Mine roadway temporary supporting robot

Abstract

The invention relates to the technical field of deep coal seam mining, and particularly discloses a mine roadway temporary supporting robot which comprises a frame and crawler walking mechanisms installed on the two sides of the frame. The fulcrum of the lever mechanism is hinged to the upper portion of the frame, and the resistance end of the lever mechanism faces the front end of the frame. The mounting end of the hydraulic jacking and extending assembly is arranged at the power end of the lever mechanism, and the jacking and extending end of the hydraulic jacking and extending assembly is vertically arranged upwards; the top plate assembly is arranged at the resistance end of the lever mechanism; the connecting rod mechanisms are symmetrically arranged on two sides of the frame, one end is hinged to the bottom surface of the top plate assembly, and the middle section is in driving connection with the lever mechanism; the side plate assembly is arranged on the side, away from the frame, of the connecting rod mechanism; the lever mechanism is matched with the connecting rod mechanism to be used for adjusting the distance between the side plate assembly and the frame. The problems that in the prior art, conventional mine supporting equipment is complex in structure and low in construction efficiency are solved.

Description

Technical Field

[0001] The present application relates to the technical field of deep-buried coal seam mining, and in particular to a temporary support robot for mine tunnels. Background Art

[0002] Mine tunnel support is a critical component in ensuring safe production in underground mines. Currently, the temporary support equipment widely used underground mostly utilizes a hydraulic support structure. This involves deploying multiple independent hydraulic cylinders on the equipment to drive the roof and side panels separately, thereby supporting the tunnel roof and sidewalls.

[0003] Although this type of equipment has solved the problem of empty top operation to a certain extent, its inherent defects are becoming increasingly prominent: First, the equipment required manual operation of multiple hydraulic cylinder valve groups one by one to complete the support action. The operation process was cumbersome, the workers were very labor-intensive, and the support efficiency was low, seriously affecting the continuity of the excavation work. Secondly, the multi-cylinder system inevitably involves complex hydraulic piping and valve control components, which not only leads to complex equipment structure and high manufacturing costs, but also frequent failures in the harsh underground environment of dust and moisture, requiring frequent inspection and maintenance, and lacking reliability. In addition, the synchronization of multiple cylinders is difficult to control accurately, which can easily cause uneven distribution of supporting force and pose a safety hazard.

[0004] Therefore, there is an urgent need for a new type of mine support equipment with a simplified structure, convenient operation, and automatic coordinated support. Summary of the Invention

[0005] The embodiment of the present application solves the problems of complex structure and low construction efficiency of conventional mine support equipment in the prior art by providing a temporary support robot for mine tunnels.

[0006] An embodiment of the present invention provides a temporary support robot for mine tunnels, comprising: a frame and a crawler walking mechanism installed on both sides of the frame; a lever mechanism, which is hinged to the upper part of the frame at a fulcrum and has a resistance end arranged toward the front end of the frame; a hydraulic jacking assembly, whose mounting end is arranged at the power end of the lever mechanism and whose jacking end is arranged vertically upward; a top plate assembly, which is arranged at the resistance end of the lever mechanism; a connecting rod mechanism, which is symmetrically arranged on both sides of the frame, has one end hinged to the bottom surface of the top plate assembly, and a middle section is drive-connected to the lever mechanism; a side plate assembly, which is arranged on the side of the connecting rod mechanism away from the frame; wherein, the lever mechanism cooperates with the connecting rod mechanism to adjust the distance between the side plate assembly and the frame.

[0007] In one possible implementation, the vehicle frame includes: a rectangular frame with multiple crawler walking mechanisms installed on both sides; two groups of hydraulic support feet, which are symmetrically arranged on both sides of the frame; the hydraulic support feet include: two groups of hydraulic rods, which are distributed in a V shape, with the top ends of the two groups of hydraulic rods close to each other, and the mounting ends are hinged to the side walls of the frame; a support plate, the center of the surface of which is hinged to the top ends of the two groups of hydraulic rods; wherein the hydraulic support feet are arranged below the fulcrum of the lever mechanism.

[0008] In a possible implementation, the frame further includes: two groups of support rods, the bottom ends of the two groups of support rods are respectively installed on the surface of the frame, and the top ends of the support rods are used to hinge the lever mechanism; a conveyor belt mechanism is also provided at the lower part of the frame, the mounting end of the conveyor belt mechanism is installed on the frame, the output end of the conveyor belt mechanism is provided at the lower part of the top plate assembly, and the input end is provided at the lower part of the other end of the frame.

[0009] In a possible implementation, the lever mechanism includes: two groups of connecting rod assemblies, which are symmetrically arranged on both sides of the frame; the connecting rod assembly includes: a lever, the middle part of which is hinged to the upper part of the support rod; a first connecting rod, one end of which is hinged to the lower part of the support rod, and the first connecting rod is arranged parallel to the resistance end of the lever; a second connecting rod, one end of which is hinged to the other end of the first connecting rod, and the other end of the second connecting rod is hinged to the lower end of the top plate assembly; a third connecting rod, one end of which is hinged to the end of the second connecting rod close to the support rod; a curved rod, one end of which is hinged to the other end of the first connecting rod The lever is hinged to the middle section of the curved rod; a parallel plate is provided on the side of the top plate assembly away from the support rod, and the parallel plate is parallel to the lower end of the top plate assembly, and the upper and lower end walls on both sides of the parallel plate are hinged to the middle section of the curved rod and the end of the second link close to the first link respectively.

[0010] In one possible implementation, the hydraulic jacking assembly includes: a horizontal rod, whose two ends are respectively connected to the power ends of the two groups of levers; a hinge block, whose bottom end is rotatably connected to the horizontal rod; a hydraulic cylinder, whose mounting end is connected to the top of the hinge block; an auxiliary jacking plate, which is arranged at the jacking end of the hydraulic cylinder; a limiting ring, whose cover is arranged on the outer wall of the hydraulic cylinder; and a mounting rod, one end of which is connected to the limiting ring and the other end is connected to the lever mechanism.

[0011] In one possible implementation, the top plate assembly includes: a column, the outer wall of the bottom end of which is hinged to the curved rod and the second connecting rod; an arch provided at the top of the column; and a reinforcing rib provided between the top of the column and the bottom surface of the arch.

[0012] In one possible implementation, the connecting rod mechanism includes: two groups of fourth connecting rods, which are arranged at intervals at the lower part of the top plate assembly; two groups of fifth connecting rods, respectively arranged on both sides of the two groups of fourth connecting rods, one end of the fourth connecting rod is hinged to the middle section of the fifth connecting rod, and the top end of the fifth connecting rod is hinged to the bottom surface of the top plate assembly; two groups of sixth connecting rods are arranged on the side of the fifth connecting rod away from the fourth connecting rod, the sixth connecting rod is arranged parallel to the fifth connecting rod, and the top end of the sixth connecting rod is hinged to the bottom surface of the top plate assembly; an extension rod, one end of which is hinged to the bottom end of the fifth connecting rod, and the middle section is hinged to the bottom end of the sixth connecting rod, and the extension rod is horizontally arranged; wherein, one end of the extension rod is away from the fifth connecting rod is connected to the side plate assembly; one end of the fourth connecting rod away from the fifth connecting rod is hinged to a slider assembly, and the slider assembly is driven and cooperated with the lever mechanism, and the lever mechanism is used to drive the slider assembly to drive the fifth connecting rod to move vertically.

[0013] In one possible implementation, the slider assembly includes: a vertical slide rail, vertically installed on the bottom surface of the top plate assembly; a slider, slidably arranged on the vertical slide rail; a chain, one end of which is connected to the slider; a guide wheel, installed on the side wall of the vertical slide rail, and the middle section of the chain passes through the guide wheel; a drive rod, one end of which is connected to the lever, and the other end is rotatably installed on the top end of the support rod; a sprocket, which is provided on the circumferential outer wall of the drive rod, and the end of the chain away from the slider is wrapped around the circumferential outer wall of the sprocket; a tensioning wheel, which is installed on the surface of the lever, and the tensioning wheel abuts against the circumferential outer wall of the chain.

[0014] In one possible implementation, the side plate assembly includes: a side guard plate, one surface of which is connected to the connecting rod mechanism; an arc-shaped plate, which is arranged at the lower part of the side guard plate near the front end of the frame; wherein, two groups of the arc-shaped plates are closer to the center of the frame at one end away from the side guard plate, and the crawler walking mechanism is arranged between the two groups of the arc-shaped plates.

[0015] In a possible implementation, a protective steel net is provided on one side of the top plate assembly and the side plate assembly close to the front end of the frame.

[0016] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages: When constructing deep-buried coal seams, in order to improve excavation efficiency and continuous operation, the tunnel behind the excavation process needs to be urgently reinforced to prevent collapse. The support robot can quickly carry out reinforcement to improve the safety of construction workers during construction. When the support robot is working, the frame is driven by the crawler walking mechanism to walk in the tunnel behind the tunnel boring machine, and the hydraulic jacking assembly is started to push its jacking end upward until the jacking end contacts the top wall of the tunnel. When the hydraulic jacking assembly continues to extend, it pushes the power end of the lever mechanism to swing downward around the fulcrum, and the resistance end of the lever mechanism drives the top plate assembly to jack up until the top plate assembly contacts the top wall of the tunnel at the front end of the frame. The extending end of the jacking assembly supports the top wall of the tunnel at the rear end of the frame. The operating area is below the top plate assembly, which is used to provide a safe construction operating area for construction workers. In the process of jacking up the top plate assembly, due to the driving connection between the connecting rod mechanism and the lever mechanism, and the top end of the connecting rod mechanism and the bottom surface of the top plate assembly are hinged, when the middle section of the connecting rod mechanism is driven by the lever mechanism, the lower end of the connecting rod mechanism swings outward around its top end, and the distance between the middle section and the frame increases, so that the bottom end of the connecting rod mechanism drives the side plate assembly installed thereon to move outward, and then extends outward through the side plate assemblies on both sides of the frame to support the side wall of the tunnel at the operating area. The construction workers are located at In the operation area, anchor points can be drilled on the inner wall of the tunnel at the rear end of the tunnel boring machine, and permanent support plates can be installed for anchoring. After the construction in the operation area is completed, the personnel evacuate to the center of the frame, and the hydraulic jacking assembly is recovered, so that the power end and the resistance end of the lever mechanism swing horizontally at the same time, and the top plate assembly is recovered downward, and then the height of the top plate assembly installed above the frame can be lowered, so that the support robot can move to the next operation area. Rapid support can be achieved through the lever mechanism, the structure is simple and efficient, and compared with traditional temporary support equipment, it uses fewer hydraulic cylinders, has low production costs, is easy to maintain, and improves the traditional temporary support equipment in order to achieve The support of the top plate and side panels usually requires multiple independent hydraulic systems, as well as corresponding complex valve controls and pipelines, and the hydraulic systems need to be frequently inspected and maintained to ensure their safety. At the same time, it solves the problem that traditional support equipment requires operators to control the top plate cylinder and side plate cylinder separately, and perform step-by-step and multiple operations to complete the construction and folding of the support area, which is a cumbersome and time-consuming process. At the same time, after the top plate assembly is recovered, the bottom can accommodate construction personnel, which can facilitate the movement of construction personnel during the walking process of the support robot, and can also provide safety protection for the construction personnel below during the movement, with high space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments of the present invention or the description of the prior art. Obviously, the drawings described below are 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.

[0018] Figure 1 A schematic diagram of the support robot structure provided in an embodiment of the present application; Figure 2 A schematic diagram of the frame structure provided in an embodiment of the present application; Figure 3 A schematic diagram of the lever mechanism structure provided in an embodiment of the present application; Figure 4 A schematic diagram of the structure of a hydraulic jacking assembly provided in an embodiment of the present application; Figure 5 A schematic diagram of the top plate assembly structure provided in an embodiment of the present application; Figure 6 A schematic diagram of the connecting rod mechanism structure provided in an embodiment of the present application; Figure 7 A schematic diagram of the side panel assembly structure provided in an embodiment of the present application; Figure 8 This is a schematic diagram of the slider assembly structure provided in an embodiment of the present application.

[0019] icon: 100-frame; 110- rectangular frame; 120- hydraulic support foot; 121- hydraulic rod; 122- support plate; 123- support rod; 124- conveyor belt mechanism; 200- crawler walking mechanism; 300-lever mechanism; 310-connecting rod assembly; 311 - lever; 312 - first connecting rod; 313 - second connecting rod; 314 - third connecting rod; 315 - curved rod; 316 - parallel plate; 400-Hydraulic jacking assembly; 410-horizontal rod; 420-hinge block; 430-hydraulic cylinder; 440-auxiliary top plate; 450-limiting ring; 460-mounting rod; 500-top plate assembly; 510-column; 520-vault; 530-reinforcement; 600-connecting rod mechanism; 610-fourth connecting rod; 620-fifth connecting rod; 630-sixth connecting rod; 640-extension rod; 700-side panel assembly; 710-side guard plate; 720-curved plate; 800-slider assembly; 810- vertical slide rail; 820- slider; 830- chain; 840- guide wheel; 850- driving rod; 860- sprocket; 870- tension wheel; 900-Protective steel mesh. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments 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 shall fall within the scope of protection of the present invention.

[0021] In the description of the embodiments of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. The terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to the specific circumstances.

[0022] Example 1 A temporary support robot for mine tunnels, comprising a frame 100 and a crawler walking mechanism 200 installed on both sides of the frame 100; a lever mechanism 300, which is hinged to the upper part of the frame 100 at a fulcrum and has a resistance end arranged toward the front end of the frame 100; a hydraulic jacking assembly 400, whose mounting end is arranged at the power end of the lever mechanism 300 and whose jacking end is arranged vertically upward; a top plate assembly 500, which is arranged at the resistance end of the lever mechanism 300; a connecting rod mechanism 600, which is symmetrically arranged on both sides of the frame 100, with one end hinged to the bottom surface of the top plate assembly 500 and the middle section being drive-connected to the lever mechanism 300; a side plate assembly 700, which is arranged on the side of the connecting rod mechanism 600 away from the frame 100; wherein, the lever mechanism 300 cooperates with the connecting rod mechanism 600 to adjust the distance between the side plate assembly 700 and the frame 100.

[0023] In the above embodiment, when constructing a deep-buried coal seam, in order to improve the excavation efficiency and ensure continuous operation, the tunnel at the rear needs to be urgently reinforced to prevent collapse during the excavation process. The support robot can quickly perform reinforcement to improve the safety of the construction workers during the construction process. When the support robot is working, the frame 100 is driven by the crawler walking mechanism 200 to walk in the tunnel behind the tunnel boring machine, and the hydraulic jacking assembly 400 is started to push its jacking end upward until the jacking end contacts the top wall of the tunnel. When the hydraulic jacking assembly 400 continues to extend, it pushes the power end of the lever mechanism 300 to swing downward around the fulcrum, and the resistance end of the lever mechanism 300 drives the top plate assembly 500 to push up until the top plate assembly 500 contacts the tunnel at the front end of the frame 100. The top wall abuts, and the top end of the hydraulic jacking assembly 400 supports the top wall of the tunnel at the rear end of the frame 100. The operating area is below the top plate assembly 500, which is used to provide a safe construction operating area for construction workers. In the process of the top plate assembly 500 being lifted up, since the connecting rod mechanism 600 and the lever mechanism 300 are driven and connected, and the top end of the connecting rod mechanism 600 is hinged to the bottom surface of the top plate assembly 500, when the middle section of the connecting rod mechanism 600 is driven by the lever mechanism 300, the lower end of the connecting rod mechanism 600 swings outward around its top end, and the distance between the middle section and the frame 100 increases, so that the bottom end of the connecting rod mechanism 600 drives the side plate assembly 700 installed thereon to move outward, and then passes through the side plate assemblies 700 on both sides of the frame 100. 0 is extended outward to support the side wall of the tunnel in the operation area. Construction personnel in the operation area can drill anchor points on the inner wall of the tunnel at the rear end of the tunnel boring machine and install permanent support plates for anchoring. After the construction in the operation area is completed, the personnel evacuate to the center of the frame 100, and the hydraulic jacking assembly 400 is recovered, so that the power end and the resistance end of the lever mechanism 300 are swung horizontally at the same time, and the top plate assembly 500 is recovered downward, and then the height of the top plate assembly 500 installed above the frame 100 can be lowered, so that the support robot can move to the next operation area. Rapid support can be achieved through the lever mechanism 300, the structure is simple and efficient, and compared with traditional temporary support equipment, it uses fewer hydraulic cylinders and has low production costs. , easy to maintain, improved the traditional temporary support equipment in order to achieve the support of the top plate and side walls, usually require multiple independent hydraulic systems, as well as corresponding complex valve control and pipelines, and the hydraulic system needs to be frequently inspected to ensure its work safety. At the same time, it solves the problem that traditional support equipment requires operators to control the top plate cylinder and the side plate cylinder separately, and perform step-by-step and multiple operations to complete the construction and folding of the support area, the process is cumbersome and time-consuming. At the same time, after the top plate assembly 500 is recovered, the bottom can accommodate construction personnel, which can facilitate the movement of construction personnel during the walking process of the support robot, and can also provide safety protection for the construction personnel below during the movement, with high space utilization.

[0024] Example 2 The frame 100 includes: a rectangular frame 110, with multiple crawler walking mechanisms 200 installed on both sides; two groups of hydraulic support feet 120, which are symmetrically arranged on both sides of the frame 100; the hydraulic support feet 120 include: two groups of hydraulic rods 121, the two groups of hydraulic rods 121 are distributed in a V shape, the top extending ends of the two groups of hydraulic rods 121 are close to each other, and the installation ends are hinged to the side walls of the frame 100; a support plate 122, the center of the surface of which is hinged to the top extending ends of the two groups of hydraulic rods 121; wherein, the hydraulic support feet 120 are arranged below the fulcrum of the lever mechanism 300.

[0025] In the above embodiment, in order to prevent the crawler walking mechanism 200 from being subjected to excessive pressure when the hydraulic jacking assembly 400 is working, which may cause its internal structure to break, a hydraulic support foot 120 is installed on the frame 100 below the lever mechanism 300. The hydraulic support foot 120 is composed of two hydraulic rods 121. The two hydraulic rods 121 are distributed in a V shape and the openings are facing upward. When the support robot stops moving, the jacking end of the hydraulic rod 121 extends, driving the support plate 122 to move downward, and the angle between the two hydraulic rods 121 is reduced, so that the support plate 122 is supported on the tunnel ground, and the frame 100 is slightly suspended. When the hydraulic jacking assembly 400 is working, the downward pressure of the lever mechanism 300 is transmitted to the hydraulic support foot 120 through the frame 100, thereby reducing the pressure on the crawler walking mechanism 200 when the jacking assembly is working, thereby extending its service life.

[0026] Example 3 The frame 100 also includes: support rods 123, which are provided in two groups. The bottom ends of the two groups of support rods 123 are respectively installed on the surface of the frame 100, and the top ends of the support rods 123 are used to hinge the lever mechanism 300; a conveyor belt mechanism 124 is also provided at the lower part of the frame 100, and the mounting end of the conveyor belt mechanism 124 is installed on the frame 100. The output end of the conveyor belt mechanism 124 is provided at the lower part of the top plate assembly 500, and the input end is provided at the lower part of the other end of the frame 100.

[0027] In order to improve the construction efficiency of the construction workers on the inner wall of the tunnel, a conveyor belt mechanism 124 is installed under the frame 100, which can transport the construction materials at the rear end of the frame 100 to the operating area at the front end of the frame 100, such as anchor rods and reinforcement plates. After being transported by the conveyor belt, it is convenient for construction workers to take them, facilitate transportation in narrow tunnels, and reduce the labor intensity of construction workers.

[0028] Example 4 The lever mechanism 300 includes: two groups of connecting rod assemblies 310, which are symmetrically arranged on both sides of the frame 100; the connecting rod assembly 310 includes: a lever 311, the middle part of which is hinged to the upper part of the support rod 123; a first connecting rod 312, one end of which is hinged to the lower part of the support rod 123, and the first connecting rod 312 is arranged parallel to the resistance end of the lever 311; a second connecting rod 313, one end of which is hinged to the other end of the first connecting rod 312, and the other end of the second connecting rod 313 is hinged to the lower end of the top plate assembly 500; a third connecting rod 314, one end of which is hinged to the end of the second connecting rod 313 close to the support rod 123; a curved rod 315, one end of which is hinged to the third connecting rod The other end of the rod 314 is hinged, and the other end is hinged to the lower end of the top plate assembly 500. The curved rod 315 is arranged on the upper part of the second connecting rod 313, and the second connecting rod 313 is arranged parallel to the end of the curved rod 315 close to the top plate assembly 500; the end of the lever 311 away from the support rod 123 is hinged to the middle section of the curved rod 315; the parallel plate 316 is arranged on the side of the top plate assembly 500 away from the support rod 123, and the parallel plate 316 is arranged parallel to the lower end of the top plate assembly 500, and the upper and lower end walls on both sides of the parallel plate 316 are hinged to the middle section of the curved rod 315 and the end of the second connecting rod 313 close to the first connecting rod 312 respectively.

[0029] In the above embodiment, the lever mechanism 300 is composed of two groups of connecting rod assemblies 310. The connecting rod assembly 310 is used to push the top plate assembly 500 toward the top wall of the tunnel, so that the top plate assembly 500 can move horizontally toward the top wall of the tunnel. When the hydraulic jacking assembly 400 pushes the power end of the lever 311 to swing downward, the lever 311 swings around the support rod 123 so that its resistance end swings upward. The resistance end drives the parallel plate 316 and the second connecting rod 313 and the third connecting rod 314 to move upward through the curved rod 315. The height of the parallel plate 316 is consistent with the height of the first connecting rod 312 and the lever 311. The same spacing allows the first connecting rod 312 and the lever 311 to move in parallel. During this process, the parallel plate 316 is always parallel to the bottom end of the top plate assembly 500, thereby ensuring that the surface of the top plate assembly 500 can move horizontally toward the top wall of the tunnel, thereby avoiding the top plate assembly 500 tilting in the process of approaching the top wall of the tunnel, causing part of the gravel on the top wall to be squeezed by the top plate assembly 500 and fall off, and roll along the top plate assembly 500 to the operating area, causing injuries to construction workers, and avoiding the edge of the top plate assembly 500 from contacting the top wall first, causing stress concentration to crush the rock layer and support failure.

[0030] Example 5 The hydraulic extension assembly 400 includes: a horizontal rod 410, both ends of which are respectively connected to the power ends of the two groups of levers 311; a hinge block 420, the bottom end of which is rotatably connected to the horizontal rod 410; a hydraulic cylinder 430, the mounting end of which is connected to the top of the hinge block 420; an auxiliary top plate 440, which is arranged at the extension end of the hydraulic cylinder 430; a limiting ring 450, the cover of which is arranged on the outer wall of the hydraulic cylinder 430; and a mounting rod 460, one end of which is connected to the limiting ring 450 and the other end of which is connected to the lever mechanism 300.

[0031] In the above embodiment, when the lever mechanism 300 swings, the limiting ring 450 is driven to move by the mounting rod 460, and the limiting ring 450 is covered on the circumferential outer wall of the hydraulic cylinder 430. The extension direction of the limiting ring 450 is parallel to the swing plane of the lever mechanism 300, so that the limiting ring 450 limits the swing direction of the hydraulic cylinder 430, so that the hydraulic cylinder 430 swings in a plane parallel to the swing plane of the lever mechanism 300, so that the hydraulic cylinder 430 will not tip over when it is extended or retracted.

[0032] Example 6 The top plate assembly 500 includes: a column 510, the outer wall of the bottom end of which is hinged to the curved rod 315 and the second connecting rod 313; a dome 520, which is arranged at the top of the column 510; and a reinforcing rib 530, which is arranged between the top of the column 510 and the bottom surface of the dome 520.

[0033] In the above embodiment, the arch 520 is used to adapt to the arc-shaped top wall formed by the tunnel boring machine. A number of grooves are provided on the surface of the arch 520. The grooves are used to reduce the weight of the arch 520. At the same time, when the arch 520 contacts the top wall, the exposed stones on the top wall are squeezed, and the rolled stones are stored in the grooves to prevent the arch 520 from being unable to contact the top wall as much as possible due to the protrusion of stones. The bottom end of the column 510 is hinged to the end of the curved rod 315 away from the third connecting rod 314, and the middle section is hinged to the end of the second connecting rod 313 away from the first connecting rod 312, so that the column 510 can be pushed vertically by the connecting rod assembly 310.

[0034] Example 7 The connecting rod mechanism 600 includes: two groups of fourth connecting rods 610, which are arranged at intervals at the lower part of the top plate assembly 500; two groups of fifth connecting rods 620, which are respectively arranged on both sides of the two groups of the fourth connecting rods 610, one end of the fourth connecting rod 610 is hinged to the middle section of the fifth connecting rod 620, and the top of the fifth connecting rod 620 is hinged to the bottom surface of the top plate assembly 500; two groups of sixth connecting rods 630, which are arranged on the side of the fifth connecting rod 620 away from the fourth connecting rod 610, the sixth connecting rod 630 is arranged parallel to the fifth connecting rod 620, and the top of the sixth connecting rod 630 is hinged to the bottom surface of the top plate assembly The bottom surface of the component 500 is hinged; an extension rod 640, one end of which is hinged to the bottom end of the fifth connecting rod 620, and the middle section is hinged to the bottom end of the sixth connecting rod 630, and the extension rod 640 is horizontally arranged; wherein, the end of the extension rod 640 away from the fifth connecting rod 620 is connected to the side panel assembly 700; the end of the fourth connecting rod 610 away from the fifth connecting rod 620 is hinged to a slider assembly 800, and the slider assembly 800 is driven and cooperated with the lever mechanism 300, and the lever mechanism 300 is used to drive the slider assembly 800 to drive the fifth connecting rod 620 to move vertically.

[0035] In the above embodiment, one end of the fourth link 610 is mounted on the slider assembly 800, and the slider assembly 800 is driven by the lever mechanism 300, so that the slider assembly 800 pushes the bottom end of the fourth link 610 to move upward. When the bottom end of the fourth link 610 moves upward, it pushes the middle section of the fifth link 620 to move outward. When the bottom end of the fifth link 620 swings around the top end, since the bottom ends of the fifth link 620 and the sixth link 630 are mounted on the extension rod 640, the swing of the fifth link 620 drives the sixth link 630 to swing outward in parallel at the same time, and when the extension rod 640 is pushed outward, it pushes the side plate assembly 700 mounted thereon to support it in the alley. The lever mechanism 300 drives the slider assembly 800 to achieve a small vertical movement in the inner wall, and transmits it to the middle section of the fifth link 620 through the fourth link 610. According to the lever principle, the fifth link 620 acts as a rocker, and its bottom end will produce an amplified horizontal displacement, making it more compact and lower in cost. The bottom ends of the fifth link 620 and the sixth link 630 are hinged together by a rigid extension rod 640, so that the fifth link 620 and the sixth link 630 form a parallel four-bar structure. When the mechanism moves, the extension rod 640 will strictly maintain the horizontality and perform translational motion, thereby pushing the side plate assembly 700 to move horizontally toward the side wall of the tunnel.

[0036] Example 8 The slider assembly 800 includes: a vertical slide rail 810, which is vertically installed on the bottom surface of the top plate assembly 500; a slider 820, which is slidably arranged on the vertical slide rail 810; a chain 830, one end of which is connected to the slider 820; a guide wheel 840, which is installed on the side wall of the vertical slide rail 810, and the middle section of the chain 830 passes through the guide wheel 840; a driving rod 850, one end of which is connected to the lever 311, and the other end is rotatably installed on the top of the support rod 123; a sprocket 860, which is arranged on the circumferential outer wall of the driving rod 850, and the end of the chain 830 away from the slider 820 is wrapped around the circumferential outer wall of the sprocket 860; a tensioning wheel 870, which is installed on the surface of the lever 311, and the tensioning wheel 870 is in contact with the circumferential outer wall of the chain 830.

[0037] In the above embodiment, when the lever 311 swings around the support rod 123, it drives the drive rod 850 to rotate, and the drive rod 850 rotates and drives the sprocket 860 to rotate. When the sprocket 860 rotates, one end of the chain 830 is wrapped around its circumferential outer wall, so that the end of the chain 830 close to the slider 820 is tightened upward, pulling the slider 820 to slide on the vertical slide rail 810, and the two ends of the slider 820 are respectively hinged to the fourth connecting rod 610, so that when the slider 820 moves upward, it drives the fourth connecting rod 610 to move upward, thereby achieving the purpose of pushing the side plate assembly 700 closer to the side wall of the tunnel. The tensioning wheel 870 is used to adjust the tension of the chain 830.

[0038] Example 9 The side plate assembly 700 includes: a side guard plate 710, one surface of which is connected to the connecting rod mechanism 600; an arc plate 720, which is arranged at the lower part of the side guard plate 710 near the front end of the frame 100; wherein, the ends of the two groups of the arc plates 720 away from the side guard plates 710 are close to the center of the frame 100, and the crawler walking mechanism 200 is arranged between the two groups of the arc plates 720.

[0039] In the above embodiment, when the frame 100 moves, the lever mechanism 300 is in a horizontal position, and the connecting rod mechanism 600 drives the side guard plate 710 to move downward, so that the bottom end of the side guard plate 710 is close to the ground. When the frame 100 moves, the two sets of arc plates 720 push the stones falling from the front end of the frame 100 in the direction of travel to both sides, preventing the stones from entering the crawler walking mechanism 200, causing the crawler walking mechanism 200 to get stuck and fail. At the same time, it can also prevent the hydraulic support foot 120 from sliding during operation due to scattered stones on the ground when the hydraulic support foot 120 extends the frame 100.

[0040] Example 10 A protective steel mesh 900 is provided on one side of the top plate assembly 500 and the side plate assembly 700 close to the front end of the vehicle frame 100 .

[0041] In the above embodiment, the top plate assembly 500 and the side plate assembly 700 drive the protective steel mesh 900 to approach the inner wall of the tunnel in the process of approaching the inner wall of the tunnel, and the inner wall of the tunnel at the front end of the operation area is supported by the protective steel mesh 900. The protective steel mesh 900 is supported on the inner wall of the tunnel, which makes it convenient for construction personnel to drill holes in the inner wall of the tunnel through the protective steel mesh 900.

[0042] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments.

[0043] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A mine tunnel temporary support robot, characterized in that: It comprises a vehicle frame (100) and a crawler walking mechanism (200) installed on both sides of the vehicle frame (100); A lever mechanism (300) is hinged at a fulcrum to the upper portion of the vehicle frame (100), with a resistance end disposed toward the front end of the vehicle frame (100); A hydraulic jacking assembly (400), the mounting end of which is arranged at the power end of the lever mechanism (300), and the jacking end of which is arranged vertically upward; A top plate assembly (500) is provided at the resistance end of the lever mechanism (300); A connecting rod mechanism (600) is symmetrically arranged on both sides of the vehicle frame (100), one end of which is hinged to the bottom surface of the top plate assembly (500), and the middle section of which is drivingly connected to the lever mechanism (300); A side plate assembly (700) is provided on a side of the connecting rod mechanism (600) away from the vehicle frame (100); The lever mechanism (300) cooperates with the connecting rod mechanism (600) to adjust the distance between the side panel assembly (700) and the vehicle frame (100).

2. The mine tunnel temporary support robot according to claim 1, characterized in that: The vehicle frame (100) comprises: A rectangular frame (110) with a plurality of crawler walking mechanisms (200) mounted on both sides; Two groups of hydraulic support feet (120) are provided, and the two groups of hydraulic support feet (120) are symmetrically arranged on both sides of the vehicle frame (100); The hydraulic support foot (120) comprises: Two groups of hydraulic rods (121), the two groups of hydraulic rods (121) are distributed in a V-shape, the top extension ends of the two groups of hydraulic rods (121) are close to each other, and the mounting ends are hinged to the side walls of the vehicle frame (100); A support plate (122) having a surface center hinged to the top extension ends of the two groups of hydraulic rods (121); Wherein, the hydraulic support foot (120) is provided below the fulcrum of the lever mechanism (300).

3. The mine tunnel temporary support robot according to claim 2, characterized in that: The vehicle frame (100) further includes: Two groups of support rods (123) are provided, the bottom ends of the two groups of support rods (123) are respectively mounted on the surface of the vehicle frame (100), and the top ends of the support rods (123) are used for articulating the lever mechanism (300); A conveyor belt mechanism (124) is further provided at the lower portion of the vehicle frame (100), wherein the mounting end of the conveyor belt mechanism (124) is mounted on the vehicle frame (100), the output end of the conveyor belt mechanism (124) is provided at the lower portion of the top plate assembly (500), and the input end is provided at the lower portion of the other end of the vehicle frame (100).

4. The mine tunnel temporary support robot according to claim 3, characterized in that: The lever mechanism (300) comprises: Two groups of connecting rod assemblies (310), the two groups of connecting rod assemblies (310) are symmetrically arranged on both sides of the vehicle frame (100); The connecting rod assembly (310) includes: A lever (311), the middle portion of which is hinged to the upper portion of the support rod (123); A first connecting rod (312) has one end hinged to the lower portion of the support rod (123), and the first connecting rod (312) is arranged parallel to the resistance end of the lever (311); A second connecting rod (313), one end of which is hinged to the other end of the first connecting rod (312), and the other end of the second connecting rod (313) is hinged to the lower end of the top plate assembly (500); A third connecting rod (314), one end of which is hinged to an end of the second connecting rod (313) close to the support rod (123); A curved rod (315), one end of which is hinged to the other end of the third connecting rod (314), and the other end of which is hinged to the lower end of the top plate assembly (500), the curved rod (315) being arranged on the upper portion of the second connecting rod (313), and the second connecting rod (313) and the curved rod (315) being arranged parallel to one end close to the top plate assembly (500); One end of the lever (311) away from the support rod (123) is hinged to the middle section of the curved rod (315); A parallel plate (316) is provided on a side of the top plate assembly (500) away from the support rod (123), the parallel plate (316) is arranged parallel to the lower end of the top plate assembly (500), and the upper and lower ends of the end walls on both sides of the parallel plate (316) are hinged to the middle section of the curved rod (315) and one end of the second connecting rod (313) close to the first connecting rod (312), respectively.

5. The mine tunnel temporary support robot according to claim 4, characterized in that: The hydraulic jacking assembly (400) comprises: A horizontal rod (410), both ends of which are respectively connected to the power ends of the two groups of levers (311); A hinge block (420), the bottom end of which is rotatably connected to the horizontal rod (410); A hydraulic cylinder (430), the mounting end of which is connected to the top end of the hinge block (420); An auxiliary top plate (440) is provided at the top extension end of the hydraulic cylinder (430); A limiting ring (450) is provided on the outer wall of the hydraulic cylinder (430); A mounting rod (460) is connected at one end to the limiting ring (450) and at the other end to the lever mechanism (300).

6. The mine tunnel temporary support robot according to claim 4, characterized in that: The top plate assembly (500) comprises: The outer wall of the bottom end of the upright column (510) is hinged to the curved rod (315) and the second connecting rod (313); A dome (520) is provided on the top of the column (510); The reinforcing rib (530) is provided between the top of the column (510) and the bottom surface of the arch (520).

7. The mine tunnel temporary support robot according to claim 5, characterized in that: The connecting rod mechanism (600) comprises: Two sets of fourth connecting rods (610) are spaced apart and arranged at the lower portion of the top plate assembly (500); Two groups of fifth connecting rods (620) are respectively arranged on both sides of the two groups of fourth connecting rods (610), one end of the fourth connecting rod (610) is hinged to the middle section of the fifth connecting rod (620), and the top end of the fifth connecting rod (620) is hinged to the bottom surface of the top plate assembly (500); Two groups of sixth connecting rods (630) are arranged on a side of the fifth connecting rod (620) away from the fourth connecting rod (610), the sixth connecting rods (630) are arranged parallel to the fifth connecting rod (620), and the top ends of the sixth connecting rods (630) are hinged to the bottom surface of the top plate assembly (500); An extension rod (640), one end of which is hinged to the bottom end of the fifth connecting rod (620), and a middle section of which is hinged to the bottom end of the sixth connecting rod (630), and the extension rod (640) is arranged horizontally; Wherein, one end of the extension rod (640) away from the fifth connecting rod (620) is connected to the side plate assembly (700); A slider assembly (800) is hingedly connected to one end of the fourth connecting rod (610) away from the fifth connecting rod (620). The slider assembly (800) is driven and cooperated with the lever mechanism (300). The lever mechanism (300) is used to drive the slider assembly (800) to drive the fifth connecting rod (620) to move vertically.

8. The mine tunnel temporary support robot according to claim 7, characterized in that: The slider assembly (800) comprises: A vertical slide rail (810) is vertically mounted on the bottom surface of the top plate assembly (500); A slider (820) is slidably mounted on the vertical slide rail (810); a chain (830), one end of which is connected to the slider (820); A guide wheel (840) is mounted on a side wall of the vertical slide rail (810), and the middle section of the chain (830) passes through the guide wheel (840); A driving rod (850), one end of which is connected to the lever (311) and the other end of which is rotatably mounted on the top of the support rod (123); A sprocket (860) is provided on the circumferential outer wall of the driving rod (850), and one end of the chain (830) away from the slider (820) is wound around the circumferential outer wall of the sprocket (860); The tensioning wheel (870) is mounted on the surface of the lever (311), and the tensioning wheel (870) abuts against the circumferential outer wall of the chain (830).

9. The mine tunnel temporary support robot according to claim 1, characterized in that: The side panel assembly (700) comprises: A side guard plate (710), one surface of which is connected to the connecting rod mechanism (600); An arc-shaped plate (720) is provided at a lower portion of the side guard plate (710) close to the front end of the vehicle frame (100); Wherein, one end of the two groups of arc-shaped plates (720) away from the side guard plate (710) is close to the center of the vehicle frame (100), and the crawler walking mechanism (200) is arranged between the two groups of arc-shaped plates (720).

10. The mine tunnel temporary support robot according to claim 1, characterized in that: A protective steel mesh (900) is provided on one side of the top plate assembly (500) and the side plate assembly (700) close to the front end of the vehicle frame (100).

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