An automatic flexible mesh laying device for coal mine roadway excavation faces

Abstract

This invention relates to the field of roadway mesh laying technology and discloses an automatic flexible mesh laying device for coal mine roadway excavation faces, solving the problem of low laying efficiency. The device includes a platform with a fixed base at its top, a mechanical arm at its top, a mechanical forearm at its top, a reversing wrist at the right end of the forearm, a clamping body at its rear end, and two clamping discs at the rear end of the clamping body. A locking tube is fixed inside each clamping disc, and a flexible mesh roll is slidably connected to the outside of the two locking tubes. A conveying wheel is located at the rear end of the clamping body, and an anti-jamming disc is located at the top of each conveying wheel. This invention allows the conveying rod and anti-jamming rod to move by extending and retracting the moving rod, thus adapting to flexible mesh rolls of different diameters. Simultaneously, the extension and retraction of the conveying rod allows the conveying wheel to move, adapting to flexible mesh rolls of different widths, thereby facilitating mesh laying.

Description

Technical Field

[0001] This invention belongs to the field of roadway mesh laying technology, specifically an automatic flexible mesh laying device for coal mine roadway excavation faces. Background Technology

[0002] In the coal mining industry, tunnel excavation is a crucial preliminary engineering project, designed to create necessary passageways for subsequent coal mining, transportation, ventilation, and personnel access. With the continuous growth in demand for coal resources and the increasing depth of coal mining operations, geological conditions are becoming increasingly complex, posing numerous challenges to tunnel excavation. Therefore, deep coal mine tunneling operations require simultaneous excavation and anchoring. After excavation, a mesh is laid on the working face. This mesh laying process utilizes the principle of "self-reinforcement" of anchor bolts and cables to anchor the tunnel, thereby preventing injuries from falling rocks from the mine roof and walls, and ensuring the safety of workers within the tunnel.

[0003] However, most existing netting laying methods are done manually, which is inefficient. At the same time, the netting laying process requires workers to work at heights, which poses certain dangers and results in poor netting laying effect. In addition, most existing netting laying devices can only lay rigid top netting, and there are few reports on devices for automatically laying flexible side netting, which limits the scope of application of the equipment. Therefore, this invention proposes an automatic flexible netting laying device for coal mine roadway excavation faces. Summary of the Invention

[0004] In view of the above situation and to overcome the defects of the prior art, the present invention provides an automatic flexible mesh laying device for coal mine roadway excavation faces, which effectively solves the problems mentioned in the background.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic flexible net laying device for coal mine roadway excavation faces, comprising a platform located on one side of the tunneling machine body, a controller fixed to its top, a drive power supply fixed to the right end of the controller, a fixed base fastened to the top of the platform by bolts, a rotating base rotatably connected to the top of the fixed base, a mechanical boom reducer mounting seat fixed to the top of the rotating base, the rear end of the mechanical boom reducer mounting seat rotatably connected to the bottom end of the mechanical boom via the mechanical boom reducer, the bottom end of the mechanical boom being fixedly connected to the mechanical boom, a mechanical arm reducer mounting seat rotatably connected to the top end of the mechanical boom, a mechanical arm transmission box fixed to the top of the mechanical arm reducer mounting seat, and a mechanical arm transmission box rotatably connected to the right end of the mechanical arm transmission box. The mechanical arm has a reversing wrist at its right end, and a gripping head is rotatably connected to the rear end of the reversing wrist. A gripping body is fixed inside the gripping head, and a protective cover is fixed to the left end of the gripping body. A square clamping slider is slidably connected to the right end of the gripping body. A gripping disc is provided inside both the protective cover and the square clamping slider. A locking tube is fixed inside each gripping disc, and a flexible mesh roll is slidably connected to the outside of the two locking tubes. A moving rod is fixed to the rear end of both the protective cover and the square clamping slider. A conveying rod is fixed to the rear end of each moving rod. Two conveying wheels are provided inside each conveying rod. An anti-jamming rod is provided at the top of each conveying rod. An anti-jamming disc is provided inside each anti-jamming rod. A locking rod is provided outside each gripping disc. A clamping auxiliary rod is provided inside each locking rod. A clamping main rod is provided at the rear end of each clamping auxiliary rod.

[0006] Preferably, a rotary motor is fixed to the top of the rotary base, and the bottom of the rotary motor is rotatably connected to the fixed base reducer (204) via a rotating shaft. The bottom mounting hole of the fixed base reducer (204) is fastened to the fixed base (2). A boom drive motor is fixed to the front end of the mechanical boom reducer mounting seat, and the boom drive motor is rotatably connected to the bottom end of the mechanical boom via a rotating shaft. A forearm drive motor is fixed to the front end of the mechanical arm reducer mounting seat, and the forearm drive motor is rotatably connected to the top end of the mechanical boom via the mechanical forearm reducer. A forearm reversing motor is fixed to the left end of the mechanical forearm transmission box, and the forearm reversing motor is connected to the fixed base reducer via a rotating shaft. The forearm is rotatably connected to the rotating shaft. A mechanical wrist joint is fixed to the right end of the forearm. The inner tube of the forearm is rotatably connected to the right end of the forearm reversing motor. The right pulley of the wrist joint is fixed to the right end of the inner tube of the forearm. The wrist joint has a lower follower pulley at the top of the right pulley, which is rotatably connected to the mechanical wrist joint. A forearm front motor is fixed to the front end of the forearm. The main gear of the forearm is rotatably connected to the right end of the main gear. The secondary gear of the forearm is meshed with the secondary gear of the forearm. The outer tube of the forearm is fixed to the right end of the secondary gear. The left pulley of the wrist joint is fixed to the right end of the outer tube of the forearm. The upper follower pulley of the wrist joint is rotatably connected to the mechanical wrist joint at the top of the left pulley.

[0007] Preferably, a primary synchronous pulley for a reversing wrist is fixed inside the mechanical wrist joint. This primary synchronous pulley is meshed with the left pulley of the wrist joint via an upper belt. A reversing wrist shaft is rotatably connected to the bottom of the primary synchronous pulley. A reversing wrist reducer is fixed to the bottom of the reversing wrist shaft. 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. A secondary synchronous pulley for a reversing wrist is provided outside the reversing wrist shaft and is fixedly connected to the mechanical wrist joint. The secondary synchronous pulley of the reversing wrist is meshed with the right pulley of the wrist joint via a lower belt. The bottom of the secondary synchronous pulley of the reversing wrist is rotatably connected to the main reversing gear of the clamping head. A transition flange is fixed to the outside of the main reversing gear of the clamping head. The outer ring of the transition flange is fixedly connected to the mechanical wrist joint. The bottom of the main reversing gear of the clamping head is meshed with the secondary reversing gear of the clamping head. A clamping head connecting disc is fixed to the rear end of the secondary reversing gear of the clamping head. The rear end of the clamping head connecting disc is rotatably connected to the clamping head via a rotary reducer at the end of the gripper.

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

[0009] Preferably, a synchronous motor is also fixed inside the clamping body. A synchronous main pulley is rotatably connected to the left end of the synchronous motor. A synchronous slave pulley is engaged with the rear end of the synchronous main pulley via a synchronous belt. A reel is fixed to the right end of the synchronous slave pulley. The right end of the reel is fixedly connected to the clamping disc on the left side.

[0010] Preferably, a locking rod is fixed inside each clamping disc, a locking block is fixed inside each locking rod, and a plurality of clamping rods are fixed outside each locking block, with each clamping rod tightly fitted to the flexible mesh roll outside it.

[0011] Preferably, each of the clamping discs is provided with a locking bearing on its outer side. The inner ring of the locking bearing at the left end is fixedly connected to the clamping rod, and the inner ring of the locking bearing at the right end is fixedly connected to the clamping motor. A locking secondary gear is fixedly provided on the outer side of the outer ring of each locking bearing. Each locking secondary gear is meshed with a locking main gear. A locking motor is rotatably connected on the outer side of each locking main gear. The outer side of the locking motor at the right end is fixedly connected to the locking rod, and the outer side of the locking motor at the left end is fixedly connected to the protective cover.

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

[0013] Preferably, each of the movable rods is fixed with an anti-jamming plate at the top, each of the anti-jamming plates is fixed with an anti-jamming camera at the top, each of the anti-jamming plates is fixedly connected to the anti-jamming rod inside it, each of the anti-jamming rods is fixed with an anti-jamming block at the bottom inside, and each of the anti-jamming blocks is rotatably connected with an anti-jamming disc at the top.

[0014] Preferably, each of the anti-jamming rods is provided with a conveyor wheel moving rod at its bottom, each of the conveyor wheel moving rods is fixedly connected to the conveyor rod on its outer side, each of the conveyor wheel moving rods is fixedly provided with a conveyor camera at its top, and each of the conveyor wheel moving rods is fixedly provided with a conveyor wheel positioning plate at both its front and rear ends. Each of the conveyor wheel positioning plates is rotatably connected to the conveyor wheel inside it via a rotating shaft. Each of the rear conveyor wheels is rotatably connected to the outer side of it, and each of the conveyor wheel motors is fixedly connected to the conveyor wheel positioning plate at one end of it.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] This invention uses a rotary motor to drive a rotary base to rotate around a fixed base, and a large arm drive motor to drive the bottom end of the mechanical large arm to rotate, thereby driving the mechanical large arm to rotate around the mechanical large arm reducer mounting base. At the same time, a small arm drive motor drives the mechanical small arm to rotate around the mechanical large arm, and a small arm reversing motor drives the mechanical small arm to rotate. Furthermore, the inner tube and outer tube of the mechanical small arm cooperate to enable the mechanical wrist joint to rotate, thereby allowing the mechanical wrist joint to move to any position, thus ensuring the accuracy of net laying and improving net laying efficiency.

[0017] This invention uses a first-stage synchronous belt pulley of the reversing wrist to drive the rotating shaft of the reversing wrist, thereby driving the reversing wrist to rotate. At the same time, the second-stage synchronous belt pulley of the reversing wrist can drive the main reversing gear of the clamping head to rotate, thereby driving the reversing auxiliary gear of the clamping head to rotate, thus driving the clamping head to rotate, and thus driving the clamping body to rotate. This allows the clamping body to rotate in any direction, thereby further ensuring the efficiency and accuracy of net laying, and thus ensuring the net laying effect.

[0018] This invention uses a telescopic electric cylinder to extend and retract, which moves the connecting ring, thereby moving the square clamping slider, which in turn moves the right-end clamping disc. This allows the two clamping discs to accommodate flexible net rolls of different widths. Simultaneously, a synchronous motor drives the synchronous main pulley to rotate, which in turn drives the synchronous belt to rotate, which in turn drives the synchronous slave pulley to rotate, which in turn drives the roll shaft to rotate, which in turn drives the clamping disc to rotate. This facilitates net rolling, improves net rolling efficiency, and ensures efficient delivery of flexible net rolls.

[0019] This invention utilizes a telescopic movable rod to move the conveyor rod and anti-jamming rod, thus adapting to flexible net rolls of different diameters. Simultaneously, the telescopic conveyor rod allows the conveyor wheel to move, adapting to flexible net rolls of different widths, facilitating net laying. Furthermore, the reciprocating telescopic anti-jamming rod drives the anti-jamming disc to move back and forth, preventing the two layers of flexible net rolls from being clamped by the conveyor wheel due to gravity, thus preventing the flexible net rolls from being flattened and ensuring their safety. Additionally, the telescopic movable rod of the conveyor wheel allows the conveyor wheel positioning plate to move, adapting to flexible net rolls of different thicknesses, thereby increasing the applicability of this device and achieving the goal of saving labor.

[0020] This invention utilizes the extension and retraction of a locking rod to move a clamping rod. Simultaneously, the main clamping rod and the secondary clamping rod work together to clamp the outer end of the flexible net roll. Furthermore, the extendable and retractable locking rod clamps the flexible net roll, preventing it from rotating. Additionally, the extension and retraction of the locking rod moves the secondary clamping rod, allowing the main clamping rod and the secondary clamping rod to adapt to flexible net rolls of different thicknesses, thus further expanding the overall applicability of the device. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0022] In the attached diagram:

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the rear end of the overall structure of the present invention;

[0025] Figure 3 This is a schematic diagram of the top of the fixed base of the present invention;

[0026] Figure 4 This is a schematic diagram of the external appearance of the robotic arm of the present invention;

[0027] Figure 5 This is a schematic diagram of the interior of the robotic arm of the present invention;

[0028] Figure 6 This is a cross-sectional schematic diagram of the mechanical wrist joint of the present invention;

[0029] Figure 7 This is a schematic diagram of the internal structure of the reversing wrist of the present invention;

[0030] Figure 8 This is a schematic diagram of the rear end of the clamping device of the present invention;

[0031] Figure 9 This is a schematic diagram of the inner side of the clamping disc of the present invention;

[0032] Figure 10 This is a schematic diagram of the internal structure of the clamping device of the present invention;

[0033] Figure 11 This is a schematic diagram of the interior of the square clamping slider of the present invention;

[0034] Figure 12 This is a schematic diagram of the interior of the protective cover of the present invention;

[0035] Figure 13 This is a schematic diagram of the locking tube of the present invention;

[0036] Figure 14 This is a schematic diagram of the rear end of the protective cover of the present invention;

[0037] Figure 15 This is a schematic diagram of the front end of the anti-jamming rod of the present invention;

[0038] Figure 16 This is a schematic diagram of the inner side of the locking rod of the present invention.

[0039] In the diagram: 1-Platform; 2-Fixed base; 3-Mechanical upper arm; 4-Mechanical lower arm; 5-Reversing wrist; 6-Clamping body; 7-Flexible mesh roll; 8-Clamping disc; 9-Moving rod; 101-Controller; 102-Drive power supply; 201-Rotating base; 202-Rotating motor; 203-Mechanical upper arm reducer mounting base; 204-Fixed base reducer; 205-Mechanical upper arm reducer; 301-Upper arm drive motor; 302-Mechanical lower arm transmission box; 303-Bottom end of mechanical upper arm; 304-Mechanical lower arm reducer mounting base; 401-Mechanical wrist joint; 40 2-Forearm drive motor; 403-Forearm reversing motor; 404-Forearm front motor; 405-Forearm main gear; 406-Forearm auxiliary gear; 407-Forearm inner tube; 408-Forearm outer tube; 409-Wrist joint left pulley; 410-Wrist joint right pulley; 411-Wrist joint upper follower pulley; 412-Upper belt; 413-Wrist joint lower follower pulley; 414-Lower belt; 415-Mechanical forearm reducer; 501-Reversing wrist primary synchronous belt pulley; 502-Reversing wrist secondary synchronous belt pulley; 503-Clamping head; 504-Transition flange; 505-Reversing... Wrist pivot; 506-Reversing wrist reducer; 507-Clamping head reversing main gear; 508-Clamping head reversing secondary gear; 509-Clamping head connecting disc; 510-Grip end rotary 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 driven pulley; 609-Synchronous belt; 610-Spindle; 611-Positioning shaft; 801-Locking tube; 802-Locking rod; 803-Locking bearing; 804-Locking pair 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 secondary rod; 815 - Clamping camera; 901 - Conveying rod; 902 - Anti-jamming rod; 903 - Anti-jamming plate; 904 - Anti-jamming camera; 905 - Anti-jamming disc; 906 - Anti-jamming block; 907 - Conveying wheel moving rod; 908 - Conveying wheel positioning plate; 909 - Conveying wheel; 910 - Conveying wheel motor; 911 - Conveying camera. Detailed Implementation

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] Example 1, by Figures 1-3 、 Figure 6 、 Figures 8-10 、 Figures 13-14The present invention discloses an automatic flexible mesh laying device for a coal mine roadway excavation face, comprising a platform 1 made of alloy steel, which supports the entire device. The platform 1 is located on one side of the tunneling machine, and a controller 101 is fixed on its top. The controller 101 is connected to the control mechanism of the tunneling machine via a signal connection and controls the entire device. A drive power supply 102 is fixed to the right end of the controller 101 and is electrically connected to the power supply system on the tunneling machine, providing the necessary power to the entire device. A fixed base 2, also made of alloy steel, is bolted to the top of the platform 1. For supporting the entire device, a rotating base 201 is rotatably connected to the top of the fixed base 2. The rotating base 201 is made of alloy steel. A mechanical boom reducer mounting seat 203, also made of alloy steel, is fixed to the top of the rotating base 201. The mechanical boom reducer mounting seat 203 is used to mount the boom drive motor 301 and the mechanical boom reducer 205. The rear end of the mechanical boom reducer mounting seat 203 is rotatably connected to the bottom end 303 of the mechanical boom through the mechanical boom reducer 205. The bottom end 303 of the mechanical boom is made of alloy steel and forms the mechanical boom 3. The bottom end 303 of the mechanical boom is fixedly connected to the mechanical boom 3, which is made of alloy steel. A mechanical arm reducer mounting base 304, also made of alloy steel, is rotatably connected to the top of the mechanical boom 3. The mechanical arm reducer mounting base 304 is used to mount the arm drive motor 402 and the arm reducer 415. A mechanical arm transmission box 302, made of alloy steel, is fixed to the top of the mechanical arm reducer mounting base 304. The mechanical arm transmission box 302 is used to mount the arm reversing motor 403. The right end of the mechanical arm transmission box 302 is rotatably connected to the mechanical arm 4. The forearm 4 is made of alloy steel and is used to position the inner tube 407. A reversing wrist 5, also made of alloy steel, is located at the right end of the forearm 4 and is used to position the gripping head 503. The gripping head 503, also made of alloy steel, is rotatably connected to the rear end of the reversing wrist 5 and is used to position the gripping body 6. The gripping body 6, also made of alloy steel, is fixed inside the gripping head 503 and is used to position the protective cover 601 and the square clamping slider 602. A protective cover 601, also made of alloy steel, is fixed to the left end of the gripping body 6.The protective cover 601 is used to position the synchronous main pulley 607 and the synchronous slave pulley 608. A square clamping slider 602 is slidably connected to the right end of the clamping body 6. The square clamping slider 602 is made of alloy steel. The square clamping slider 602 can drive the right end clamping plate 8 to move by moving. Both the protective cover 601 and the square clamping slider 602 are provided with clamping plates 8 on their inner sides. The clamping plates 8 are made of alloy steel. The clamping plates 8 are used to clamp the flexible wire roll 7. A locking tube 801 is fixed inside each clamping plate 8. The locking tube 801 is made of alloy steel. 801 is used to position the flexible net roll 7. The two locking tubes 801 are slidably connected to the flexible net roll 7. The protective cover 601 and the square clamping slider 602 both have a movable rod 9 fixed to their rear ends. The movable rod 9 is telescopic, thereby driving the conveying rod 901 and the anti-jamming rod 902 to move, thus adapting to flexible net rolls 7 of different diameters. Each movable rod 9 has a conveying rod 901 fixed to its rear end. The conveying rod 901 is telescopic, allowing the conveying wheel 909 to move, thus adapting to flexible net rolls 7 of different widths. Each conveying rod 901 has two conveying wheels 909 on its inner side. Made of alloy steel, the conveyor wheel 909 is used to convey the flexible net roll 7, facilitating net laying. Each conveyor rod 901 has an anti-jamming rod 902 at its top. The anti-jamming rod 902 is retractable, which can move the anti-jamming disc 905 to prevent the flexible net roll 7 from rolling together with the conveyor wheel 909, thus ensuring the stability of the conveyor wheel 909 in conveying the flexible net roll 7. Each anti-jamming rod 902 has an anti-jamming disc 905 on its inner side. The anti-jamming disc 905 is used to support the flexible net roll 7, so that the top of the flexible net roll 7 does not contact the conveyor wheel 909, thereby preventing the two layers of flexible net roll 7 from rolling together. The flexible mesh roll 7 simultaneously enters between the two conveyor wheels 909, thereby preventing it from bending and ensuring its safety. Each clamping disc 8 has a locking rod 802 on its outer side, which is retractable and can move the clamping rod 810. Each locking rod 802 has a clamping auxiliary rod 814 on its inner side, made of alloy steel. Each clamping auxiliary rod 814 has a clamping main rod 813 at its rear end, also made of alloy steel. The clamping main rod 813 and the clamping auxiliary rod 814 cooperate to clamp the outer end of the flexible mesh roll 7.

[0042] Example 2, based on Example 1, is... Figures 4-5 , Figure 7 , Figures 11-12As shown, a rotary motor 202 is fixed to the top of the rotary base 201. The rotary motor 202 can drive the rotary base 201 to rotate around the fixed base 2, thereby realizing reversal. 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 fastened to the fixed base 2 of the rotary base. A boom drive motor 301 is fixed to the front end of the boom reducer mounting base 203. The boom drive motor 301 can drive the bottom end 303 of the boom to rotate. The boom drive motor 301 is rotatably connected to the bottom end 303 of the boom via a rotating shaft. A forearm is fixed to the front end of the forearm reducer mounting base 304. A drive motor 402 drives the mechanical forearm 4 to rotate around the mechanical upper arm 3. The forearm drive motor 402 is rotatably connected to the top end of the mechanical upper arm 3 via a mechanical forearm reducer 415. A forearm reversing motor 403 is fixed to the left end of the mechanical forearm transmission box 302, which drives the mechanical forearm 4 to rotate. The forearm reversing motor 403 is rotatably connected to the mechanical forearm 4 via 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 and is used to position the first-stage synchronous pulley 501 of the reversing wrist. The right end of the forearm reversing motor 403 is rotatably connected to the mechanical upper arm 3. A forearm inner tube 407 is connected to the forearm reversing motor 403, which can drive the forearm inner tube 407 to rotate. A wrist joint right pulley 410 is fixed to the right end of the forearm inner tube 407, which can drive the wrist joint right pulley 410 to rotate. A wrist joint lower follower pulley 413 is provided at the top of the wrist joint right pulley 410 and is rotatably connected to the mechanical wrist joint 401. The wrist joint right pulley 410 can drive the wrist joint lower follower pulley 413 to rotate via an upper belt 412, thereby driving the first-stage synchronous pulley of the reversing wrist to rotate. A forearm front motor 404 is fixed to the front end of the forearm 403. A forearm main gear 405 is rotatably connected to the right end of the forearm front motor 404, and the forearm main gear 405 is meshed with a... The forearm auxiliary gear 406 has a forearm outer tube 408 fixed to its right end, and a wrist joint left pulley 409 fixed to the right end of the forearm outer tube 408. The wrist joint left pulley 409 has an upper follower pulley 411 at its top, which is 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 auxiliary gear 406 to rotate, which in turn drives the forearm outer tube 408 to rotate, which in turn drives the wrist joint left pulley 409. Furthermore, through the upper follower pulley 411 and the lower belt 414, the reversing wrist secondary synchronous pulley 502 can be driven to rotate. The mechanical wrist joint 401 has a reversing wrist primary synchronous pulley 501 fixed inside.The first-stage synchronous pulley 501 of the reversing wrist is meshed with the left pulley 409 of the wrist joint via an upper belt 412. A reversing wrist shaft 505 is rotatably connected to the bottom of the first-stage synchronous pulley 501. A reversing wrist reducer 506 is fixed to 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 first-stage synchronous pulley 501 can drive the reversing wrist shaft 505 to rotate, thereby driving the reversing wrist 5 to rotate. The outer ring of the bottom of the reversing wrist reducer 506 is fixedly connected to the mechanical wrist joint 401. A second-stage synchronous pulley 502 of the reversing wrist is provided outside the reversing wrist shaft 505 and is fixedly connected to the mechanical wrist joint 401. The reversing wrist secondary synchronous pulley 502 is meshed with the right pulley 410 of the wrist joint via a lower belt 414. A clamping head reversing main gear 507 is rotatably connected to the bottom of the reversing wrist secondary synchronous pulley 502. A transition flange 504 is fixed to the outside of the clamping head reversing main gear 507, and the outer ring of the transition flange 504 is fixedly connected to the mechanical wrist joint 401. A clamping head reversing secondary gear 508 is meshed with the bottom of the clamping head reversing main gear 507. The reversing wrist secondary synchronous pulley 502 can drive the clamping head reversing main gear 507 to rotate, thereby driving the clamping head reversing secondary gear 508 to rotate. A clamping head connecting disc is fixed to the rear end of the clamping head reversing secondary gear 508. 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 via a jaw end rotary reducer 510. A telescopic electric cylinder 604 is fixed inside the clamping body 6. The telescopic electric cylinder 604 is telescopic, thereby driving the connecting ring 606 to move, thereby driving the square clamping slider 602 to move. An electric cylinder drive motor 603 is fixed to the front end of the telescopic electric cylinder 604. The electric cylinder drive 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 via the connecting ring 606. The left end of the square clamping slider 602 is fixedly connected to the connecting ring 606. The clamping body 6 is rotatably connected to the right-side clamping disk 8 via a positioning shaft 611. A synchronous motor 605 is also fixed inside the clamping body 6. The synchronous motor 605, by rotating, drives the synchronous main pulley 607 to rotate. The left end of the synchronous motor 605 is rotatably connected to the synchronous main pulley 607. The rear end of the synchronous main pulley 607 is engaged with 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. The rotation of the synchronous main pulley 607 drives the synchronous belt 609 to rotate, thereby driving the synchronous slave pulley 608 to rotate, and further driving the reel 610 to rotate. The right end of the reel 610 is fixedly connected to the left-side clamping disk 8.

[0043] When using this device, the operator installs the entire device in the required position. When netting needs to be laid, the controller 101 controls the rotary motor 202, the boom drive motor 301, the forearm drive motor 402, the forearm reversing motor 403, the first-stage synchronous pulley 501 of the reversing wrist, and the second-stage synchronous pulley 502 of the reversing wrist to move the clamping body 6 closer to the netting storage platform containing the flexible netting roll 7. Furthermore, the controller 101 controls the electric cylinder drive motor 603 to drive the telescopic electric cylinder 604, thereby moving the connecting ring 606. This causes the square clamping slider 602 to move, which in turn moves the clamping disc 8 at the right end, further causing the locking tube 801 to engage with the through hole inside the flexible net roll 7. Furthermore, the controller 101 controls the entire device to clamp the flexible net roll 7. The controller 101 also controls the rotary motor 202 to rotate the rotary base 201 around the fixed base 2. Simultaneously, the boom drive motor 301 drives the mechanical boom 3 to rotate around the mechanical boom reducer mounting base 203. Furthermore, the forearm drive motor 402 drives the... The mechanical forearm 4 moves around the mechanical upper arm 3. Further, the forearm reversing motor 403 drives the forearm 4 to rotate. The forearm front motor 404 drives the forearm main gear 405 to rotate, which in turn drives the forearm secondary gear 406 to rotate, which in turn drives the forearm outer tube 408 to rotate, which in turn drives the left pulley 409 of the wrist joint to rotate. Due to the action of the upper belt 412, the first-stage synchronous pulley 501 of the reversing wrist rotates, which in turn drives the reversing wrist shaft 505 to rotate, thereby driving the reversing wrist 5 to rotate. Simultaneously, through the forearm... The reversing motor 403 can drive the inner tube 407 of the forearm to rotate, which in turn drives the right pulley 410 of the wrist joint to rotate. This, in turn, drives the secondary synchronous pulley 502 of the reversing wrist to rotate through the lower belt 414 and the lower follower pulley 413 of the wrist joint. This, in turn, drives the main reversing gear 507 of the clamping head to rotate, which in turn drives the secondary reversing gear 508 of the clamping head to rotate, which in turn drives the connecting disc 509 of the clamping head to rotate, which in turn drives the clamping head 503 to rotate. This causes the clamping body 6 to rotate, allowing the clamping disc 8 to move to the required position, thereby ensuring the accuracy of net laying.

[0044] Example 3, based on Example 1, is... Figures 15-16Each clamping disc 8 has a locking rod 807 fixed inside, which is telescopic, thereby moving the locking block 808. Each locking rod 807 has a locking block 808 fixed inside, made of alloy steel, which positions the clamping rod 809. Several clamping rods 809 are fixed outside each locking block 808, which are telescopic, to clamp the flexible mesh roll 7, preventing it from rotating. Each clamping rod 809 fits tightly against the flexible mesh roll 7 outside. Each clamping disc 8 has a locking bearing 803 on its outer side, which positions the locking rod 802. The left end... The inner ring of the locking bearing 803 is fixedly connected to the clamping rod 810. The inner ring of the right end of the locking bearing 803 is fixedly connected to the clamping motor 811. A locking secondary gear 804 is fixedly attached to the outer side of the outer ring of each locking bearing 803. The locking secondary gear 804 can drive the outer ring of the locking bearing 803 to rotate by rotation. Each locking secondary gear 804 is meshed with a locking main gear 805. The locking main gear 805 can drive the locking secondary gear 804 to rotate. A locking motor 806 is rotatably connected to the outer side of each locking main gear 805. The locking motor 806 can drive the locking main gear 805 to rotate. The outer side of the right end of the locking motor 806 is fixedly connected to the locking rod 802. The left end of the locking motor... 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 fixedly fixed to the top of each locking rod 802. The clamping camera 815 is used to monitor the clamping status of the locking rod 812. A clamping rod 810 is fixedly fixed to the inner side of each locking rod 802. The clamping rod 810 is telescopic, thereby driving the clamping motor 811 to move. A clamping motor 811 is fixedly fixed to the inner side of each clamping rod 810. The clamping motor 811 can drive the locking rod 812 to rotate. A locking rod 812 is rotatably connected to the inner side of each clamping motor 811. The locking rod 812 is telescopic, thereby driving the clamping auxiliary rod 814 to move. This allows the clamping main rod 813 and the clamping auxiliary rod 814 to adapt to flexible mesh rolls 7 of different thicknesses. The inner front end of the fixed end of each locking rod 812 is fixedly connected to the inner clamping main rod 813, and the rear front end of the telescopic end of each locking rod 812 is fixedly connected to the inner clamping auxiliary rod 814. An anti-jamming plate 903 is fixed to the top of each moving rod 9. The anti-jamming plate 903 is made of alloy steel and is used to fix the anti-jamming rod 902. An anti-jamming camera 904 is fixed to the top of each anti-jamming plate 903 and is used to monitor the movement of the anti-jamming disc 905. Each anti-jamming plate 903 is fixedly connected to the inner anti-jamming rod 902.Each anti-jamming rod 902 has an anti-jamming block 906 fixed to its inner bottom. The anti-jamming block 906 is used to position the anti-jamming disc 905. The top of each anti-jamming block 906 is rotatably connected to the anti-jamming disc 905. Each anti-jamming rod 902 has a conveyor wheel moving rod 907 at its bottom. The conveyor wheel moving rod 907 is telescopic, thereby driving the conveyor wheel positioning plate 908 to move, thus adapting to the flexible mesh roll 7 of different thicknesses. Each conveyor wheel moving rod 907 is fixedly connected to the conveyor rod 901 on its outer side. Each conveyor wheel moving rod 907 has a conveyor camera 911 fixed to its top. The conveyor camera 911 is used for... The conveying status of the conveyor wheels 909 is monitored. Each conveyor wheel moving rod 907 has a conveyor wheel positioning plate 908 fixed at both its front and rear ends. The conveyor wheel positioning plate 908 is made of alloy steel and is used to position the conveyor wheels 909. Each conveyor wheel positioning plate 908 is rotatably connected to the conveyor wheel 909 inside it via a rotating shaft. A conveyor wheel motor 910 is rotatably connected to the outer side of each conveyor wheel 909 at its rear end. The conveyor wheel motor 910 can drive the rear conveyor wheel 909 to rotate. Each conveyor wheel motor 910 is fixedly connected to one end of the conveyor wheel positioning plate 908.

[0045] When the two clamping discs 8 clamp the flexible web 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 web roll 7 and preventing it from rotating. Further, the controller 101 controls the locking motor 806 to operate, thereby driving the locking main gear 805 to rotate, which in turn drives the locking secondary gear 804 to rotate, thereby driving the outer ring of the locking bearing 803 to rotate, thus causing the locking rod 802 to rotate along with the outer ring of the locking bearing 803. At this time, the controller 101 can monitor the clamping action through the clamping camera 815. The controller 101 monitors the positions of the main clamping rod 813 and the clamping auxiliary rod 814, and simultaneously monitors the outer end of the flexible web roll 7. Further, the controller 101 controls the extension and retraction of the clamping rod 810, thereby moving the locking rod 812. This causes the main clamping rod 813 to approach the outer end of the flexible web roll 7. At this time, the controller 101 controls the locking rod 812 to retract, thereby moving the clamping auxiliary rod 814. This allows the main clamping rod 813 and the clamping auxiliary rod 814 to clamp the outer end of the flexible web roll 7. Simultaneously, the controller 101 controls the synchronous motor 605 to operate, thereby driving the synchronous main pulley 607 to rotate, which in turn drives the synchronous belt 609 to rotate, thus driving the synchronous slave pulley... The pulley 608 rotates, thereby driving the roller 610 to rotate, which in turn drives the clamping disc 8 near the roller 610 to rotate, which in turn drives the flexible net roll 7 to rotate, which in turn drives the clamping disc 8 away from the roller 610 to rotate. At this time, the clamping main rod 813 and the clamping auxiliary rod 814 prevent the outer end of the flexible net roll 7 from rotating, thereby tightening the flexible net roll 7. 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 extension and retraction of the moving rod 9, from The conveyor rod 901 moves, and when the conveyor camera 911 detects that the two conveyor wheels 909 are located on both sides of the outer end of the flexible net roll 7, the controller 101 controls the conveyor rod 901 to extend, thereby driving the conveyor wheel moving rod 907 to move, so that the conveyor wheel moving rod 907 is in close contact with the flexible net roll 7. At the same time, the anti-jamming disc 905 is located on the inner side of the flexible net roll 7, thereby preventing the flexible net roll 7 from jamming with the conveyor wheel 909, thus ensuring that only one layer of the flexible net roll 7 is in close contact with the conveyor wheel 909. Furthermore, the conveyor wheel moving rod 907 retracts, thereby clamping the two conveyor wheels 909 between the outer ends of the flexible net roll 7.At this time, the controller 101 controls the locking rod 812 to loosen the flexible mesh roll 7 by the clamping main rod 813 and the clamping auxiliary rod 814. The controller 101 then controls the two conveyor wheel motors 910 to operate, thereby driving the rear conveyor wheel 909 to rotate. This causes the flexible mesh roll 7 to rotate around the locking rod 802, thus conveying the end of the flexible mesh roll 7 to the top of the tunnel face. The tunneling machine's control system then fixes the flexible mesh roll 7 to the tunnel face. The controller 101 then controls the anti-jamming rod 902 to reciprocate, thereby… The anti-jamming disc 905 moves back and forth, preventing the two layers of flexible mesh roll 7 from being clamped by the conveyor wheel 909 due to gravity, thus preventing the flexible mesh roll 7 from being flattened by the conveyor wheel 909 and 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 flexible mesh roll 7 is used up. The flexible mesh roll 7 is prefabricated according to the height of the tunnel face. After the laying of one roll of flexible mesh roll 7 is completed, the controller 101 grabs the second roll of flexible mesh roll 7, thus preparing for the next laying.

[0046] The workflow of this invention is as follows: When using this device, the operator installs the entire device in the required position. When netting needs to be laid, the controller 101 controls the rotary motor 202, the boom drive motor 301, the forearm drive motor 402, the forearm reversing motor 403, the first-stage synchronous pulley 501 of the reversing wrist, and the second-stage synchronous pulley 502 of the reversing wrist to move the clamping body 6 closer to the netting storage platform containing the flexible netting roll 7. Further, the controller 101 controls the electric cylinder drive motor 603 to drive the telescopic electric cylinder 604, thereby moving the connecting ring 606, which in turn moves the square clamping slider 602, thereby moving the clamping disc 8 on the right end. The first step involves engaging the locking tube 801 into the through hole inside the flexible web roll 7. When the two clamping discs 8 clamp the flexible web roll 7, the controller 101 controls the locking rod 807 to extend, thereby moving the locking block 808. Further, the controller 101 controls the clamping rod 809 to extend, thereby clamping the flexible web roll 7 and preventing it from rotating. Further still, the controller 101 controls the locking motor 806 to operate, thereby driving the locking main gear 805 to rotate, which in turn drives the locking secondary gear 804 to rotate, thereby driving the outer ring of the locking bearing 803 to rotate, which in turn drives the locking rod 802 to rotate along with the outer ring of the locking bearing 803. At this time, the controller... The clamping camera 815 can monitor the positions of the clamping main rod 813 and the clamping auxiliary rod 814, and simultaneously monitor the outer end of the flexible net roll 7. Furthermore, the controller 101 controls the extension and retraction of the clamping rod 810, thereby moving the locking rod 812, causing the clamping main rod 813 to approach the outer end of the flexible net roll 7. At this time, the controller 101 controls the locking rod 812 to retract, thereby moving the clamping auxiliary rod 814, allowing the clamping main rod 813 and the clamping auxiliary rod 814 to clamp the outer end of the flexible net roll 7. Simultaneously, the controller 101 controls the synchronous motor 605 to operate, thereby driving the synchronous main pulley 607 to rotate, which in turn drives the synchronous belt 60... The rotation of rod 9 causes the synchronous pulley 608 to rotate, which in turn causes the roller 610 to rotate, which in turn causes the clamping disc 8 near the roller 610 to rotate, which in turn causes the flexible web roll 7 to rotate, which in turn causes the clamping disc 8 away from the roller 610 to rotate. At this time, the clamping main rod 813 and the clamping auxiliary rod 814 prevent the outer end of the flexible web roll 7 from rotating, thus tightening the flexible web roll 7. Furthermore, the controller 101 controls the clamping motor 811 to work, which drives the locking rod 812 to rotate, so that the outer end of the flexible web roll 7 forms an angle with the flexible web roll 7. At this time, the controller 101 controls the extension and retraction of the moving rod 9, which in turn drives the conveying rod 901 to move.Then, when the conveyor camera 911 detects that the two conveyor wheels 909 are respectively located on both sides of the outer end of the flexible net roll 7, the controller 101 controls the conveyor rod 901 to extend, thereby driving the conveyor wheel moving rod 907 to move, so that the conveyor wheel moving rod 907 is in close contact with the flexible net roll 7. At the same time, the anti-jamming disc 905 is located on the inner side of the flexible net roll 7, thereby preventing the flexible net roll 7 from jamming with the conveyor wheel 909, thus ensuring that only one layer of the flexible net roll 7 is in close contact with the conveyor wheel 909. Further, the conveyor wheel moving rod 907 retracts, thereby clamping the two conveyor wheels 909 to the outer end of the flexible net roll 7. At this time, the controller 101 controls the lock. Rod 812 causes the clamping main rod 813 and the clamping secondary rod 814 to release the flexible net roll 7. Furthermore, the controller 101 controls the rotary motor 202 to cause the rotary base 201 to rotate around the fixed base 2. Simultaneously, the boom drive motor 301 drives the mechanical boom 3 to rotate around the mechanical boom reducer mounting base 203. Furthermore, the forearm drive motor 402 drives the mechanical forearm 4 to move around the mechanical boom 3. Furthermore, the forearm reversing motor 403 drives the mechanical forearm 4 to rotate. Furthermore, the forearm front motor 404 drives the forearm main gear 405 to rotate, thereby driving the forearm secondary gear 406 to rotate. This causes the forearm outer tube 408 to rotate, which in turn causes the left pulley 409 of the wrist joint to rotate. The upper belt 412 then causes the first-stage synchronous pulley 501 of the reversing wrist to rotate, which in turn causes the reversing wrist shaft 505 to rotate, thus causing the reversing wrist 5 to rotate. Simultaneously, the forearm reversing motor 403 causes the forearm inner tube 407 to rotate, which in turn causes the right pulley 410 of the wrist joint to rotate. This, in turn, via the lower belt 414 and the lower follower pulley 413 of the wrist joint, causes the second-stage synchronous pulley 502 of the reversing wrist to rotate, which in turn causes the main reversing gear 507 of the clamping head to rotate, which in turn causes the secondary reversing gear 508 of the clamping head to rotate, thus causing the clamping... The rotating head connecting disc 509 drives the rotating clamping head 503, which in turn rotates the clamping body 6, allowing the clamping disc 8 to move to the desired position, thus ensuring the accuracy of the netting. Furthermore, the controller 101 controls the two conveyor wheel motors 910 to operate, thereby driving the rear conveyor wheel 909 to rotate, causing the flexible net roll 7 to rotate around the locking rod 802, thus conveying the end of the flexible net roll 7 to the top of the tunnel face. At this time, the tunneling machine's control system controls the equipment to fix the flexible net roll 7 to the tunnel face. The controller 101 then controls the anti-jamming rod 902 to reciprocate, thereby driving the anti-jamming disc 905 to move back and forth.This prevents the two layers of flexible mesh roll 7 from being clamped by the conveyor wheel 909 due to gravity, thus preventing the flexible mesh roll 7 from being flattened by the conveyor wheel 909 and 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 flexible mesh roll 7 is used up. The flexible mesh roll 7 is prefabricated according to the height of the tunnel face. After the laying of one roll of flexible mesh roll 7 is completed, the controller 101 grabs a second roll of flexible mesh roll 7 to prepare for the next laying.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic flexible mesh laying device for coal mine roadway excavation faces, characterized in that: The platform (1) is located on one side of the tunneling machine body. A controller (101) is fixed on its top. A drive power supply (102) is fixed on the right end of the controller (101). A fixed base (2) is fastened to the top of the platform (1) by bolts. A slewing platform (201) is rotatably connected to the top of the fixed base (2). A mechanical boom reducer mounting seat (203) is fixed to the top of the slewing platform (201). The rear end of the mechanical boom reducer mounting seat (203) is rotatably connected to the mechanical boom reducer (205). The bottom end of the mechanical arm (303) is connected to the bottom end of the mechanical arm (3), and the bottom end of the mechanical arm (3) 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 base (304). The top of the mechanical arm reducer mounting base (304) is fixed to the 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). The clamping head (503) has a clamping body (6) fixed inside. 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 on the inner side of both the protective cover (601) and the square clamping slider (602). A locking tube (801) is fixed on the inner side of each clamping disc (8). A flexible mesh roll (7) is slidably connected to the outside of the two locking tubes (801). The rear ends of both the protective cover (601) and the square clamping slider (602) are fixed. Each moving rod (9) is fixed with a conveying rod (901) at its rear end. Each conveying rod (901) has two conveying wheels (909) on its inner side. Each conveying rod (901) has an anti-jamming rod (902) at its top. Each anti-jamming rod (902) has an anti-jamming disc (905) on its inner side. Each clamping disc (8) has a locking rod (802) on its outer side. Each locking rod (802) has a clamping auxiliary rod (814) on its inner side. Each clamping auxiliary rod (814) has a clamping main rod (813) at its rear end.

2. The automatic flexible mesh laying device for coal mine roadway excavation faces according to claim 1, characterized in that: A rotary motor (202) is fixed to the top of the rotary base (201). The bottom of the rotary motor (202) is rotatably connected to the fixed base reducer (204) via a rotating shaft. The mounting hole at the bottom of the fixed base reducer (204) is fastened to the fixed base (2). A boom drive motor (301) is fixed to the front end of the boom reducer mounting base (203). The boom drive motor (301) is rotatably connected to the bottom end (303) of the boom via a rotating shaft. A forearm drive motor (402) is fixed to the front end of the forearm reducer mounting base (304). The forearm drive motor (402) is rotatably connected to the top end of the boom (3) via a forearm reducer (415). A forearm reversing motor (403) is fixed to the left end of the forearm transmission box (302). The forearm reversing motor (403) is rotatably connected to the forearm (4) via a rotating shaft. 4) A mechanical wrist joint (401) is fixed at the right end. The forearm reversing motor (403) is rotatably connected to the forearm inner tube (407) at the right end. The right end of the forearm inner tube (407) is fixed to the right pulley of the wrist joint (410). The top of the right pulley of the wrist joint (410) is provided with a wrist joint lower follower redirection wheel (413) which is rotatably connected to the mechanical wrist joint (401). The front end of the forearm reversing motor (403) is fixed to the front motor of the forearm (404). The forearm... The output shaft of the front motor (404) is rotatably connected to the forearm main gear (405), the forearm main gear (405) is meshed with the forearm auxiliary gear (406), the right end of the forearm auxiliary gear (406) is fixed with the forearm outer tube (408), the right end of the forearm outer tube (408) is fixed with the wrist joint left pulley (409), the top of the wrist joint left pulley (409) is provided with a wrist joint follower redirection wheel (411) which is rotatably connected to the mechanical wrist joint (401).

3. The automatic flexible mesh laying device for coal mine roadway excavation faces according to claim 2, characterized in that: The mechanical wrist joint (401) has a first-stage synchronous pulley (501) fixed inside. The first-stage synchronous pulley (501) is meshed with the left pulley (409) of the wrist joint via an upper belt (412). The bottom of the first-stage synchronous pulley (501) is rotatably connected to a reversing wrist shaft (505). The bottom of the reversing wrist shaft (505) is fixed with a reversing wrist reducer (506). 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). The reversing wrist shaft (505) is provided with a second-stage synchronous pulley (502) outside, which is fixedly connected to the mechanical wrist joint (401). The wrist secondary synchronous pulley (502) is meshed with the right pulley (410) of the wrist joint via a lower belt (414). The bottom of the wrist secondary synchronous pulley (502) is rotatably connected to the main gear (507) of the gripping head. A transition flange (504) is fixed to the outside of the main gear (507) of the gripping head. The outer ring of the transition flange (504) is fixedly connected to the mechanical wrist joint (401). The bottom of the main gear (507) of the gripping head is meshed with the secondary gear (508) of the gripping head. The rear end of the secondary gear (508) of the gripping head is fixed with the gripping head connecting disc (509). The rear end of the gripping head connecting disc (509) is rotatably connected to the gripping head (503) via a rotary reducer (510) at the end of the gripper.

4. The automatic flexible mesh laying device for coal mine roadway excavation faces according to claim 1, characterized in that: The clamping body (6) has a telescopic electric cylinder (604) fixed inside. The front end of the telescopic electric cylinder (604) is fixed with an electric cylinder drive motor (603). The right end of the telescopic electric cylinder (604) is fixedly connected to the square clamping slider (602) through a connecting ring (606). The end of the square clamping slider (602) is rotatably connected to the clamping disk (8) on the right side through a positioning shaft (611).

5. The automatic flexible mesh laying device for coal mine roadway excavation faces according to claim 4, characterized in that: The clamping body (6) is also fixed with a synchronous motor (605). 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 engaged with a synchronous slave pulley (608) via a synchronous belt (609). The right end of the synchronous slave pulley (608) is fixed with a reel (610). The right end of the reel (610) is fixedly connected to the clamping disc (8) on the left side.

6. The automatic flexible mesh laying device for coal mine roadway excavation faces according to claim 5, characterized in that: Each clamping disc (8) has a locking rod (807) fixed inside, a locking block (808) fixed inside each locking rod (807), and a plurality of clamping rods (809) fixed outside each locking block (808). Each clamping rod (809) is tightly fitted to the flexible mesh roll (7) outside it.

7. The automatic flexible mesh laying device for coal mine roadway excavation faces according to claim 6, characterized in that: Each clamping disc (8) is provided with a locking bearing (803) on its outer side. The inner ring of the left-end locking bearing (803) is fixedly connected to the clamping rod (810), and the inner ring of the right-end locking bearing (803) is fixedly connected to the clamping motor (811). A locking secondary gear (804) is fixedly attached to the outer side of the outer ring of each locking bearing (803). Each locking secondary gear (804) is meshed with a locking main gear (805). A locking motor (806) is rotatably connected to the outer side of each locking main gear (805). The outer side of the right-end locking motor (806) is fixedly connected to the locking rod (802), and the outer side of the left-end locking motor (806) is fixedly connected to the protective cover (601).

8. The automatic flexible mesh laying device for coal mine roadway excavation faces 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 fixedly fixed to the top of each locking rod (802). A clamping rod (810) is fixedly fixed to the inner side of each locking rod (802). A clamping motor (811) is fixedly 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) on its inner side. The rear front end of the telescopic end of each locking rod (812) is fixedly connected to the clamping auxiliary rod (814) on its inner side.

9. The automatic flexible mesh laying device for coal mine roadway excavation faces according to claim 1, characterized in that: Each of the moving rods (9) is fixed with an anti-jamming plate (903) at the top, and an anti-jamming camera (904) is fixed with the top of each anti-jamming plate (903). Each anti-jamming plate (903) is fixedly connected to the anti-jamming rod (902) on its inner side. An anti-jamming block (906) is fixed to the bottom of the inner side of each anti-jamming rod (902). An anti-jamming disc (905) is rotatably connected to the top of each anti-jamming block (906).

10. The automatic flexible mesh laying device for coal mine roadway excavation faces according to claim 9, characterized in that: Each of the anti-jamming rods (902) is provided with a conveyor wheel moving rod (907) at its bottom. Each of the conveyor wheel moving rods (907) is fixedly connected to the conveyor rod (901) on its outer side. Each of the conveyor wheel moving rods (907) is fixed with a conveyor camera (911) at its top. Each of the conveyor wheel moving rods (907) is fixed with a conveyor wheel positioning plate (908) at both its front and rear ends. Each of the conveyor wheel positioning plates (908) is rotatably connected to the conveyor wheel (909) inside it through a rotating shaft. Each of the conveyor wheels (909) at its rear end is rotatably connected with a conveyor wheel motor (910) on its outer side. Each of the conveyor wheel motors (910) is fixedly connected to the conveyor wheel positioning plate (908) at one end of its rear end.

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