Kilometer digging and anchoring robot

Abstract

The invention relates to the technical field of digging and anchoring robots, and discloses a kilometer digging and anchoring robot which comprises a crawler-type walking mechanism, a cutting module is installed on the front portion of the crawler-type walking mechanism, a loading module is arranged on the lower side of the cutting module, and a containing table is arranged on the top of the crawler-type walking mechanism; a storage assembly is arranged at the top of the containing table, a plurality of support modules are arranged on the two sides of the crawler-type walking mechanism, anchoring modules are arranged on one sides of the support modules, a conveying module located at the discharging end of the loading module is arranged on the inner side of the crawler-type walking mechanism, and a control module is installed at the tail of the crawler-type walking mechanism. Through the cooperative use of the torque sensor and the visual unit, the robot can sense the torque change and the tunneling face condition in the tunneling process, the tunneling path and the cutting depth are adjusted in real time, the robot can conduct optimal cutting according to the actual hardness and structure of coal rock, unnecessary energy consumption and time waste are avoided, and the working efficiency is improved. Therefore, the overall operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of roadheader-anchor robots, specifically a kilometer roadheader-anchor robot. Background Art

[0002] In coal mining operations, the tunneling and support of roadways are two crucial and closely related links, which are directly related to mining efficiency, cost, and operation safety.

[0003] Currently, the main methods for roadway tunneling and support are as follows: the cooperation of a boom roadheader and a single-rod anchor drill, the cooperation of a boom roadheader and an anchor drill jumbo, the cooperation of a boom roadheader, temporary support, and an anchor drill jumbo, the cooperation of a boom roadheader and an on-board anchor drill, a roadheader-anchor combined unit, the cooperation of a full-face roadheader and an anchor drill jumbo; the problems existing in the above tunneling and support are that tunneling and support cannot be carried out simultaneously, the manual labor intensity is relatively large, and the row spacing and spacing of anchor bolts and anchor cables are inaccurate. After tunneling is completed, it is necessary to stop the vehicle and stagger the vehicle for support, and tunneling and support cannot be carried out simultaneously, resulting in low work efficiency. Therefore, a kilometer roadheader-anchor robot is proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a kilometer roadheader-anchor robot to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A kilometer roadheader-anchor robot, including a crawler walking mechanism, a cutting module is installed at the front of the crawler walking mechanism, a loading module is arranged below the cutting module, and a placement table is provided on the top of the crawler walking mechanism;

[0006] A storage component is arranged on the top of the placement table, several support modules are provided on both sides of the crawler walking mechanism, an anchoring module is arranged on one side of the support module, a conveying module located at the discharge end of the loading module is arranged inside the crawler walking mechanism, and a control module is installed at the tail of the crawler walking mechanism;

[0007] The cutting module is used to be responsible for performing the cutting operation of coal and rock;

[0008] The loading module is used to collect and convey coal and rock fragments to the conveying module;

[0009] The support module is used to provide a stable support structure;

[0010] The anchoring module is used to install anchor bolts on the roadway wall;

[0011] The conveying module is used to convey coal and rock fragments from the tunneling face to the ground or a designated treatment area;

[0012] The control module is responsible for the coordinated control, path planning, fault diagnosis, and remote monitoring of each module.

[0013] Preferably, the cutting module includes a cutting arm unit, a torque sensor, a vision unit, and a mounting frame.

[0014] One side of the cutting arm unit, the torque sensor, and the vision unit are all mounted on one side of the mounting frame.

[0015] The cutting arm unit is used to cut coal and rock.

[0016] The torque sensor is used to measure the torque change of the cutting arm unit during tunneling.

[0017] The vision unit is used to monitor the situation of the tunneling face.

[0018] The mounting frame is used as a support structure for the cutting arm unit, the torque sensor, and the vision unit.

[0019] Preferably, the support module includes an electric push rod, a first support frame, a second support frame, and a positioning unit.

[0020] The electric push rod is used to provide the power source for the second support frame and adjust the width of the second support frame. The outside of the second support frame is slidably connected to the inside of the first support frame. One side of the electric push rod is fixed to one side of the first support frame, and the push rod end of the electric push rod is fixed to one side of the second support frame. The bottom of the positioning unit is mounted on the top side of the first support frame.

[0021] The first support frame is used to support the second support frame.

[0022] The second support frame is used to connect to the anchoring module.

[0023] The positioning unit is used to monitor the position information of the second support frame.

[0024] Preferably, the storage component includes a box body. The inner wall of the box body is provided with a limiting groove. A motor and a gear reduction box are respectively mounted on the inner wall of the limiting groove. A lead screw is fixed to the output shaft end of the gear reduction box.

[0025] Preferably, a cross plate is threadedly connected to the outside of the lead screw. A placement rack is fixed to one side of the cross plate. A number of bolts are placed on the top of the placement rack.

[0026] Preferably, a sliding column that movably penetrates one side of the cross plate is fixed to the bottom of the inner wall of the limiting groove. The number of sliding columns is two.

[0027] Preferably, a first limiting block is fixed to the top of the sliding column, and a second limiting block is fixed to the top of the lead screw.

[0028] Preferably, the output shaft of the motor is fixed to the input shaft of the gear reduction box, and a box cover is hinged to one side of the top of the box body.

[0029] Preferably, the bottom of the box body is fixed to the top of the placement table, and the bottom of the first support frame is installed on one side of the crawler-type traveling mechanism.

[0030] Compared with the prior art, the present invention adopts the above technical solutions and has the following technical effects:

[0031] First, by using a fully electric power system for the robot and the coordinated use of a torque sensor and a vision unit, the robot can sense the torque changes and the tunneling face conditions during tunneling, adjust the tunneling path and cutting depth in real time, and the robot can perform optimized cutting according to the actual hardness and structure of the coal and rock, avoiding unnecessary energy consumption and time waste, thereby improving the overall operation efficiency.

[0032] Second, by using an electric push rod to provide a power source, the second support frame can be slidably connected to the inside of the first support frame on the outside, simplifying the adjustment process of the support structure, thereby improving the efficiency of the support operation. The positioning unit enables the positioning of the support spacing and row spacing, reducing the time for manual measurement and adjustment, and further improving the support efficiency. The support modules on both sides provide a solid support for the anchoring module, ensuring that the anchor bolts can be accurately and stably installed into the roadway, thereby enhancing the overall stability of the support structure.

[0033] Third, through the cooperation of mechanical structures such as a motor, a gear reduction box, and a lead screw, the automatic lifting of the anchor bolts is realized. When the anchor bolts near the upper side inside the box body are taken, the control module can control the motor to work, drive the lead screw to rotate, and then move the cross plate and the placement rack upward along the sliding column, raising the anchor bolts at the bottom of the box body to a position convenient for workers to take, avoiding the trouble for workers to reach deep inside the box body or perform complex operations to take the anchor bolts, and greatly improving the convenience of taking. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a schematic diagram of the external structure of the robot of the present invention;

[0036] Figure 2 Structural schematic diagram of the placement table of the present invention;

[0037] Figure 3 Structural schematic diagram of the anchoring module of the present invention;

[0038] Figure 4 Structural schematic diagram of the support module of the present invention;

[0039] Figure 5 Structural schematic diagram of the cutting module of the present invention;

[0040] Figure 6 Structural schematic diagram of the box body of the present invention;

[0041] Figure 7 Structural schematic diagram of the position of the limit groove of the present invention;

[0042] Figure 8 Structural schematic diagram of the position of the motor of the present invention;

[0043] Figure 9 Structural schematic diagram of the shape of the placement rack of the present invention.

[0044] Explanation of reference numerals: 1, crawler traveling mechanism; 2, cutting module; 21, cutting arm unit; 22, torque sensor; 23, vision unit; 24, mounting rack; 3, placement table; 4, loading module; 5, storage component; 51, box body; 52, box cover; 53, placement rack; 54, limit groove; 55, lead screw; 56, first limit block; 57, second limit block; 58, cross plate; 59, sliding column; 510, motor; 511, gear reducer; 6, support module; 61, electric push rod; 62, first support frame; 63, second support frame; 64, positioning unit; 8, anchoring module; 9, conveying module; 10, control module. Detailed implementation manners

[0045] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a 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 those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] It should be noted that the structures, proportions, sizes, etc. shown in the attached drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the implementation conditions of this application. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the efficacy that this application can produce and the purpose that can be achieved, should still fall within the scope covered by the technical content disclosed in this application.

[0047] Embodiment

[0048] Please refer to Figures 1-9 , the present invention provides a technical solution: a kilometer tunneling and bolting robot, including a crawler walking mechanism 1, a cutting module 2 is installed at the front of the crawler walking mechanism 1, a loading module 4 is arranged below the cutting module 2, and a placement table 3 is arranged on the top of the crawler walking mechanism 1; a storage component 5 is arranged on the top of the placement table 3, a plurality of support modules 6 are arranged on both sides of the crawler walking mechanism 1, an anchoring module 8 is arranged on one side of the support module 6, a conveying module 9 located at the discharge end of the loading module 4 is arranged inside the crawler walking mechanism 1, a control module 10 is installed at the tail of the crawler walking mechanism 1, and the power mechanisms of the crawler walking mechanism 1, the cutting module 2, the loading module 4, the support module 6 and the anchoring module 8 are electric motors;

[0049] The cutting module 2 is used to be responsible for performing the cutting operation of coal and rock;

[0050] The cutting module 2 includes a cutting arm unit 21, a torque sensor 22, a vision unit 23 and a mounting frame 24;

[0051] One sides of the cutting arm unit 21, the torque sensor 22 and the vision unit 23 are all installed on one side of the mounting frame 24;

[0052] The cutting arm unit 21 is used to cut coal and rock;

[0053] The torque sensor 22 is used to measure the torque change of the cutting arm unit 21 during tunneling;

[0054] The vision unit 23 is used to monitor the situation of the tunneling face and adjust the tunneling path and cutting depth;

[0055] The mounting frame 24 is used as the support structure for the cutting arm unit 21, the torque sensor 22 and the vision unit 23.

[0056] The loading module 4 is used to collect and convey the coal and rock fragments to the conveying module 9;

[0057] The support module 6 is used to provide a stable support structure;

[0058] The support module 6 includes an electric push rod 61, a first support frame 62, a second support frame 63, and a positioning unit 64;

[0059] The electric push rod 61 is used to provide a power source for the second support frame 63 and adjust the width of the second support frame 63. The outer side of the second support frame 63 is slidably connected to the inner side of the first support frame 62. One side of the electric push rod 61 is fixed to one side of the first support frame 62, and the push rod end of the electric push rod 61 is fixed to one side of the second support frame 63. The bottom of the positioning unit 64 is installed on the top side of the first support frame 62;

[0060] The first support frame 62 is used for supporting the second support frame 63;

[0061] The second support frame 63 is used to connect with the anchoring module 8. The number of the second support frames 63 is multiple. The second support frames 63 can move freely and do not interfere with each other. Each second support frame 63 is independently installed on the first support frame 62 and is individually controlled by the electric push rod 61. During the movement, the second support frames 63 will not collide or interfere with each other and can flexibly adjust their positions to adapt to different anchoring layouts;

[0062] The positioning unit 64 is used to monitor the position information of the second support frame 63.

[0063] The anchoring module 8 is used to install bolts on the roadway wall. A sensor (not shown in the figure) is installed on one side of the anchoring module 8. The sensor can sense the spatial position information of the roadway wall to achieve rapid and accurate positioning of the anchoring spacing and row spacing;

[0064] The conveying module 9 is used to convey coal and rock fragments from the tunneling face to the ground or a designated treatment area;

[0065] The control module 10 is used to be responsible for the coordinated control, path planning, fault diagnosis, and remote monitoring of each module.

[0066] The storage component 5 includes a box body 51. A limiting groove 54 is provided on the inner wall of the box body 51. An electric motor 510 and a gear reduction box 511 are respectively installed on the inner wall of the limiting groove 54. A lead screw 55 is fixed to the output shaft end of the gear reduction box 511. A cross plate 58 is threadedly connected to the outer side of the lead screw 55. A placement rack 53 is fixed to one side of the cross plate 58. A number of bolts are placed on the top of the placement rack 53, and the bolts near the upper side inside the box body 51 are taken out first for assisting the use of the anchoring module 8.

[0067] At the bottom of the inner wall of the limit groove 54, there are two sliding columns 59 fixedly installed and movably penetrating through one side of the cross plate 58. At the top of the sliding columns 59, there are first limit blocks 56 fixedly installed. At the top of the lead screw 55, there are second limit blocks 57 fixedly installed. The output shaft of the motor 510 drives the input shaft of the gear reduction box 511 to rotate. After the speed is reduced and the torque is increased by the gear reduction box 511, the output shaft of the gear reduction box 511 drives the lead screw 55 to rotate. The lead screw 55 is threadedly connected to the cross plate 58. The output shaft of the motor 510 is fixedly installed on the input shaft of the gear reduction box 511. On one side of the top of the box body 51, there is a box cover 52 hinged. The cross plate 58 drives the placement rack 53 to move upward along the sliding columns 59, raising the anchor rod located at the bottom of the box body 51, facilitating the workers to take out the anchor rod for use. The bottom of the box body 51 is fixedly installed on the top of the placement table 3. The bottom of the first support frame 62 is installed on one side of the crawler-type walking mechanism 1.

[0068] Working principle: When the robot cuts coal and rock in the roadway of the coal mine, the crawler-type walking mechanism 1 drives the cutting module 2 to move towards the coal and rock side. The cutting arm unit 21 crushes and cuts the coal and rock. The torque sensor 22 measures the torque change of the cutting arm unit 21 during the tunneling process. The vision unit 23 monitors the situation of the tunneling face according to the data of the torque sensor 22. The data is used by the control module 10 to adjust the tunneling path and cutting depth, realizing real-time adjustment of the cutting speed and feed speed to achieve full-section cutting.

[0069] The coal and rock are transported to the conveying module 9 through the loading module 4, and the coal and rock fragments are transported from the tunneling face to the ground or a designated treatment area. Moreover, the surface area of the placement table 3 is relatively large, and more auxiliary materials can be placed.

[0070] During the cutting of coal and rock, the support modules 6 on both sides provide support for the anchoring module 8. The electric push rod 61 provides the power source for the second support frame 63. The outside of the second support frame 63 is slidably connected to the inside of the first support frame 62. The positioning unit 64 monitors the position information of the second support frame 63, enabling the anchoring module 8 to install the anchor rod on the roadway. The modular anchoring support and the zoning and step-by-step support technology achieve accurate positioning of the support spacing and row spacing, and simultaneous support in multiple areas.

[0071] When the anchor rods inside the anchoring module 8 are used up, the workers first take out the anchor rods on the top of the box body 51 for use. After the anchor rods near the upper side inside the box body 51 are taken out, only under the control of the control module 10, the output shaft of the motor 510 drives the input shaft of the gear reduction box 511 to rotate. After the speed is reduced and the torque is increased by the gear reduction box 511, the output shaft of the gear reduction box 511 drives the lead screw 55 to rotate. The lead screw 55 is threadedly connected to the cross plate 58, enabling the cross plate 58 to drive the placement rack 53 to move upward along the sliding columns 59, raising the anchor rod located at the bottom of the box body 51, facilitating the workers to take out the anchor rod for use.

[0072] In summary, by adopting a fully electric power system and a fully electric control system, and through the coordinated use of the torque sensor 22 and the vision unit 23, the robot can sense the torque changes and the tunneling face conditions during the tunneling process, adjust the tunneling path and cutting depth in real time, and optimize the cutting according to the actual hardness and structure of the coal and rock, avoiding unnecessary energy consumption and time waste, thereby improving the overall operation efficiency.

[0073] By providing a power source through the electric push rod 61, the second support frame 63 can be slidably connected to the inner side of the first support frame 62 on the outside, simplifying the adjustment process of the support structure, thereby improving the efficiency of the support operation. The positioning unit 64 enables the positioning of the support spacing and row spacing, reducing the time for manual measurement and adjustment, and further improving the support efficiency. The support modules 6 on both sides provide a solid support for the anchoring module 8, ensuring that the anchor bolts can be accurately and stably installed into the roadway, thereby enhancing the overall stability of the support structure.

[0074] Through the cooperation of mechanical structures such as the motor 510, the gear reduction box 511, and the lead screw 55, the automatic lifting of the anchor bolt is realized. When the anchor bolt near the upper side inside the box body 51 is taken, the control module 10 can control the motor 510 to work, drive the lead screw 55 to rotate, and then move the cross plate 58 and the placement rack 53 upward along the sliding column 59, raising the anchor bolt at the bottom of the box body 51 to a position convenient for workers to take, avoiding the trouble for workers to reach deep inside the box body 51 or perform complex operations to take the anchor bolt, and greatly improving the convenience of taking.

[0075] Those skilled in the art can understand that the features recited in the various embodiments and / or claims of the present invention can be combined or / and combined in various ways, even if such combinations or combinations are not explicitly recited in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features recited in the various embodiments and / or claims of the present invention can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present invention.

Claims

1. Kilometer tunneling and bolting robot, comprising a crawler-type traveling mechanism (1), characterized in that: The front part of the crawler walking mechanism (1) is equipped with a cutting module (2). Below the cutting module (2), there is a loading module (4). On the top of the crawler walking mechanism (1), there is a placement table (3). On the top of the placement table (3), there is a storage component (5). On both sides of the crawler walking mechanism (1), there are several support modules (6). On one side of the support module (6), there is an anchoring module (8). Inside the crawler walking mechanism (1), there is a conveying module (9) located at the discharge end of the loading module (4). At the tail of the crawler walking mechanism (1), a control module (10) is installed. The cutting module (2) is responsible for performing the cutting operation on coal and rock. The loading module (4) is used to collect coal and rock fragments and convey them to the conveying module (9). The support module (6) provides a stable support structure. The anchoring module (8) is used to install bolts on the roadway wall. The conveying module (9) is used to convey coal and rock fragments from the tunneling face to the ground or a designated treatment area. The control module (10) is responsible for the coordinated control, path planning, fault diagnosis, and remote monitoring of each module.

2. The kilometer tunneling and bolting robot according to claim 1, wherein: The cutting module (2) includes a cutting arm unit (21), a torque sensor (22), a vision unit (23), and a mounting frame (24). One side of the cutting arm unit (21), the torque sensor (22), and the vision unit (23) are all installed on one side of the mounting frame (24). The cutting arm unit (21) is used to cut coal and rock. The torque sensor (22) is used to measure the torque change of the cutting arm unit (21) during tunneling. The vision unit (23) is used to monitor the situation of the tunneling face. The mounting frame (24) is a support structure for the cutting arm unit (21), the torque sensor (22), and the vision unit (23).

3. The kilometre tunnelling and bolting robot according to claim 1, characterized in that: The support module (6) includes an electric push rod (61), a first support frame (62), a second support frame (63), and a positioning unit (64). The electric push rod (61) provides the power source for the second support frame (63) and adjusts the width of the second support frame (63). The outside of the second support frame (63) is slidably connected to the inside of the first support frame (62). One side of the electric push rod (61) is fixed to one side of the first support frame (62), and the push rod end of the electric push rod (61) is fixed to one side of the second support frame (63). The bottom of the positioning unit (64) is installed on the top side of the first support frame (62). The first support frame (62) is used for supporting the second support frame (63). The second support frame (63) is used to connect to the anchoring module (8). The positioning unit (64) is used to monitor the position information of the second support frame (63).

4. The kilometer tunneling and bolting robot according to claim 3, characterized in that: The storage component (5) includes a box body (51). Inside the wall of the box body (51), there are limit grooves (54). Inside the walls of the limit grooves (54), a motor (510) and a gear reducer (511) are respectively installed. The output shaft end of the gear reducer (511) is fixed with a lead screw (55).

5. The kilometre tunnelling and bolting robot according to claim 4, characterized in that: A cross plate (58) is threadedly connected to the outside of the lead screw (55). A placement rack (53) is fixed to one side of the cross plate (58). A plurality of anchor rods are placed on the top of the placement rack (53).

6. The kilometer tunneling and bolting robot according to claim 5, characterized in that: A sliding column (59) that movably penetrates through one side of the cross plate (58) is fixed to the bottom of the inner wall of the limit groove (54). The number of the sliding columns (59) is two.

7. The kilometer tunneling and bolting robot according to claim 6, characterized in that: A first limit block (56) is fixed to the top of the sliding column (59). A second limit block (57) is fixed to the top of the lead screw (55).

8. The kilometer tunneling and bolting robot according to claim 7, characterized in that: The output shaft of the motor (510) is fixed to the input shaft of the gear reduction box (511). A box cover (52) is hinged to one side of the top of the box body (51).

9. The kilometer tunneling and bolting robot according to claim 4, wherein: The bottom of the box body (51) is fixed to the top of the placement table (3). The bottom of the first support frame (62) is installed on one side of the crawler-type traveling mechanism (1).

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