Low-machine-body mining robot for large-dip-angle thin coal seam

Abstract

The invention discloses a low-machine-body mining robot for a large-dip-angle thin coal seam, and relates to the technical field of large-dip-angle thin coal seam mining. The robot comprises a robot body, a crawler belt assembly, an angle adjusting assembly and a drilling tool assembly. The crawler belt assembly comprises a first short crawler belt and a second short crawler belt which are arranged on the same side and a long crawler belt arranged on the opposite side; the machine body comprises a machine body main body and a machine body base, one end of the machine body main body is arranged between the two short tracks and hinged to the first short track and the second short track, and the other end of the machine body main body is arranged above the long tracks and hinged to the long tracks. The angle adjusting assembly is arranged below the machine body to adjust the inclination angle of the machine body. And the drilling tool assembly is arranged above the machine body. By means of the special crawler belt assembly and the lifting structure, the machine body and mining height is lowered, efficient mining of the large-dip-angle thin coal seam in the low roadway can be achieved, and the recycling rate of large-dip-angle thin coal seam resources is increased.

Description

Technical Field

[0001] The invention relates to the technical field of mining thin coal seams with large dip angles, and in particular to a short-body mining robot for thin coal seams with large dip angles. Background Art

[0002] Steeply dipped, thin coal seams are internationally recognized as difficult to mine. Many mining areas are unable to mine them due to technical reasons, resulting in a significant waste of resources. Mining steeply dipped, thin coal seams is a reasonable and effective approach to improving coal resource recovery and extending mine life.

[0003] Mining methods for steeply inclined coal seams primarily include slope mining, long-hole blasting, and steeply inclined mechanized mining. While these methods have achieved significant progress in mining thick, steeply inclined coal seams, significant technical challenges remain for mining thin, steeply inclined coal seams. Thin coal seams require limited mining space and operate in harsh environments, while steeply inclined coal seams are prone to collapse and instability due to their inclination exceeding the coal's angle of repose. Consequently, conventional fully mechanized mining equipment and thin-seam mining equipment are unsuitable for mining these thin, steep-angle coal seams. Summary of the Invention

[0004] In response to the above problems, the present invention discloses a short-body mining robot for steep-angle thin coal seams. The robot has a low body height, is easy to move, and has high mining efficiency, and can complete the mining of steep-angle thin coal seams.

[0005] According to the purpose of the present invention, a short-body mining robot for thin coal seams with a large inclination angle is proposed, which includes a fuselage, a crawler assembly, an angle adjustment assembly and a drilling tool assembly; the crawler assembly includes a first short crawler and a second short crawler arranged on the same side and a long crawler arranged on the opposite side, and the first short crawler and the second short crawler are both provided with a connecting mechanism; the fuselage includes a fuselage base and a fuselage main body, the fuselage base is arranged between the first short crawler and the second short crawler, and is connected to the first short crawler and the second short crawler through a connecting mechanism, and moves vertically up and down under the drive of the connecting mechanism; the fuselage main body is arranged above the fuselage base, and is hinged to the fuselage base at one end close to the short crawler; the angle adjustment assembly is arranged between the fuselage main body and the fuselage base to adjust the inclination angle of the fuselage main body; the drilling tool assembly is arranged above the fuselage main body.

[0006] Preferably, the connecting mechanisms on the two short tracks are symmetrically arranged, and each connecting mechanism includes a fixing frame, an outer sleeve, an inner sleeve, an inner tube cylinder and a connecting beam; one end of the fixing frame is hinged to the short track, and the other end is fixedly connected to one end of the inner sleeve thereon; the outer sleeve is sleeved outside the inner sleeve, and the inner tube cylinder is arranged inside the inner sleeve, one end is hinged to the inner sleeve, and the other end is hinged to the outer sleeve; one end of the connecting beam is fixedly connected to the side of the outer sleeve, and the other end is bent and hinged to the fuselage base.

[0007] Preferably, a support plate is fixedly mounted on the long track, a column is hinged above the support plate, and the end of the fuselage body away from the short track is detachably fixedly connected to the column; a movable pair is provided between the end of the fuselage base away from the short track and the side of the support plate, and the fuselage base moves up and down along the movable pair driven by the connecting mechanism.

[0008] Preferably, the angle adjustment assembly includes a plurality of angle adjustment cylinders, one end of each angle adjustment cylinder is hinged to the fuselage base, and the other end is hinged to the fuselage body.

[0009] Preferably, the drilling tool assembly includes a power head, a drill rod and a drill bit, an auxiliary coal-breaking drill bit is further provided at the front end of the first section of the drill rod, and a pick is provided at the front end of the auxiliary coal-breaking drill bit.

[0010] Preferably, the drilling tool assembly is also provided with a ventilation structure, which includes a first ventilation pipe arranged on the power head, a second ventilation pipe arranged between the drill rods, and a ventilation hose. One end of the first ventilation pipe is connected to the second ventilation pipe, and the other end is connected to the ventilation hose. The gas and dust in the hole are sucked by negative pressure to the comprehensive utilization device on the well for treatment; the second ventilation pipe on the first section of the drill rod is also provided with ventilation holes.

[0011] Preferably, the robot also includes a drill changing assembly, which includes an L-shaped bracket, a drill changing assembly angle adjustment cylinder, a mounting base, a mobile cylinder, a mounting base, a slewing bearing, a first telescopic arm, a second telescopic arm, a swing cylinder and a hand claw; a steel plate is fixedly installed on the crawler beam, the L-shaped bracket is fixedly installed on the steel plate, one end of the drill changing assembly angle adjustment cylinder is hinged to the horizontal plane of the L-shaped bracket, and the other end is hinged to the bottom surface of the mounting base; one end of the mounting base is hinged to the vertical plane of the L-shaped bracket, and the mounting base and the mobile cylinder are both arranged on the mounting base, and the mounting base moves on the mounting base driven by the mobile cylinder; the slewing bearing is fixedly installed on the mounting base, one end of the first telescopic arm is fixedly connected to the slewing bearing, and the other end is vertically fixedly connected to the second telescopic arm; the end of the second telescopic arm away from the first telescopic arm is vertically fixedly connected to the swing cylinder, and the output end of the swing cylinder is connected to the hand claw.

[0012] Preferably, the drill changing assembly further comprises two steel pipes arranged on the drill rod to fix the relative position between the drill rod and the hand claw.

[0013] Preferably, the robot further comprises a clamp assembly, which is fixedly mounted on the front end of the main body of the machine body and is used for clamping the drill rod stabilizer of the last drill rod driven into the coal wall when replacing the drill rod.

[0014] Compared with the prior art, the advantages of the short-body mining robot for thin coal seams with large inclination angles disclosed in the present invention are:

[0015] (1) In the present invention, the main body of the machine is placed between two short crawlers. The short crawlers have a lifting function, which can achieve a height of 370 mm above the ground when the machine is walking. During mining, the inner cylinder of the short crawler retracts and the main body of the machine falls back. The angle of the main body of the machine is adjusted to be the same as the inclination of the coal seam through the angle adjustment assembly, so that efficient mining of thin coal seams with large inclination angles in low tunnels can be achieved, thereby improving the recycling rate of resources in thin coal seams with large inclination angles.

[0016] (2) In the present invention, a ventilation structure is provided in the middle of the drilling tool assembly for ventilation in the hole to reduce the gas concentration in the hole;

[0017] (3) In the present invention, two steel pipes are provided on the drill rod to facilitate the drill changing assembly to grasp and fix the installation angle of the drill rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 Schematic diagram of the mining process of the present invention.

[0020] Figure 2 It is a structural schematic diagram of the drilling tool assembly in the present invention.

[0021] Figure 3 It is a structural schematic diagram of the drill changing assembly in the present invention.

[0022] Figure 4 The structure diagram of the crawler assembly and the angle adjustment assembly in the present invention is shown in FIG. Figure 1 .

[0023] Figure 5 The structure diagram of the crawler assembly and the angle adjustment assembly in the present invention is shown in FIG. Figure 2 .

[0024] Figure 6 It is a structural schematic diagram of the short crawler and connecting mechanism in the present invention.

[0025] Figure 7 Schematic diagram of the robot in the walking state in the present invention.

[0026] In the figure: 1-drilling tool assembly; 11-power head; 111-first ventilation pipe; 12-drill pipe; 121-second ventilation pipe; 122-steel pipe; 123-drill pipe stabilizer; 13-first section of drill pipe; 131-ventilation hole; 132-auxiliary coal-breaking drill bit; 14-drill bit; 2-clamp assembly; 3-drill change assembly; 31-hand claw; 32-swing cylinder; 33-first telescopic arm; 34-second telescopic arm; 35-slewing bearing; 36-mounting seat; 37-moving cylinder; 38-drill change assembly angle adjustment cylinder; 39- Support column; 310-L-shaped bracket; 311-mounting base; 4-track assembly; 41-first short track; 42-second short track; 43-long track; 431-support plate; 4311-moving pair; 44-connecting mechanism; 441-outer sleeve; 442-inner sleeve; 443-fixed frame; 444-inner cylinder; 445-connecting beam; 5-angle adjustment assembly; 51-angle adjustment cylinder; 6-fuselage; 61-fuselage main body; 611-long pin shaft; 612-slip; 613-column; 62-fuselage base. DETAILED DESCRIPTION

[0027] The following is a brief description of the specific embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts are also within the scope of protection of the present invention.

[0028] Figure 1-Figure 7 The preferred embodiments of the present invention are shown and analyzed in detail.

[0029] like Figure 1 The short-body mining robot for thin coal seams with a steep inclination angle shown in the figure comprises a body 6, a crawler assembly 4, an angle adjustment assembly 5, a drilling tool assembly 1, a drill changing assembly 3 and a clamping assembly 2.

[0030] like Figure 4 As shown, the crawler assembly 4 includes a first short crawler 41 and a second short crawler 42 arranged on the same side and a long crawler 43 arranged on the opposite side. The first short crawler 41 and the second short crawler 42 are both provided with a connecting mechanism 44.

[0031] The fuselage 6 includes a fuselage base 62 and a fuselage body 61. The fuselage base 62 is horizontally arranged between the first short crawler 41 and the second short crawler 42, and is connected to the first short crawler 41 and the second short crawler 42 through a connecting mechanism 44. The fuselage body 61 is vertically moved up and down under the drive of the connecting mechanism 44. The fuselage body 61 is arranged above the fuselage base 62, and the end close to the short crawler is hinged to the fuselage base 62. Figure 7As shown, the angle of the fuselage main body 61 is 10° in the transport state, and the inner cylinder 444 in the first short track 41 and the second short track 42 extends to lift the fuselage 6 to achieve a height of 370 mm from the ground; in the mining state, the inner cylinder 444 retracts and the fuselage 6 falls back to the ground of the tunnel to increase the angle adjustment range of the confined space and increase the stability during mining. The angle adjustment assembly 5 adjusts the fuselage main body 61 to a predetermined angle to achieve large-angle thin coal seam mining.

[0032] The connecting mechanisms 44 on the two short crawlers are symmetrically arranged, as shown in FIG. Figure 6 As shown, each connecting mechanism 44 includes a fixing frame 443, an outer sleeve 441, an inner sleeve 442, an inner cylinder 444 and a connecting beam 445. One end of the fixing frame 443 is hinged to the short track, and the other end is fixedly connected to one end of the inner sleeve 442 thereon. The outer sleeve 441 is sleeved outside the inner sleeve 442. The inner cylinder 444 is arranged inside the inner sleeve 442, with one end hinged to the inner sleeve 442 and the other end hinged to the outer sleeve 441. One end of the connecting beam 445 is fixedly connected to the side of the outer sleeve 441, and the other end is bent and hinged to the fuselage base 62. The inner cylinder 444 extends or retracts, which can drive the outer sleeve 441 to move up and down along the inner sleeve 442, thereby driving the fuselage 6 to move up and down through the connecting beam 445. As shown Figure 4 、 Figure 5 As shown, a support plate 431 is fixedly mounted on the long crawler 43, and a column 613 is hinged above the support plate 431. The end of the fuselage body 61 away from the short crawler is detachably fixedly connected to the column 613. Specifically, two columns 613 are provided. A long pin 611 is mounted on the bottom surface of the end of the fuselage body 61 away from the short crawler. Slips 612 are respectively mounted on both ends of the long pin 611. The slips 612 are sleeved on the columns 613. When the angle of the fuselage body 61 is adjusted to a predetermined angle, the slips 612 are tightened, and a portion of the force is transmitted through the columns 613. The slips 612 can cooperate with the angle adjustment cylinder 51 to support the fuselage body 61 to increase the stability of the fuselage body 61 and prevent the fuselage body 61 from falling due to a problem with the angle adjustment cylinder 51. A moving pair 4311 is provided between the end of the body base 62 away from the short track and the side of the support plate 431 . The body base 62 moves up and down along the moving pair 4311 driven by the connecting mechanism 44 .

[0033] like Figure 5 As shown, the angle adjustment assembly 5 is arranged between the fuselage body 61 and the fuselage base 62, and includes a plurality of staggered angle adjustment cylinders 51 to adjust the tilt angle of the fuselage body 61. One end of the angle adjustment cylinder 51 is hinged to the fuselage base 62, and the other end is hinged to the fuselage body 61.

[0034] like Figure 2As shown, the drilling tool assembly 1 is arranged above the main body 61 of the machine body, and includes a power head 11, a drill rod 12, and a drill bit 14. A ventilation structure is also provided on the drilling tool assembly 1, and the ventilation structure includes a first ventilation pipe 111 provided on the power head 11, a second ventilation pipe 121 provided between the drill rods 12, and a ventilation hose. The second ventilation pipe 121 is connected to the first ventilation pipe 111 and then connected to the ventilation hose through the first ventilation pipe 111, and the gas and dust in the hole are sucked by negative pressure to the comprehensive utilization device on the well for treatment. A ventilation hole 131 is also provided on the second ventilation pipe 121 on the first section of the drill rod 13. An auxiliary coal-breaking drill bit 132 is also provided at the front end of the first section of the drill rod 13, and a pick is provided at the front end of the auxiliary coal-breaking drill bit 132. The setting of the pick can avoid leaving a small section of coal pillar between the two drill bits 14, making it convenient for the ventilation pipe between the drill rods 12 to enter.

[0035] like Figure 3 As shown, the drill changing assembly 3 includes an L-shaped bracket 310, a drill changing assembly angle adjustment cylinder 38, a mounting base 311, a mobile cylinder 37, a mounting base 36, a slewing bearing 35, a first telescopic arm 33, a second telescopic arm 34, a swing cylinder 32, and a claw 31. A steel plate is fixedly mounted on the crawler beam, and the horizontal surface of the L-shaped bracket 310 is fixedly mounted on the steel plate. Two drill changing assembly angle adjustment cylinders 38 are provided, one end of which is hinged to the horizontal surface of the L-shaped bracket 310 and the other end is hinged to the bottom surface of the mounting base 311. The mounting base 311 has one end hinged to the vertical surface of the L-shaped bracket 310. Driven by the drill changing assembly angle adjustment cylinder 38 on its bottom surface, it swings up and down along the hinge point to adjust the tilt angle according to the required installation posture of the drilling tool. Two support columns 39 are also fixedly mounted on the horizontal surface of the L-shaped bracket 310 and on the back of the drill changing assembly angle adjustment cylinder 38. The mounting base 36 and the movable cylinder 37 are both mounted on the mounting base 311. The mounting base 36 moves on the mounting base 311 driven by the movable cylinder 37. The slewing bearing 35 is fixedly mounted on the mounting base 36. The first telescopic arm 33 is fixedly connected to the slewing bearing 35 at one end and vertically fixedly connected to the second telescopic arm 34 at the other end. The end of the second telescopic arm 34, distal from the first telescopic arm 33, is vertically fixedly connected to the swing cylinder 32. The output end of the swing cylinder 32 is connected to the gripper 31. The drill change assembly 3 also includes two steel pipes 122 mounted on the drill rod 12 to secure the relative position between the drill rod 12 and the gripper 31.

[0036] like Figure 1 As shown, the clamp assembly 2 is fixedly mounted at the front end of the main body 61 and is used to clamp the drill rod stabilizer 123 of the last drill rod 12 driven into the coal wall when replacing the drill rod 12. During the drilling process, after the power head 11 drills the drill into the coal wall, the clamp assembly 2 clamps the drill rod stabilizer 123 of the last drill rod 12 driven into the coal wall. The power head 11 withdraws, the drill change assembly 3 completes the drill change operation, the power head 11 advances to dock, and the clamp assembly 2 releases to continue drilling.

[0037] The above description of the disclosed embodiments will enable one skilled in the art to implement and use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but is to be construed in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. A low-body mining robot for thin coal seams with a large inclination angle, characterized in that: The invention comprises a fuselage (6), a crawler assembly (4), an angle adjustment assembly (5) and a drilling tool assembly (1); the crawler assembly (4) comprises a first short crawler (41) and a second short crawler (42) arranged on the same side and a long crawler (43) arranged on the opposite side, and the first short crawler (41) and the second short crawler (42) are both provided with a connecting mechanism (44); the fuselage (6) comprises a fuselage base (62) and a fuselage main body (61), and the fuselage base (62) is provided on the first short crawler (41) and the second short crawler (43). 2), and is connected to the first short crawler (41) and the second short crawler (42) through a connecting mechanism (44), and moves vertically up and down under the drive of the connecting mechanism (44); the fuselage body (61) is arranged above the fuselage base (62), and one end close to the short crawler is hinged to the fuselage base (62); the angle adjustment assembly (5) is arranged between the fuselage body (61) and the fuselage base (62) to adjust the inclination angle of the fuselage body (61); the drilling tool assembly (1) is arranged above the fuselage body (61).

2. The low-body mining robot for thin coal seams with a high dip angle according to claim 1 is characterized in that: The connecting mechanisms (44) on the two short crawlers are symmetrically arranged. Each connecting mechanism (44) includes a fixing frame (443), an outer sleeve (441), an inner sleeve (442), an inner sleeve oil cylinder (444) and a connecting beam (445); one end of the fixing frame (443) is hinged to the short crawler, and the other end is fixedly connected to one end of the inner sleeve (442) thereon; the outer sleeve (441) is sleeved outside the inner sleeve (442); the inner sleeve oil cylinder (444) is arranged inside the inner sleeve (442), one end is hinged to the inner sleeve (442), and the other end is hinged to the outer sleeve (441); one end of the connecting beam (445) is fixedly connected to the side of the outer sleeve (441), and the other end is bent and hinged to the fuselage base (62).

3. The low-body mining robot for thin coal seams with a high dip angle according to claim 1, characterized in that: A support plate (431) is fixedly mounted on the long crawler (43), a column (613) is hinged above the support plate (431), and an end of the fuselage main body (61) away from the short crawler is detachably fixedly connected to the column (613); a moving pair (4311) is provided between an end of the fuselage base (62) away from the short crawler and a side of the support plate (431), and the fuselage base (62) moves up and down along the moving pair (4311) driven by the connecting mechanism (44).

4. The low-body mining robot for thin coal seams with a high dip angle according to claim 1, characterized in that: The angle adjustment assembly (5) comprises a plurality of angle adjustment oil cylinders (51), one end of each of the angle adjustment oil cylinders (51) is hinged to a fuselage base (62), and the other end is hinged to a fuselage body (61).

5. The low-body mining robot for thin coal seams with a steep inclination angle according to claim 1 is characterized in that: The drilling tool assembly (1) comprises a power head (11), a drill rod (12) and a drill bit (14); the drill rod (12) comprises a first section of drill rod (13); an auxiliary coal-breaking drill bit (132) is further provided at the front end of the first section of drill rod (13); and a pick is provided at the front end of the auxiliary coal-breaking drill bit (132).

6. The low-body mining robot for thin coal seams with a high dip angle according to claim 5, characterized in that: The drilling tool assembly (1) is also provided with a ventilation structure, which comprises a first ventilation pipe (111) provided on the power head (11), a second ventilation pipe (121) provided between the drill rods (12), and a ventilation hose. One end of the first ventilation pipe (111) is connected to the second ventilation pipe (121), and the other end is connected to the ventilation hose, and gas and dust in the hole are sucked to a comprehensive utilization device on the well for treatment through negative pressure. The second ventilation pipe (121) on the first section of the drill rod (13) is also provided with a ventilation hole (131).

7. The low-body mining robot for thin coal seams with a steep inclination angle according to claim 5, characterized in that: The robot further comprises a drill changing assembly (3), the drill changing assembly (3) comprising an L-shaped bracket (310), a drill changing assembly angle adjustment cylinder (38), a mounting base (311), a moving cylinder (37), a mounting base (36), a slewing bearing (35), a first telescopic arm (33), a second telescopic arm (34), a swing cylinder (32) and a hand claw (31); a steel plate is fixedly mounted on the crawler beam, the L-shaped bracket (310) is fixedly mounted on the steel plate, one end of the drill changing assembly angle adjustment cylinder (38) is hinged to the horizontal plane of the L-shaped bracket (310), and the other end is hinged to the bottom surface of the mounting base (311); the mounting base (311) One end is hinged to the vertical surface of the L-shaped bracket (310), the mounting seat (36) and the moving cylinder (37) are both arranged on the mounting base (311), and the mounting seat (36) moves on the mounting base (311) driven by the moving cylinder (37); the slewing support (35) is fixedly mounted on the mounting seat (36), one end of the first telescopic arm (33) is fixedly connected to the slewing support (35), and the other end is vertically fixedly connected to the second telescopic arm (34); the end of the second telescopic arm (34) away from the first telescopic arm (33) is vertically fixedly connected to the swing cylinder (32), and the output end of the swing cylinder (32) is connected to the hand claw (31).

8. The low-body mining robot for thin coal seams with a high dip angle according to claim 7, characterized in that: The drill changing assembly (3) further comprises two steel pipes (122) arranged on the drill rod (12) to fix the relative position between the drill rod (12) and the hand claw (31).

9. The low-body mining robot for thin coal seams with a high dip angle according to claim 7, characterized in that: The robot further comprises a clamp assembly (2), which is fixedly mounted on the front end of the machine body (61) and is used for clamping the drill rod stabilizer (123) of the last drill rod (12) driven into the coal wall when the drill rod (12) is replaced.

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