net roll is slidably connected to the outer portions of the two locking pipes, conveying wheels are arranged at the rear end of the clamp body, and an anti-clamping disc is arranged at the top of each conveying wheel. The movable rod stretches out and draws back to drive the conveying rod and the anti-clamping rod to move so as to adapt to flexible net rolls with different diameters, meanwhile, the conveying rod stretches out and draws back to enable the conveying wheel to be movable so as to adapt to the flexible net rolls with different widths, and then net laying work is facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel net laying, and in particular relates to a device for automatically laying a flexible net on a coal mine tunnel excavation working face. Background Art

[0002] In the field of coal mining, tunneling is a key preliminary project for coal mining. It aims to build necessary passages for subsequent coal mining, transportation, ventilation, and personnel passage. With the continuous growth of demand for coal resources, coal mining continues to extend to deeper areas, and geological conditions become more complex, which makes tunneling work face many severe challenges. Therefore, deep mine excavation operations in coal mines require excavation and anchoring at the same time. After the excavation is completed, the working face is meshed. The meshing process combines the principle of "self-reinforcement" of anchor rods and anchor cables to achieve the anchoring effect of the tunnel, thereby preventing the roof of the coal mine and the side of the tunnel from falling rocks and injuring people, so as to ensure the safety of the workers in the tunnel.

[0003] However, the existing net laying methods are mostly done manually, and the net laying efficiency is low. At the same time, workers need to work at high altitudes during the net laying process, which is dangerous and results in poor net laying effects. In addition, when using existing net laying devices, most of them can only lay rigid top nets, and there are few reports on devices for automatically laying flexible auxiliary nets, which results in a relatively small range of use of the equipment. To this end, the present invention proposes an automatic laying device for flexible nets on a coal mine tunnel excavation working face. Summary of the invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a device for automatically laying flexible nets for coal mine tunnel excavation working faces, which effectively solves the problems raised in the above background.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a device for automatically laying a flexible net on a coal mine tunnel excavation working face, comprising a platform, the platform is located on one side of a tunneling machine body, a controller is fixed on the top of the platform, a driving power supply is fixed on the right end of the controller, the top of the platform is fastened with a fixed base by bolts, the top of the fixed base is rotatably connected to a rotary base, the top of the rotary base is fixed with a mechanical boom reducer mounting seat, the rear end of the mechanical boom reducer mounting seat is rotatably connected to the bottom end of the mechanical boom through a mechanical boom reducer, the bottom end of the mechanical boom is fixedly connected to the mechanical boom, the top end of the mechanical boom is rotatably connected to a mechanical forearm reducer mounting seat, a mechanical forearm transmission box is fixed on the top of the mechanical forearm reducer mounting seat, and the right end of the mechanical forearm transmission box is rotatably connected to the mechanical forearm The arm, the right end of the mechanical forearm is provided with a reversing wrist, the rear end of the reversing wrist is rotatably connected to a clamping head, a clamping body is fixed inside the clamping head, a protective cover is fixed to the left end of the clamping body, and a square clamping slider is slidably connected to the right end of the clamping body, and a clamping disk is provided on the inner side of the protective cover and the square clamping slider, each of which is fixed with a locking tube on the inner side, and a flexible mesh roll is slidably connected to the outside of the two locking tubes, and a moving rod is fixed to the rear end of the protective cover and the square clamping slider, and a conveying rod is fixed at the rear end of each of the moving rods, and two conveying wheels are provided on the inner side of each conveying rod, and an anti-stuck rod is provided on the top of each conveying rod, and an anti-stuck disk is provided on the inner side of each anti-stuck rod, a locking rod is provided on the outer side of each clamping disk, and a clamping sub-rod is provided on the inner side of each locking rod, and a clamping main rod is provided at the rear end of each clamping sub-rod.

[0006] Preferably, a rotary motor is fixed on the top of the rotary base, and the bottom of the rotary motor is rotationally connected to the fixed base reducer (204) through a rotating shaft, and the bottom mounting hole of the fixed base reducer (204) is tightly connected to the fixed base (2), and a large arm drive motor is fixed to the front end of the mechanical large arm reducer mounting seat, and the large arm drive motor is rotationally connected to the bottom end of the mechanical large arm through a rotating shaft, and a small arm drive motor is fixed to the front end of the mechanical small arm reducer mounting seat, and the small arm drive motor is rotationally connected to the top end of the mechanical large arm through the mechanical small arm reducer, and a small arm reversing motor is fixed to the left end of the mechanical small arm transmission box, and the small arm reversing motor is connected to the bottom end of the mechanical large arm through a rotating shaft. The rotating shaft is rotatably connected to the mechanical forearm, and a mechanical wrist joint is fixed to the right end of the mechanical forearm, and the right end of the forearm reversing motor is rotatably connected to the forearm inner tube, and the right end of the forearm inner tube is fixed to the wrist joint right pulley, and the top of the wrist joint right pulley is provided with a wrist joint lower follow-up redirecting wheel which is rotatably connected to the mechanical wrist joint, and the front end is fixed with a forearm front motor, and the right end of the forearm front motor is rotatably connected to the forearm main gear, and the forearm main gear is meshed with the forearm sub-gear, and the right end of the forearm sub-gear is fixed with an forearm outer tube, and the right end of the forearm outer tube is fixed with a wrist joint left pulley, and the top of the wrist joint left pulley is provided with a wrist joint upper follow-up redirecting wheel which is rotatably connected to the mechanical wrist joint.

[0007] Preferably, a reversing wrist primary synchronous pulley is fixed inside the mechanical wrist joint, and the reversing wrist primary synchronous pulley is meshed and connected with the left pulley of the wrist joint through an upper belt, and the bottom of the reversing wrist primary synchronous pulley is rotatably connected with a reversing wrist rotating shaft, and a reversing wrist reducer is fixed at the bottom of the reversing wrist rotating shaft, and the inner ring of the reversing wrist reducer is fixedly connected to the reversing wrist, and the outer ring of the bottom of the reversing wrist reducer is fixedly connected to the mechanical wrist joint, and a reversing wrist secondary synchronous pulley is provided outside the reversing wrist rotating shaft and is fixedly connected to the mechanical wrist joint. The secondary synchronous pulley of the reversing wrist is meshed and connected with the right pulley of the wrist joint through the lower belt, and the bottom of the secondary synchronous pulley of the reversing wrist is rotatably connected with the clamping head reversing main gear, and a transition flange is fixed on the outside of the clamping head reversing main gear, and the outer ring of the transition flange is fixedly connected to the mechanical wrist joint, and the bottom of the clamping head reversing main gear is meshed and connected with the clamping head reversing sub-gear, and the rear end of the clamping head reversing sub-gear is fixed with a clamping head connecting disk, and the rear end of the clamping head connecting disk is rotatably connected with the clamping head through a rotating reducer at the end of the clamping jaw.

[0008] Preferably, a telescopic electric cylinder is fixed inside the clamp body, an electric cylinder driving motor is fixed to the front end of the telescopic electric cylinder, the right end of the telescopic electric cylinder is fixedly connected to the square clamping slider via a connecting ring, and the end of the square clamping slider is rotationally connected to the clamping disk on the right side via a positioning shaft.

[0009] Preferably, a synchronous motor is also fixed inside the clamp body, the left end of the synchronous motor is rotatably connected to a synchronous main pulley, the rear end of the synchronous main pulley is meshed with a synchronous slave pulley through a synchronous belt, a reel is fixed to the right end of the synchronous slave pulley, and the right end of the reel is fixedly connected to the clamping disk on the left side.

[0010] Preferably, a locking rod is fixed on the inner side of each clamping disk, a locking block is fixed on the inner side of each locking rod, a plurality of clamping rods are fixed on the outer side of each locking block, and each clamping rod is tightly fitted with the flexible mesh roll outside thereof.

[0011] Preferably, a locking bearing is provided on the outer side of each clamping disk, the inner ring of the locking bearing on the left end is fixedly connected to the clamping rod, and the inner ring of the locking bearing on the right end is fixedly connected to the clamping motor, a locking sub-gear is fixed on the outer side of each outer ring of the locking bearing, each locking sub-gear is meshingly connected to a locking main gear, and a locking motor is rotatably connected to the outer side of each locking main gear, the outer side of the locking motor on the right end is fixedly connected to the locking rod, and the outer side of the locking motor on the left end is fixedly connected to the protective cover.

[0012] Preferably, each locking bearing outer ring is fixedly connected to the locking rod at its rear end, a clamping camera is fixed on the top of each locking rod, a clamping rod is fixed on the inner side of each locking rod, a clamping motor is fixed on the inner side of each clamping rod, and a locking rod is rotatably connected on the inner side of each clamping motor. The inner front end of the fixed end of each locking rod is fixedly connected to the clamping main rod inside it, and the rear front end of the telescopic end of each locking rod is fixedly connected to the clamping sub-rod inside it.

[0013] Preferably, an anti-stuck plate is fixed on the top of each moving rod, an anti-stuck camera is fixed on the top of each anti-stuck plate, each anti-stuck plate is fixedly connected to the anti-stuck rod inside it, an anti-stuck block is fixed on the bottom inside of each anti-stuck rod, and an anti-stuck disk is rotatably connected to the top of each anti-stuck block.

[0014] Preferably, a conveying wheel moving rod is provided at the bottom of each anti-stuck rod, each conveying wheel moving rod is fixedly connected to the conveying rod on its outside, a conveying camera is fixed on the top of each conveying wheel moving rod, a conveying wheel positioning plate is fixed at both the front and rear ends of each conveying wheel moving rod, each conveying wheel positioning plate is rotatably connected to the conveying wheel inside it through a rotating shaft, a conveying wheel motor is rotatably connected to the outer side of each conveying wheel at the rear end, and each conveying wheel motor is fixedly connected to the conveying wheel positioning plate at one end thereof.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention can drive the rotary base to rotate around the fixed base through the rotary motor, and at the same time, the bottom end of the mechanical arm can be driven to rotate through the arm driving motor, thereby driving the mechanical arm to rotate around the mechanical arm reducer mounting seat, and at the same time, the mechanical arm can be driven to rotate around the mechanical arm through the forearm driving motor, and at the same time, the mechanical arm can be driven to rotate through the forearm reversing motor, and further, the mechanical wrist joint can be rotated through the cooperation of the mechanical arm inner tube and the arm outer tube, so that the mechanical wrist joint can be moved to any position, thereby ensuring the accuracy of the web laying, thereby improving the web laying efficiency; The present invention can drive the reversing wrist rotating shaft to rotate through the first-level synchronous pulley of the reversing wrist, thereby driving the reversing wrist to rotate, and at the same time, can drive the reversing main gear of the clamping head to rotate through the second-level synchronous pulley of the reversing wrist, thereby driving the reversing sub-gear of the clamping head to rotate, thereby driving the clamping head to rotate, thereby driving the clamping body to rotate, so that the clamping body can be rotated to any direction, thereby further ensuring the web laying efficiency and web laying accuracy, thereby ensuring the web laying effect; The present invention can drive the connecting ring to move by telescopic electric cylinder extension, thereby driving the square clamping slider to move, thereby driving the right end clamping disk to move, so that the two clamping disks can adapt to flexible net rolls of different widths, and at the same time, the synchronous main pulley can be driven to rotate by the synchronous motor, thereby driving the synchronous belt to rotate, thereby driving the synchronous slave pulley to rotate, and then driving the reel to rotate, thereby driving the clamping disk to rotate, so as to facilitate the net rolling, thereby improving the net rolling efficiency, thereby ensuring the efficiency of conveying the flexible net roll; The invention can drive the conveying rod and the anti-stuck rod to move by telescoping the moving rod, so as to adapt to flexible net rolls of different diameters. At the same time, the conveying rod is telescoping, so that the conveying wheel can be moved, so as to adapt to flexible net rolls of different widths, thereby facilitating the net laying work. At the same time, the anti-stuck rod is reciprocated and telescoping, so that the anti-stuck plate can be driven to move back and forth left and right, so as to prevent the two layers of flexible net rolls from being clamped by the conveying wheel due to gravity, so as to prevent the flexible net rolls from being clamped and flattened by the conveying wheel, thereby ensuring the safety of the flexible net roll. At the same time, the conveying wheel moving rod is telescoping, so that the conveying wheel positioning plate can be driven to move, so as to adapt to flexible net rolls of different thicknesses, thereby increasing the use range of the device and achieving the purpose of saving labor. The present invention can drive the clamping rod to move by extending and retracting the locking rod, and at the same time, the outer end of the flexible net roll can be clamped by the cooperation of the clamping main rod and the clamping sub-rod, and then the clamping rod can be extended and retracted, so as to clamp the flexible net roll and prevent the flexible net roll from rotating. In addition, the locking rod can be extended and retracted to drive the clamping sub-rod to move, so that the clamping main rod and the clamping sub-rod can adapt to flexible net rolls of different thicknesses, thereby further improving the scope of use of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0017] In the attached picture: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the back end of the overall structure of the present invention; Figure 3 This is a schematic diagram of the top of the fixed base of the present invention; Figure 4 This is an external schematic diagram of the mechanical forearm of the present invention; Figure 5 This is a schematic diagram of the interior of the mechanical arm of the present invention; Figure 6 It is a schematic cross-sectional view of the mechanical wrist joint of the present invention; Figure 7 This is a schematic diagram of the interior of the commutation wrist of the present invention; Figure 8 This is a schematic diagram of the rear end of the clamp body of the present invention; Fig. 9 This is a schematic diagram of the inner side of the clamping disk of the present invention; Fig.10 This is a schematic diagram of the interior of the clamp body of the present invention; Fig.11 This is a schematic diagram of the interior of the square clamping slider of the present invention; Fig.12 This is a schematic diagram of the interior of the protective cover of the present invention; Fig.13 This is a schematic diagram of the locking tube of the present invention; Fig.14 This is a schematic diagram of the rear end of the protective cover of the present invention; Fig.15 This is a schematic diagram of the front end of the anti-stuck rod of the present invention; Fig.16 This is a schematic diagram of the inner side of the locking rod of the present invention.

[0018] In the figure: 1-platform; 2-fixed base; 3-mechanical arm; 4-mechanical arm; 5-reversing wrist; 6-clamping body; 7-flexible net roll; 8-clamping plate; 9-moving rod; 101-controller; 102-driving power supply; 201-rotating base; 202-rotating motor; 203-mechanical arm reducer mounting seat; 204-fixed base reducer; 205-mechanical arm reducer; 301-arm drive motor; 302-mechanical arm transmission box; 303-bottom end of mechanical arm; 304-mechanical arm reducer mounting seat; 401-mechanical wrist joint; 40 2-arm drive motor; 403-arm reversing motor; 404-arm front motor; 405-arm main gear; 406-arm secondary gear; 407-arm inner tube; 408-arm outer tube; 409-wrist joint left pulley; 410-wrist joint right pulley; 411-wrist joint upper follow-up reversing wheel; 412-upper belt; 413-wrist joint lower follow-up reversing wheel; 414-lower belt; 415-mechanical arm reducer; 501-reversing wrist first-stage synchronous pulley; 502-reversing wrist second-stage synchronous pulley; 503-clamping head; 504-transition flange; 505-reversing Wrist shaft; 506-reversing wrist reducer; 507-clamping head reversing main gear; 508-clamping head reversing sub-gear; 509-clamping head connecting plate; 510-clamping jaw end rotation reducer; 601-protective cover; 602-square clamping slider; 603-electric cylinder drive motor; 604-telescopic electric cylinder; 605-synchronous motor; 606-connecting ring; 607-synchronous main pulley; 608-synchronous slave pulley; 609-synchronous belt; 610-reel; 611-positioning shaft; 801-locking tube; 802-locking rod; 803-locking bearing; 804-locking sub-gear Gear; 805-locking main gear; 806-locking motor; 807-locking rod; 808-locking block; 809-clamping rod; 810-clamping rod; 811-clamping motor; 812-locking rod; 813-clamping main rod; 814-clamping auxiliary rod; 815-clamping camera; 901-conveying rod; 902-anti-stuck rod; 903-anti-stuck plate; 904-anti-stuck camera; 905-anti-stuck disk; 906-anti-stuck block; 907-conveying wheel moving rod; 908-conveying wheel positioning plate; 909-conveying wheel; 910-conveying wheel motor; 911-conveying camera. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] Embodiment 1, by Figure 1-Figure 3 、 Figure 6 、 Figure 8-Figure 10 、 Figure 13-Figure 14The present invention provides a device for automatically laying a flexible net on a coal mine tunnel excavation working face, comprising a platform 1, which is made of alloy steel material. The platform 1 is used to support the entire device. The platform 1 is located on one side of a tunneling machine body, and a controller 101 is fixed on the top thereof. The controller 101 is connected to a control mechanism of the tunneling machine through a signal. The controller 101 is used to control the entire device. A driving power supply 102 is fixed to the right end of the controller 101. The driving power supply 102 is electrically connected to a power supply system on the tunneling machine. The driving power supply 102 provides the required electrical energy for the entire device. A fixed base 2 is fastened to the top of the platform 1 by bolts. The fixed base 2 is made of alloy steel material. Used to support the entire device, the top of the fixed base 2 is rotatably connected to a rotary base 201, and the rotary base 201 is made of alloy steel. A mechanical arm reducer mounting seat 203 is fixed on the top of the rotary base 201, and the mechanical arm reducer mounting seat 203 is made of alloy steel. The mechanical arm reducer mounting seat 203 is used to install the arm drive motor 301 and the mechanical arm reducer 205. The rear end of the mechanical arm reducer mounting seat 203 is rotatably connected to the mechanical arm bottom end 303 through the mechanical arm reducer 205. The mechanical arm bottom end 303 is made of alloy steel. The mechanical arm bottom end 303 is used to constitute the mechanical arm 3. The bottom end 303 of the mechanical arm is fixedly connected to the mechanical arm 3, and the mechanical arm 3 is made of alloy steel. The top of the mechanical arm 3 is rotatably connected to a mechanical arm reducer mounting seat 304, and the mechanical arm reducer mounting seat 304 is made of alloy steel. The mechanical arm reducer mounting seat 304 is used to install the arm drive motor 402 and the mechanical arm reducer 415. A mechanical arm transmission box 302 is fixed on the top of the mechanical arm reducer mounting seat 304, and the mechanical arm transmission box 302 is made of alloy steel. The mechanical arm transmission box 302 is used to install the arm reversing motor 403. The right end of the mechanical arm transmission box 302 is rotatably connected to the mechanical arm 4. The mechanical arm 4 is made of alloy steel, and the mechanical arm 4 is used to position the inner tube 407 of the arm. A reversing wrist 5 is provided at the right end of the mechanical arm 4, and the reversing wrist 5 is made of alloy steel. The reversing wrist 5 is used to position the clamping head 503. The rear end of the reversing wrist 5 is rotatably connected with the clamping head 503, and the clamping head 503 is made of alloy steel. The clamping head 503 is used to position the clamp body 6. The clamp body 6 is fixed inside the clamp head 503, and the clamp body 6 is made of alloy steel. The clamp body 6 is used to position the protective cover 601 and the square clamping slider 602. The left end of the clamp body 6 is fixed with a protective cover 601, and the protective cover 601 is made of alloy steel.The protective cover 601 is used to position the synchronous main pulley 607 and the synchronous slave pulley 608. The right end of the clamp body 6 is slidably connected with a square clamping slider 602, and the square clamping slider 602 is made of alloy steel. The square clamping slider 602 can drive the clamping plate 8 at the right end to move. The inner sides of the protective cover 601 and the square clamping slider 602 are both provided with clamping plates 8, and the clamping plates 8 are made of alloy steel. The clamping plates 8 are used to clamp the flexible mesh roll 7. A locking tube 801 is fixed to the inner side of each of the clamping plates 8, and the locking tube 801 is made of alloy steel. 801 is used to position the flexible mesh roll 7. The two locking tubes 801 are externally slidably connected with the flexible mesh roll 7. The rear ends of the protective cover 601 and the square clamping slider 602 are fixed with a moving rod 9. The moving rod 9 is retractable, so that the conveying rod 901 and the anti-stuck rod 902 can be driven to move, so as to adapt to the flexible mesh roll 7 of different diameters. A conveying rod 901 is fixed to the rear end of each of the moving rods 9. The conveying rod 901 is retractable, so that the conveying wheel 909 can be moved, so as to adapt to the flexible mesh roll 7 of different widths. Two conveying wheels 909 are arranged on the inner side of each of the conveying rods 901. 09 is made of alloy steel material, the conveying wheel 909 is used to convey the flexible mesh roll 7, so as to facilitate the net laying work, each of the conveying rods 901 is provided with an anti-stuck rod 902 on the top, and the anti-stuck rod 902 is retractable, so as to drive the anti-stuck disk 905 to move, thereby preventing the flexible mesh roll 7 from being rolled up with the conveying wheel 909, thereby ensuring the stability of the conveying wheel 909 in conveying the flexible mesh roll 7, and each of the anti-stuck rods 902 is provided with an anti-stuck disk 905 on the inner side, and the anti-stuck disk 905 is used to support the flexible mesh roll 7, so that the top of the flexible mesh roll 7 does not contact the conveying wheel 909, thereby preventing the two layers of the flexible mesh roll 7 from being rolled up together. The flexible net roll 7 enters between the two conveying wheels 909 at the same time, thereby preventing the flexible net roll 7 from being bent, thereby ensuring the safety of the flexible net roll 7. A locking rod 802 is provided on the outside of each clamping disk 8. The locking rod 802 is retractable, thereby driving the clamping rod 810 to move. A clamping sub-rod 814 is provided on the inside of each locking rod 802. The clamping sub-rod 814 is made of alloy steel. A clamping main rod 813 is provided at the rear end of each clamping sub-rod 814. The clamping main rod 813 is made of alloy steel. The clamping main rod 813 and the clamping sub-rod 814 cooperate to clamp the outer end of the flexible net roll 7.

[0021] Embodiment 2, based on embodiment 1, Figure 4-Figure 5 , Figure 7 , Figure 11-Figure 12It is given that a rotary motor 202 is fixed on the top of the rotary base 201, and the rotary motor 202 can drive the rotary base 201 to rotate around the fixed base 2, so as to realize reversing. The bottom of the rotary motor 202 is rotatably connected with the fixed base reducer 204 through a rotating shaft, and the bottom mounting hole of the fixed base reducer 204 is tightly connected with the rotary base fixed base 2. The front end of the mechanical arm reducer mounting seat 203 is fixed with a large arm driving motor 301, and the large arm driving motor 301 can drive the bottom end 303 of the mechanical arm to rotate. The large arm driving motor 301 is rotatably connected with the bottom end 303 of the mechanical arm through a rotating shaft, and the front end of the mechanical fork arm reducer mounting seat 304 is fixed with a fork arm The driving motor 402 can drive the mechanical forearm 4 to rotate around the mechanical arm 3. The forearm driving motor 402 is rotatably connected to the top end of the mechanical arm 3 through the mechanical forearm reducer 415. A forearm reversing motor 403 is fixed to the left end of the mechanical forearm transmission box 302. The forearm reversing motor 403 can drive the mechanical forearm 4 to rotate. The forearm reversing motor 403 is rotatably connected to the mechanical forearm 4 through a rotating shaft. A mechanical wrist joint 401 is fixed to the right end of the mechanical forearm 4. The mechanical wrist joint 401 is made of alloy steel material. The mechanical wrist joint 401 is used to position the reversing wrist primary synchronous pulley 501. The right end of the forearm reversing motor 403 is rotated and connected It is connected to an inner tube 407 of the forearm, and the forearm reversing motor 403 can drive the inner tube 407 of the forearm to rotate. A right pulley 410 of the wrist joint is fixed to the right end of the inner tube 407 of the forearm, and the inner tube 407 of the forearm can drive the right pulley 410 of the wrist joint to rotate. A wrist joint lower follower redirecting wheel 413 is provided on the top of the wrist joint right pulley 410, which is rotatably connected to the mechanical wrist joint 401. The wrist joint right pulley 410 can drive the wrist joint lower follower redirecting wheel 413 to rotate through an upper belt 412, thereby driving the reversing wrist primary synchronous pulley to rotate. A forearm front motor 404 is fixed to the front end of the 403, and the right end of the forearm front motor 404 is rotatably connected to a forearm main gear 405, and the forearm main gear 405 is meshedly connected with The forearm sub-gear 406 has a forearm outer tube 408 fixed to its right end, a wrist joint left pulley 409 fixed to its right end, a wrist joint upper follow-up redirecting wheel 411 is provided on the top of the wrist joint left pulley 409 to be rotatably connected to the mechanical wrist joint 401, the forearm front motor 404 can drive the forearm main gear 405 to rotate, thereby driving the forearm sub-gear 406 to rotate, thereby driving the forearm outer tube 408 to rotate, and then driving the wrist joint left pulley 409, and then the reversing wrist secondary synchronous pulley 502 can be driven to rotate through the upper follow-up redirecting wheel 411 and the lower belt 414, and a reversing wrist primary synchronous pulley 501 is fixed inside the mechanical wrist joint 401,The reversing wrist primary synchronous pulley 501 is meshed and connected with the left pulley 409 of the wrist joint through the upper belt 412. The bottom of the reversing wrist primary synchronous pulley 501 is rotatably connected with a reversing wrist shaft 505. A reversing wrist reducer 506 is fixed at the bottom of the reversing wrist shaft 505. The inner ring of the reversing wrist reducer 506 is fixedly connected to the reversing wrist 5. The reversing wrist primary synchronous pulley 501 can drive the reversing wrist shaft 505 to rotate, thereby driving the reversing wrist 5 to rotate. The bottom outer ring of the reversing wrist reducer 506 is fixedly connected to the mechanical wrist joint 401. The reversing wrist shaft 505 is provided with a reversing wrist secondary synchronous pulley 502 fixedly connected to the mechanical wrist joint 401. The reversing wrist secondary synchronous pulley 502 is meshed and connected with the wrist joint right pulley 410 through the lower belt 414. The bottom of the reversing wrist secondary synchronous pulley 502 is rotatably connected with the clamping head reversing main gear 507. The clamping head reversing main gear 507 is fixed with a transition flange 504 on the outside. The outer ring of the transition flange 504 is fixedly connected with the mechanical wrist joint 401. The bottom of the clamping head reversing main gear 507 is meshed and connected with the clamping head reversing sub-gear 508. The reversing wrist secondary synchronous pulley 502 can drive the clamping head reversing main gear 507 to rotate, thereby driving the clamping head reversing sub-gear 508 to rotate. The rear end of the clamping head reversing sub-gear 508 is fixed with a clamping head connecting disk 509, the clamping head connecting plate 509 is used to position the clamping head 503, the rear end of the clamping head connecting plate 509 is rotatably connected to the clamping head 503 through the rotating reducer 510 at the end of the clamping claw, a telescopic electric cylinder 604 is fixed inside the clamping body 6, the telescopic electric cylinder 604 is telescopic, so as to drive the connecting ring 606 to move, thereby driving the square clamping slider 602 to move, the front end of the telescopic electric cylinder 604 is fixed with an electric cylinder driving motor 603, the electric cylinder driving motor 603 is used to control the telescopic electric cylinder 604 to extend and retract, the right end of the telescopic electric cylinder 604 is fixedly connected to the square clamping slider 602 through the connecting ring 606, and the left end of the square clamping slider 602 is fixedly connected to the square clamping slider 602. The end is rotatably connected with the clamping disk 8 on the right side through a positioning shaft 611, and a synchronous motor 605 is also fixed inside the clamping body 6, and the synchronous motor 605 can drive the synchronous main pulley 607 to rotate by rotating, and the left end of the synchronous motor 605 is rotatably connected with the synchronous main pulley 607, and the rear end of the synchronous main pulley 607 is meshed with a synchronous slave pulley 608 through a synchronous belt 609, and a reel 610 is fixed to the right end of the synchronous slave pulley 608, and the synchronous main pulley 607 can drive the synchronous belt 609 to rotate by rotating, thereby driving the synchronous slave pulley 608 to rotate, and then driving the reel 610 to rotate, and the right end of the reel 610 is fixedly connected with the clamping disk 8 on the left side; When using the device, the staff installs the entire device at the required position. When it is necessary to lay the net, the controller 101 controls the rotary motor 202, the upper arm drive motor 301, the lower arm drive motor 402, the lower arm reversing motor 403, the reversing wrist first-level synchronous pulley 501 and the reversing wrist second-level synchronous pulley 502 to cooperate to move the clamp body 6 to the auxiliary net storage platform close to the flexible net roll 7. Further, the controller 101 controls the electric cylinder drive motor 603 to drive the telescopic electric cylinder 604 to work, thereby driving the connecting ring 606 to move. , thereby driving the square clamping slider 602 to move, thereby driving the clamping plate 8 at the right end to move, further making the locking tube 801 clamped into the through hole inside the flexible mesh roll 7, further the controller 101 controls the entire device to clamp the flexible mesh roll 7, further the controller 101 controls the rotary motor 202 to make the rotary base 201 rotate around the fixed base 2, and at the same time the big arm drive motor 301 can drive the mechanical big arm 3 to rotate around the mechanical big arm reducer mounting seat 203, and further the small arm drive motor 402 can drive the The mechanical forearm 4 moves around the mechanical arm 3, and further the forearm reversing motor 403 can drive the mechanical forearm 4 to rotate, and further the forearm front motor 404 can drive the forearm main gear 405 to rotate, thereby driving the forearm sub-gear 406 to rotate, thereby driving the forearm outer tube 408 to rotate, thereby driving the wrist joint left pulley 409 to rotate, and thus the reversing wrist primary synchronous pulley 501 can be driven to rotate due to the action of the upper belt 412, and then the reversing wrist shaft 505 can be driven to rotate, thereby driving the reversing wrist 5 to rotate, and at the same time through the forearm The reversing motor 403 can drive the inner tube 407 of the forearm to rotate, and then drive the right pulley 410 of the wrist joint to rotate, and then drive the reversing wrist secondary synchronous pulley 502 to rotate through the lower belt 414 and the lower follow-up redirecting wheel 413 of the wrist joint, thereby driving the clamping head reversing main gear 507 to rotate, thereby driving the clamping head reversing sub-gear 508 to rotate, thereby driving the clamping head connecting disk 509 to rotate, thereby driving the clamping head 503 to rotate, so that the clamping body 6 rotates, so that the clamping disk 8 can be moved to the desired position, thereby ensuring the accuracy of the laying network.

[0022] Embodiment 3, based on embodiment 1, Figure 15-16It is given that a locking rod 807 is fixed on the inner side of each of the clamping disks 8, and the locking rod 807 is retractable, thereby driving the locking block 808 to move, and a locking block 808 is fixed on the inner side of each of the locking rods 807, and the locking block 808 is made of alloy steel material. The locking block 808 is used to position the clamping rod 809, and a plurality of clamping rods 809 are fixed on the outer side of each of the locking blocks 808, and the clamping rod 809 is retractable, thereby clamping the flexible mesh roll 7, thereby preventing the flexible mesh roll 7 from rotating, and each of the clamping rods 809 is tightly fitted with the flexible mesh roll 7 outside it, and a locking bearing 803 is provided on the outer side of each of the clamping disks 8, and the locking bearing 803 is used to position the locking rod 802, The inner ring of the locking bearing 803 is fixedly connected to the clamping rod 810, and the inner ring of the locking bearing 803 at the right end is fixedly connected to the clamping motor 811. A locking sub-gear 804 is fixed on the outer side of the outer ring of each locking bearing 803, and the locking sub-gear 804 can drive the outer ring of the locking bearing 803 to rotate by rotating. Each locking sub-gear 804 is meshedly connected with a locking main gear 805, and the locking main gear 805 can drive the locking sub-gear 804 to rotate. The outer side of each locking main gear 805 is rotatably connected with a locking motor 806, and the locking motor 806 can drive the locking main gear 805 to rotate. The outer side of the locking motor 806 at the right end is fixedly connected to the locking rod 802, and the locking motor 806 at the left end is fixedly connected to the locking rod 802. The outer side of 806 is fixedly connected to the protective cover 601, the outer ring of each locking bearing 803 is fixedly connected to the locking rod 802 at its rear end, a clamping camera 815 is fixed on the top of each locking rod 802, and the clamping camera 815 is used to monitor the clamping condition of the locking rod 812, a clamping rod 810 is fixed on the inner side of each locking rod 802, and the clamping rod 810 is retractable, thereby driving the clamping motor 811 to move, a clamping motor 811 is fixed on the inner side of each clamping rod 810, and the clamping motor 811 can drive the locking rod 812 to rotate, and a locking rod 812 is rotatably connected to the inner side of each clamping motor 811, and the locking rod 812 is retractable, thereby driving the clamping auxiliary rod 814 to move, Thereby, the clamping main rod 813 and the clamping auxiliary rod 814 are adapted to the flexible net roll 7 of different thicknesses, the inner front end of the fixed end of each locking rod 812 is fixedly connected to the clamping main rod 813 inside it, the rear front end of the telescopic end of each locking rod 812 is fixedly connected to the clamping auxiliary rod 814 inside it, and an anti-stuck plate 903 is fixed on the top of each moving rod 9, and the anti-stuck plate 903 is made of alloy steel material, and the anti-stuck plate 903 is used to fix the anti-stuck rod 902, and an anti-stuck camera 904 is fixed on the top of each anti-stuck plate 903, and the anti-stuck camera 904 is used to monitor the movement of the anti-stuck disk 905, and each anti-stuck plate 903 is fixedly connected to the anti-stuck rod 902 inside it.An anti-stuck block 906 is fixed to the bottom of the inner side of each anti-stuck rod 902, and the anti-stuck block 906 is used to position the anti-stuck disk 905. The top of each anti-stuck block 906 is rotatably connected to the anti-stuck disk 905. A conveying wheel moving rod 907 is provided at the bottom of each anti-stuck rod 902. The conveying wheel moving rod 907 is retractable, thereby driving the conveying wheel positioning plate 908 to move, so as to adapt to the flexible mesh rolls 7 of different thicknesses. Each conveying wheel moving rod 907 is fixedly connected to the conveying rod 901 on its outer side. A conveying camera 911 is fixed to the top of each conveying wheel moving rod 907, and the conveying camera 911 is used to Monitor the conveying condition of the conveying wheel 909. Conveying wheel positioning plates 908 are fixed at both ends of each conveying wheel moving rod 907. The conveying wheel positioning plates 908 are made of alloy steel. The conveying wheel positioning plates 908 are used to position the conveying wheel 909. Each conveying wheel positioning plate 908 is rotatably connected to the conveying wheel 909 inside it through a rotating shaft. A conveying wheel motor 910 is rotatably connected to the outer side of each conveying wheel 909 at the rear end. The conveying wheel motor 910 can drive the conveying wheel 909 at the rear end to rotate. Each conveying wheel motor 910 is fixedly connected to the conveying wheel positioning plate 908 at one end thereof. When the two clamping plates 8 clamp the flexible mesh roll 7, the controller 101 controls the locking rod 807 to extend, thereby driving the locking block 808 to move, and further the controller 101 controls the clamping rod 809 to extend, thereby clamping the flexible mesh roll 7 to prevent the flexible mesh roll 7 from rotating, and further the controller 101 controls the locking motor 806 to work, thereby driving the locking main gear 805 to rotate, thereby driving the locking sub-gear 804 to rotate, thereby driving the outer ring of the locking bearing 803 to rotate, thereby driving the locking rod 802 to rotate with the outer ring of the locking bearing 803, and at this time the controller 101 can monitor the clamping through the clamping camera 815. The positions of the clamping main rod 813 and the clamping auxiliary rod 814 can be monitored at the same time, and the outer end of the flexible mesh roll 7 can be monitored. Further, the controller 101 controls the clamping rod 810 to extend and retract, thereby driving the locking rod 812 to move, so that the clamping main rod 813 is close to the outer end of the flexible mesh roll 7. At this time, the controller 101 controls the locking rod 812 to retract, thereby driving the clamping auxiliary rod 814 to move, so that the clamping main rod 813 and the clamping auxiliary rod 814 can clamp the outer end of the flexible mesh roll 7. At this time, the controller 101 controls the synchronous motor 605 to work, thereby driving the synchronous main pulley 607 to rotate, thereby driving the synchronous belt 609 to rotate, thereby driving the synchronous slave The pulley 608 rotates, thereby driving the reel 610 to rotate, thereby driving the clamping plate 8 close to the end of the reel 610 to rotate, thereby driving the flexible net roll 7 to rotate, thereby driving the clamping plate 8 away from the end of the reel 610 to rotate. At this time, the outer end of the flexible net roll 7 can be prevented from rotating due to the action of the clamping main rod 813 and the clamping auxiliary rod 814, so that the flexible net roll 7 can be tightened. When the flexible net roll 7 is transported to the required net laying position, the controller 101 controls the clamping motor 811 to work, thereby driving the locking rod 812 to rotate, so that an angle is formed between the outer end of the flexible net roll 7 and the flexible net roll 7. At this time, the controller 101 controls the moving rod 9 to retract. And drive the conveying rod 901 to move, and then when the conveying camera 911 detects that the two conveying wheels 909 are respectively located on both sides of the outer end of the flexible net roll 7, the controller 101 controls the conveying rod 901 to extend, thereby driving the conveying wheel moving rod 907 to move, so that the conveying wheel moving rod 907 is close to the flexible net roll 7, and at the same time the anti-chuck disk 905 is located on the inner side of the flexible net roll 7, thereby preventing the flexible net roll 7 from being stuck with the conveying wheel 909, thereby ensuring that only one layer of the flexible net roll 7 is close to the conveying wheel 909, and further the conveying wheel moving rod 907 contracts, so that the two conveying wheels 909 clamp the outer end of the flexible net roll 7.At this time, the controller 101 controls the locking rod 812 to make the clamping main rod 813 and the clamping auxiliary rod 814 loosen the flexible mesh roll 7. At this time, the controller 101 controls the two conveying wheel motors 910 to work, thereby driving the rear conveying wheel 909 to rotate, so that the flexible mesh roll 7 rotates around the locking rod 802, thereby conveying the end of the flexible mesh roll 7 to the top of the tunneling working face. At this time, the control system control device of the tunneling machine fixes the flexible mesh roll 7 on the tunneling working face. At this time, the controller 101 controls the anti-stuck rod 902 to reciprocate and extend, so that The anti-chuck disc 905 is driven to move back and forth left and right, thereby preventing the two layers of the flexible mesh roll 7 from being clamped by the conveying wheel 909 due to gravity, thereby preventing the flexible mesh roll 7 from being clamped flat by the conveying wheel 909, thereby ensuring the safety of the flexible mesh roll 7. When the end of the flexible mesh roll 7 is close to the ground, one roll of the flexible mesh roll 7 is just used up. The flexible mesh roll 7 is prefabricated in advance according to the height of the tunnel side of the excavation working face. After the laying of one roll of the flexible mesh roll 7 is completed, the controller 101 grabs the second roll of the flexible mesh roll 7 again, thereby preparing for the next laying.

[0023] The working process of the present invention is as follows: when using the device, the staff installs the entire device at the required position. When it is necessary to lay the net, the controller 101 controls the rotary motor 202, the upper arm drive motor 301, the lower arm drive motor 402, the lower arm reversing motor 403, the reversing wrist first-level synchronous pulley 501 and the reversing wrist second-level synchronous pulley 502 to cooperate to move the clamping body 6 to a helper net storage platform close to the flexible net roll 7. Further, the controller 101 controls the electric cylinder drive motor 603 to drive the telescopic electric cylinder 604 to work, thereby driving the connecting ring 606 to move, thereby driving the square clamping slider 602 to move, thereby driving the clamping disk 8 at the right end to move, and performing In one step, the locking tube 801 is clamped into the through hole inside the flexible mesh roll 7. When the two clamping plates 8 clamp the flexible mesh roll 7, the controller 101 controls the locking rod 807 to extend, thereby driving the locking block 808 to move. Further, the controller 101 controls the clamping rod 809 to extend, thereby clamping the flexible mesh roll 7, thereby preventing the flexible mesh roll 7 from rotating. Further, the controller 101 controls the locking motor 806 to work, thereby driving the locking main gear 805 to rotate, thereby driving the locking sub-gear 804 to rotate, thereby driving the outer ring of the locking bearing 803 to rotate, thereby driving the locking rod 802 to follow the outer ring of the locking bearing 803 to rotate. At this time, the controller 101 101 can monitor the positions of the clamping main rod 813 and the clamping sub-rod 814 through the clamping camera 815, and can also monitor the outer end of the flexible mesh roll 7. Further, the controller 101 controls the clamping rod 810 to extend and retract, thereby driving the locking rod 812 to move, so that the clamping main rod 813 is close to the outer end of the flexible mesh roll 7. At this time, the controller 101 controls the locking rod 812 to retract, thereby driving the clamping sub-rod 814 to move, so that the clamping main rod 813 and the clamping sub-rod 814 can clamp the outer end of the flexible mesh roll 7. At this time, the controller 101 controls the synchronous motor 605 to work, thereby driving the synchronous main pulley 607 to rotate, thereby driving the synchronous belt 60 9 rotates, thereby driving the synchronous slave pulley 608 to rotate, thereby driving the reel 610 to rotate, thereby driving the clamping plate 8 close to the end of the reel 610 to rotate, thereby driving the flexible net roll 7 to rotate, thereby driving the clamping plate 8 away from the reel 610 to rotate, at this time, due to the action of the clamping main rod 813 and the clamping auxiliary rod 814, the outer end of the flexible net roll 7 can be prevented from rotating, so that the flexible net roll 7 can be wound up, and further the controller 101 controls the clamping motor 811 to work, thereby driving the locking rod 812 to rotate, so that an angle is formed between the outer end of the flexible net roll 7 and the flexible net roll 7, and at this time the controller 101 controls the moving rod 9 to extend and retract, thereby driving the conveying rod 901 to move,Furthermore, when the conveying camera 911 detects that the two conveying wheels 909 are respectively located on both sides of the outer end of the flexible mesh roll 7, the controller 101 controls the conveying rod 901 to extend, thereby driving the conveying wheel moving rod 907 to move, so that the conveying wheel moving rod 907 is close to the flexible mesh roll 7. At the same time, the anti-chuck disk 905 is located on the inner side of the flexible mesh roll 7, thereby preventing the flexible mesh roll 7 from being stuck with the conveying wheel 909, thereby ensuring that only one layer of the flexible mesh roll 7 is close to the conveying wheel 909. Further, the conveying wheel moving rod 907 contracts, so that the two conveying wheels 909 clamp the outer end of the flexible mesh roll 7. At this time, the controller 101 controls the lock The rod 812 causes the clamping main rod 813 and the clamping auxiliary rod 814 to loosen the flexible net roll 7. Further, the controller 101 controls the rotary motor 202 to cause the rotary base 201 to rotate around the fixed base 2. At the same time, the large arm driving motor 301 can drive the mechanical large arm 3 to rotate around the mechanical large arm reducer mounting seat 203. Further, the small arm driving motor 402 can drive the mechanical small arm 4 to move around the mechanical large arm 3. Further, the small arm reversing motor 403 can drive the mechanical small arm 4 to rotate. Further, the small arm front motor 404 can drive the small arm main gear 405 to rotate, thereby driving the small arm auxiliary gear 406 to rotate. Thereby, the outer tube 408 of the forearm is driven to rotate, thereby driving the left pulley 409 of the wrist joint to rotate, so that due to the action of the upper belt 412, the first-level synchronous pulley 501 of the reversing wrist is driven to rotate, and then the reversing wrist shaft 505 can be driven to rotate, thereby driving the reversing wrist 5 to rotate, and at the same time, the forearm reversing motor 403 can drive the inner tube 407 of the forearm to rotate, thereby driving the right pulley 410 of the wrist joint to rotate, and then driving the reversing wrist secondary synchronous pulley 502 to rotate through the lower belt 414 and the lower follower redirecting wheel 413 of the wrist joint, thereby driving the reversing main gear 507 of the clamping head to rotate, thereby driving the reversing sub-gear 508 of the clamping head to rotate, thereby driving the The head connecting disk 509 rotates, thereby driving the clamping head 503 to rotate, thereby causing the clamping body 6 to rotate, so that the clamping disk 8 can be moved to the desired position, thereby ensuring the accuracy of the laying of the net. Further, the controller 101 controls the two conveying wheel motors 910 to work, thereby driving the rear conveying wheel 909 to rotate, thereby causing the flexible mesh roll 7 to rotate around the locking rod 802, thereby transporting the end of the flexible mesh roll 7 to the top of the tunnel side of the excavation working face. At this time, the control system control device of the tunnel boring machine fixes the flexible mesh roll 7 on the tunnel side of the excavation working face. At this time, the controller 101 controls the anti-stuck rod 902 to reciprocate and extend, thereby driving the anti-stuck disk 905 to move back and forth left and right.This prevents the two layers of the flexible mesh roll 7 from being clamped by the conveying wheel 909 due to gravity, thereby preventing the flexible mesh roll 7 from being flattened by the conveying wheel 909, thereby ensuring the safety of the flexible mesh roll 7. When the end of the flexible mesh roll 7 is close to the ground, one roll of the flexible mesh roll 7 is just used up. The flexible mesh roll 7 is prefabricated in advance according to the height of the tunnel side of the excavation working face. After the laying of one roll of the flexible mesh roll 7 is completed, the controller 101 grabs the second roll of the flexible mesh roll 7 again, thereby preparing for the next laying.

[0024] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0025] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A flexible net automatic laying device for coal mine tunnel excavation working face, characterized in that: The platform (1) comprises a platform (1), the platform (1) being located on one side of a tunnel boring machine body, a controller (101) being fixed on the top of the platform (1), a driving power source (102) being fixed on the right end of the controller (101), a fixed base (2) being fastened to the top of the platform (1) by bolts, a slewing base (201) being rotatably connected to the top of the fixed base (2), a mechanical arm reducer mounting seat (203) being fixed on the top of the slewing base (201), and a rear end of the mechanical arm reducer mounting seat (203) being rotatably connected to the mechanical arm reducer (205). The bottom end (303) of the mechanical arm is connected, the bottom end (303) of the mechanical arm is fixedly connected to the mechanical arm (3), the top end of the mechanical arm (3) is rotatably connected to the mechanical arm reducer mounting seat (304), the top of the mechanical arm reducer mounting seat (304) is fixed with a mechanical arm transmission box (302), the right end of the mechanical arm transmission box (302) is rotatably connected to the mechanical arm (4), the right end of the mechanical arm (4) is provided with a reversing wrist (5), the rear end of the reversing wrist (5) is rotatably connected to a clamping head (503), A clamping body (6) is fixed inside the clamping head (503), a protective cover (601) is fixed to the left end of the clamping body (6), a square clamping slider (602) is slidably connected to the right end of the clamping body (6), a clamping disc (8) is provided inside the protective cover (601) and the square clamping slider (602), a locking tube (801) is fixed inside each of the clamping discs (8), a flexible mesh roll (7) is slidably connected to the outside of the two locking tubes (801), and the rear ends of the protective cover (601) and the square clamping slider (602) are fixed. A moving rod (9) is fixed, a conveying rod (901) is fixed at the rear end of each moving rod (9), two conveying wheels (909) are arranged on the inner side of each conveying rod (901), an anti-stuck rod (902) is arranged on the top of each conveying rod (901), an anti-stuck disk (905) is arranged on the inner side of each anti-stuck rod (902), a locking rod (802) is arranged on the outer side of each clamping disk (8), a clamping auxiliary rod (814) is arranged on the inner side of each locking rod (802), and a clamping main rod (813) is arranged on the rear end of each clamping auxiliary rod (814).

2. The automatic laying device for flexible nets in coal mine tunnel excavation working face according to claim 1, characterized in that: A rotary motor (202) is fixed on the top of the rotary base (201), and the bottom of the rotary motor (202) is rotatably connected to the fixed base reducer (204) via a rotating shaft. The bottom mounting hole of the fixed base reducer (204) is tightly connected to the fixed base (2). A large arm drive motor (301) is fixed to the front end of the mechanical large arm reducer mounting seat (203), and the large arm drive motor (301) is rotatably connected to the bottom end (303) of the mechanical large arm via a rotating shaft. A small arm drive motor (402) is fixed to the front end of the mechanical small arm reducer mounting seat (304), and the small arm drive motor (402) is rotatably connected to the top end of the mechanical large arm (3) via a mechanical small arm reducer (415). A small arm reversing motor (403) is fixed to the left end of the mechanical small arm transmission box (302), and the small arm reversing motor (403) is rotatably connected to the mechanical small arm (4) via a rotating shaft. The mechanical small arm ( 4) A mechanical wrist joint (401) is fixed at the right end, the right end of the forearm reversing motor (403) is rotatably connected to the forearm inner tube (407), the right end of the forearm inner tube (407) is fixed to a wrist joint right pulley (410), the top of the wrist joint right pulley (410) is provided with a wrist joint lower follow-up reversing wheel (413) rotatably connected to the mechanical wrist joint (401), the front end of the forearm reversing motor (403) is fixed to a forearm front motor (404), the forearm The output shaft of the front motor (404) is rotatably connected to a forearm main gear (405), the forearm main gear (405) is meshingly connected to a forearm sub-gear (406), a forearm outer tube (408) is fixed to the right end of the forearm sub-gear (406), a wrist joint left pulley (409) is fixed to the right end of the forearm outer tube (408), and a wrist joint upper follower redirecting wheel (411) is provided on the top of the wrist joint left pulley (409) and is rotatably connected to the mechanical wrist joint (401).

3. The automatic laying device for flexible nets in coal mine tunnel excavation working face according to claim 2 is characterized by: A reversing wrist primary synchronous pulley (501) is fixed inside the mechanical wrist joint (401), and the reversing wrist primary synchronous pulley (501) is meshed and connected with the wrist joint left pulley (409) via an upper belt (412). The bottom of the reversing wrist primary synchronous pulley (501) is rotatably connected with a reversing wrist shaft (505), and a reversing wrist reducer (506) is fixed at the bottom of the reversing wrist shaft (505). The inner ring of the reversing wrist reducer (506) is fixedly connected to the reversing wrist (5), and the outer ring of the bottom of the reversing wrist reducer (506) is fixedly connected to the mechanical wrist joint (401). A reversing wrist secondary synchronous pulley (502) is provided outside the reversing wrist shaft (505) and is fixedly connected to the mechanical wrist joint (401). The secondary synchronous pulley (502) of the reversing wrist is meshed and connected with the right pulley (410) of the wrist joint through a lower belt (414); the bottom of the secondary synchronous pulley (502) of the reversing wrist is rotatably connected with a clamping head reversing main gear (507); a transition flange (504) is fixed to the outside of the clamping head reversing main gear (507); the outer ring of the transition flange (504) is fixedly connected to the mechanical wrist joint (401); the bottom of the clamping head reversing main gear (507) is meshed and connected with a clamping head reversing sub-gear (508); a clamping head connecting disk (509) is fixed to the rear end of the clamping head reversing sub-gear (508); the rear end of the clamping head connecting disk (509) is rotatably connected with the clamping head (503) through a clamping jaw end rotating reducer (510).

4. The automatic laying device for flexible nets in coal mine tunnel excavation working face according to claim 1 is characterized by: A telescopic electric cylinder (604) is fixed inside the clamp body (6), an electric cylinder driving motor (603) is fixed at the front end of the telescopic electric cylinder (604), the right end of the telescopic electric cylinder (604) is fixedly connected to the square clamping slider (602) via a connecting ring (606), and the end of the square clamping slider (602) is rotationally connected to the clamping disk (8) on the right side via a positioning shaft (611).

5. The automatic laying device for flexible nets in coal mine tunnel excavation working face according to claim 4, characterized in that: A synchronous motor (605) is also fixed inside the clamp body (6); the left end of the synchronous motor (605) is rotatably connected to a synchronous main pulley (607); the rear end of the synchronous main pulley (607) is meshedly connected to a synchronous slave pulley (608) via a synchronous belt (609); a reel (610) is fixed to the right end of the synchronous slave pulley (608); and the right end of the reel (610) is fixedly connected to the clamping disk (8) on the left side.

6. The automatic laying device for flexible nets in coal mine tunnel excavation working face according to claim 5, characterized in that: A locking rod (807) is fixed on the inner side of each clamping plate (8), a locking block (808) is fixed on the inner side of each locking rod (807), and a plurality of clamping rods (809) are fixed on the outer side of each locking block (808), and each clamping rod (809) is tightly fitted with the flexible mesh roll (7) outside it.

7. The automatic laying device for flexible nets in coal mine tunnel excavation working face according to claim 6, characterized in that: A locking bearing (803) is provided on the outer side of each clamping disk (8); the inner ring of the locking bearing (803) on the left end is fixedly connected to the clamping rod (810); the inner ring of the locking bearing (803) on the right end is fixedly connected to the clamping motor (811); a locking sub-gear (804) is fixedly provided on the outer side of the outer ring of each locking bearing (803); each locking sub-gear (804) is meshingly connected to a locking main gear (805); the outer side of each locking main gear (805) is rotatably connected to a locking motor (806); the outer side of the locking motor (806) on the right end is fixedly connected to the locking rod (802); and the outer side of the locking motor (806) on the left end is fixedly connected to the protective cover (601).

8. The automatic laying device for flexible nets in coal mine tunnel excavation working face according to claim 7, characterized in that: The outer ring of each locking bearing (803) is fixedly connected to the locking rod (802) at its rear end, a clamping camera (815) is fixed to the top of each locking rod (802), a clamping rod (810) is fixed to the inner side of each locking rod (802), a clamping motor (811) is fixed to the inner side of each clamping rod (810), a locking rod (812) is rotatably connected to the inner side of each clamping motor (811), the inner front end of the fixed end of each locking rod (812) is fixedly connected to the clamping main rod (813) inside, and the rear front end of the telescopic end of each locking rod (812) is fixedly connected to the clamping auxiliary rod (814) inside.

9. The automatic laying device for flexible nets in coal mine tunnel excavation working face according to claim 1, characterized in that: An anti-stuck plate (903) is fixed on the top of each of the moving rods (9), an anti-stuck camera (904) is fixed on the top of each of the anti-stuck plates (903), each of the anti-stuck plates (903) is fixedly connected to the anti-stuck rod (902) inside it, an anti-stuck block (906) is fixed on the bottom of the inner side of each of the anti-stuck rods (902), and an anti-stuck disk (905) is rotatably connected to the top of each of the anti-stuck blocks (906).

10. The automatic laying device for flexible nets in coal mine tunnel excavation working face according to claim 9, characterized in that: A conveying wheel moving rod (907) is provided at the bottom of each anti-stuck rod (902), each conveying wheel moving rod (907) is fixedly connected to the conveying rod (901) outside thereof, a conveying camera (911) is fixedly connected to the top of each conveying wheel moving rod (907), conveying wheel positioning plates (908) are fixedly connected to the front and rear ends of each conveying wheel moving rod (907), each conveying wheel positioning plate (908) is rotatably connected to the conveying wheel (909) inside thereof via a rotating shaft, a conveying wheel motor (910) is rotatably connected to the outer side of each conveying wheel (909) at the rear end, and each conveying wheel motor (910) is fixedly connected to the conveying wheel positioning plate (908) at one end thereof.

Images