Small modular coal seam autonomous tunneling robot

Abstract

The invention relates to a small modular coal seam autonomous tunneling robot which comprises an excavating mechanism, joint sections and a functional bin, and all modules are connected through the joint sections. The excavating mechanism adopts a telescopic expansion conical drill bit to conduct coal seam drilling, a telescopic shovel cleans coal seam chippings and provides drilling supporting force, a snakelike propelling mechanism composed of a plurality of joint sections and a functional bin extrudes the inner diameter of a coal seam drill hole in a spiral line posture, and tunneling power at different angles is provided for the robot. A machine body of the autonomous tunneling robot adopts a sealing design, all modules are electrically and hermetically connected, functional bins with different numbers and functions can be selected for assembly according to task requirements, and the functional bins can carry a control module, a sensor module, a power module and the like; the method has the capability of flexibly adjusting the drilling angle, the problem of failure of local outburst prevention measures in the existing coal mining technology is effectively solved, and the safety and efficiency of coal mining operation are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal seam autonomous tunneling robots, in particular to a small modular coal seam autonomous tunneling robot. TECHNICAL BACKGROUND

[0002] Gas is an important clean energy, which can replace traditional energy such as coal, natural gas and oil, reduce dependence on imported energy, and improve the reliability and stability of energy supply. Underground gas extraction is not only an important means to improve the coal seam gas extraction rate, but also a key link to effectively control deep outburst coal seams and reduce their outburst danger. In the process of coal mining, gas outburst is a common disaster, and a large amount of gas will be produced during the operation of the working face in the mine. With the accumulation and migration of gas, its pressure gradually rises, and when the pressure reaches a certain level, the gas will suddenly spew out, causing coal and gas outburst. This phenomenon is very harmful and may cause explosions, posing a threat to the safety of workers. According to incomplete statistics, the number of outburst accidents occurring in the tunneling working face accounts for 60% to 70% of the total number of outburst accidents. The State Administration of Mine Safety issued the "Regulations on the Prevention and Control of Coal and Gas Outburst" in 2019, which proposes a number of local outburst prevention measures for the tunneling working face, namely, advanced drilling, loose blasting, and water loosening. Among them, advanced drilling is the most commonly used local measure for the tunneling working face. By drilling in the coal seam and gas accumulation area, the drill hole is connected to a special pipeline, and the gas is extracted to the ground by the extraction equipment for utilization or discharge, reducing the amount of gas emission during coal mining and preventing gas explosions. At the same time, gas can also be developed and utilized as a byproduct of coal resources. However, after taking these local measures in the tunneling working face, outburst accidents still occur, indicating that the implementation of local outburst prevention measures has not achieved its intended goal and is in a state of failure. This is because the advanced drilling can only drill straight holes in one direction, and there is a gap between each drill hole, which cannot release all the pressure and poses a certain risk of accidents. SUMMARY

[0003] The purpose of the present application is to overcome the shortcomings of the prior art and provide a small modular coal seam autonomous tunneling robot for autonomous tunneling and detection of coal seams. According to the task requirements, the appropriate number of modules can be selected for assembly. After the tunneling robot enters the coal seam hole, the telescopic expansion cone drill bit of the excavating mechanism is used to drill holes in the coal seam, the telescopic shovel of the excavating mechanism is used to clean the coal seam debris generated during drilling, the telescopic shovel and the serpentine propulsion mechanism provide different angle drilling pressure for the head cone drill bit, realize different angle drilling paths, and at the same time, the sensors of the autonomous tunneling robot are used to detect the coal seam environment. It can solve the problems existing in the prior art.

[0004] To solve the above technical problems, the technical scheme adopted by the present application is:

[0005] A small, modular, autonomous coal seam tunneling robot is provided, comprising a digging mechanism, joint sections, and a serpentine propulsion mechanism. The digging mechanism is located on top of the serpentine propulsion mechanism and is connected to it via the joint sections. The serpentine propulsion mechanism consists of multiple functional compartments connected to each other via joint sections. The envelope radius of the digging mechanism is larger than that of the serpentine propulsion mechanism. In use, the digging mechanism excavates the coal seam using its telescopic expanding conical drill bit and cleans up the excavated coal seam debris using its telescopic shovel. The serpentine propulsion mechanism propels the digging mechanism to move in any direction, continuously oscillating and rotating amidst the coal debris to increase the contact area between the functional compartments and the coal debris, thus providing tunneling power for the digging mechanism.

[0006] Furthermore, the excavation mechanism includes a body, a telescopic expansion conical drill bit, and a telescopic shovel, with the telescopic expansion conical drill bit located between two telescopic shovels at the top of the body.

[0007] Furthermore, the telescopic expansion conical drill bit includes a conical auger drill bit, a first extension wing, a second extension wing, and a third extension wing; the conical auger drill bit is located at the top of the telescopic expansion conical drill bit, and its periphery is designed with a helical structure; the first extension wing, the second extension wing, and the third extension wing are located in the middle part of the telescopic expansion conical drill bit and are evenly distributed in the radial direction, and a serrated cutting edge is provided on one side of the first extension wing, the second extension wing, and the third extension wing.

[0008] Furthermore, the first, second, and third extension wings can slide within the grooves on the telescopic expansion conical drill bit, enabling the first, second, and third extension wings to contract and extend.

[0009] Furthermore, the telescopic shovel includes a telescopic frame, a swing linkage, and a swing shovel; the telescopic frame is located in the grooves on both sides of the digging mechanism and can move linearly along the grooves; the swing linkage is installed in the grooves inside the telescopic frame and can move linearly along the grooves; the swing shovel is located at the top of the telescopic frame and is connected to the swing linkage and the telescopic frame through a rotating shaft, and the swing shovel can rotate around a fixed axis under the push of the swing linkage.

[0010] Furthermore, the joint segment includes an omnidirectional joint and a telescopic dustproof and waterproof cover; the omnidirectional joint includes a first rotating frame, a connecting part, and a second rotating frame, the bottoms of the first rotating frame and the second rotating frame are connected by the connecting part, the first rotating frame rotates about a first extending direction of the connecting part, and the second rotating frame rotates about a second extending direction of the connecting part, the first extending direction and the second extending direction are perpendicular and coplanar; the telescopic dustproof and waterproof cover is installed on the periphery of the omnidirectional joint, and the inner wall of the omnidirectional joint and the telescopic dustproof and waterproof cover are spaced at a preset distance, which can prevent the first rotating frame, the connecting part, the second rotating frame and the telescopic dustproof and waterproof cover from contacting when the autonomous tunneling robot changes direction, and the installation points at both ends are sealed.

[0011] Furthermore, the first rotating frame and the second rotating frame have the same structure. The top connecting plane of the first rotating frame is provided with an electrical signal contact, and the side is provided with a quick-connect buckle and a positioning groove. After the first rotating frame and the excavating mechanism or functional compartment are aligned with the positioning groove, they are electrically sealed and connected through the quick-connect buckle.

[0012] Furthermore, the functional compartments have the same structure and can be equipped with control modules, sensor modules, and power modules according to task requirements. The outer periphery of the functional compartment is designed with a spiral structure to increase the contact area with coal dust and improve forward momentum. The outer shell of the functional compartment can rotate independently around the central axis relative to the internal structure.

[0013] As can be seen from the above technical solution, the beneficial effects of the present invention are reflected in:

[0014] 1. The moving parts and joints of the tunneling robot are all designed with a sealing structure, which can isolate the inside of the tunneling robot from dust, liquids and gases, prevent the inside of the robot from coming into contact with coal dust, corrosive liquids and dangerous gases during operation, ensure work safety and extend service life.

[0015] 2. The tunneling robot can select appropriate functional compartments for assembly according to the working environment requirements, realizing different environmental detection functions. After the assembled tunneling robot enters the coal seam borehole, it will adjust its posture to present a spiral shape to squeeze the inner diameter of the coal seam borehole, ensuring the robot's forward momentum and drilling pressure in the coal seam borehole. The joints of the tunneling robot work together, enabling the tunneling robot to adjust the drilling angle more flexibly, improving the problem of the failure of local anti-outburst measures caused by the original advanced drilling which can only drill straight holes in one direction. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the excavation mechanism;

[0018] Figure 3This is a schematic diagram of the joint segment;

[0019] Reference numerals: 10-excavating mechanism; 20-joint segment; 30-functional compartment; 101-body; 102-telescopic expansion conical drill bit; 103-conical auger drill bit; 104-first extension wing; 105-second extension wing; 106-third extension wing; 107-telescopic frame; 108-swinging linkage; 109-swinging shovel; 201-first rotating frame; 202-connecting part; 203-second rotating frame; 204-telescopic dustproof and waterproof cover; 205-electrical signal contact; 206-quick connection slot; 207-positioning slot. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The purpose of this invention is to provide a small, modular, autonomous coal seam tunneling robot to solve the problems existing in the prior art, making it more flexible, stable, and applicable, and enabling it to meet the task requirements of drilling paths at different angles in coal seams and detecting the coal seam environment.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] This invention provides a small, modular, autonomous coal seam tunneling robot, and as a preferred embodiment, refer to... Figure 1 A schematic diagram of the structure of a small modular autonomous coal seam tunneling robot is provided. The small modular autonomous coal seam tunneling robot of this invention includes a digging mechanism 10, several joint sections 20, and several functional compartments 30. The entire body of the autonomous tunneling robot is designed with a sealed structure, completely isolating the internal mechanisms from the external environment. This prevents internal parts and electronic components from coming into contact with coal dust, corrosive liquids, and hazardous gases during operation, ensuring operational safety. The digging mechanism 10 and the functional compartments 30 are connected and sealed via quick-connect slots 206 in the joint sections 20; the various functional compartments 30 are also connected and sealed via quick-connect slots 206 in the joint sections 20.

[0024] like Figure 1 and Figure 2As shown, the telescopic expansion conical drill bit 102 is located in the top circular groove of the body 101. The telescopic expansion conical drill bit 102 and the body 101 are designed with a dynamic seal. Driven by the drive motor, it can slide up and down and rotate along the groove. The telescopic expansion conical drill bit 102 includes a conical auger drill bit 103, a first extension wing 104, a second extension wing 105, and a third extension wing 106. The conical auger drill bit 103 is located at the top of the telescopic expansion conical drill bit 102 and is fixed by screws. The first extension wing 103, the second extension wing 104, and the third extension wing 105 are located in the middle part of the telescopic expansion conical drill bit 102 and are evenly distributed in the radial direction. The outer periphery of the conical auger drill bit 103 is designed with a spiral structure for drilling coal seams and discharging coal dust along the spiral structure. The first extension wing 103, the second extension wing 104, and the third extension wing 105 are synchronously driven to slide within the groove on the telescopic expansion conical drill bit 102 by the motor, achieving synchronous contraction and extension. The first extension wing 103, the second extension wing 104, and the third extension wing 105 are provided with serrated blades on one side to enlarge the boreholes generated by the conical spiral drill bit 103.

[0025] The telescopic frame 107 is located in the sliding grooves on both sides of the machine body 101. The telescopic frame 107 and the machine body 101 are slidably sealed. Under the drive of the drive motor, the telescopic frame 107 moves linearly along the sliding groove. The swing link 108 is located in the sliding groove of the telescopic frame 107 and is designed to slide and seal. Under the drive of the drive motor, the swing link 108 moves linearly along the sliding groove. The swing shovel 109 is located on top of the telescopic frame 107. The telescopic frame 107, the swing link 108 and the swing shovel 109 are all connected by a rotating shaft. The linear movement of the swing link 108 can control the relative rotation angle of the swing shovel 109 around the rotating shaft, so as to realize the function of the swing shovel cleaning coal dust or being relatively fixed with the coal seam borehole.

[0026] The serpentine propulsion mechanism consists of joint segment 20 and functional compartment 30. The functional compartment 30 is designed with a spiral structure on its outer periphery. Its outer shell can rotate independently around the central axis of the functional compartment 30 relative to the internal structure. When the autonomous tunneling robot moves, the outer shell of the functional compartment 30 rotates continuously to increase the contact area with coal dust and improve forward momentum.

[0027] like Figure 3 As shown, the joint segment 20 includes an omnidirectional joint and a telescopic dustproof and waterproof cover 204. The omnidirectional joint includes a first rotating frame 201, a connecting part 202, and a second rotating frame 203. Figure 3The first rotating frame 201, connecting part 202, second rotating frame 203, and telescopic dustproof and waterproof cover 204 are in a separate state. In actual use, the first rotating frame 201, connecting part 202, and second rotating frame 203 are located inside the telescopic dustproof and waterproof cover 204, providing support and protection for the joint segment 20. This also prevents the pressure of coal dust and liquid from creating resistance to the movement of the joint segment 20, thus ensuring its flexible movement. The overall structure of this invention is relatively compact, and the number of functional compartments 30 can be flexibly increased or decreased according to work requirements. The functional compartments 30 can carry control systems, energy systems, and environmental detection systems, enabling the autonomous tunneling robot to flexibly and autonomously tunnel within coal seams and detect different environmental data.

[0028] The telescopic dustproof and waterproof cover 204 is set on the periphery of the omnidirectional joint and sealed at both ends. When the autonomous tunneling robot moves, the joint segment 20 may change direction. The telescopic dustproof and waterproof cover 204 can deform accordingly. The first rotating frame 201, the connecting part 202, the second rotating frame 203 are spaced at a preset distance from the inner wall of the telescopic dustproof and waterproof cover 204, which can prevent the first rotating frame 201, the connecting part 202, the second rotating frame 203 from contacting the telescopic dustproof and waterproof cover 204 when the autonomous tunneling robot changes direction.

[0029] The connecting part 202 is disposed between the first rotating frame 201 and the second rotating frame 203, and is connected to the first rotating frame 201 and the second rotating frame 203 respectively. The first rotating frame 201 rotates about the first extending direction of the connecting part 202, and the second rotating frame 203 rotates about the second extending direction of the connecting part 202. The first extending direction and the second extending direction are perpendicular and coplanar. The first rotating frame 201 and the second rotating frame 203 have servo motor mounting slots, and the connecting part 202 is provided with servo disk fixing holes. The omnidirectional joint is driven by the servo motor to rotate about two mutually perpendicular axes respectively, so as to realize the omnidirectional movement of the joint segment 20.

[0030] The top of the first rotating frame 201 and the second rotating frame 203 are designed with electrical signal contacts 205, quick-connect slots 206 and positioning slots 207. After the electrical signal contacts 205 are connected, they are responsible for transmitting energy and electrical signals. When the joint section 20 is connected to the excavating mechanism 10 or the functional compartment 30, it needs to be aligned with the positioning slots 207. The electrical sealing connection can be achieved by using the quick-connect structure to lock the quick-connect slots 206.

[0031] In the description of the embodiments of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "center," "top," "bottom," "top," "bottom," "inner," "outer," "inner side," and "outer side," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the purpose of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. "Inner side" refers to the interior or enclosed area or space. "Outer perimeter" refers to the area surrounding a specific component or specific area.

[0032] In the description of embodiments of the present invention, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise stated, "a plurality of" means two or more.

[0033] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "assembly" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0034] In the description of embodiments of the present invention, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0035] In the description of embodiments of the present invention, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A small modular autonomous coal seam tunneling robot, characterized in that, It includes an excavating mechanism, a joint section, and a serpentine propulsion mechanism, with the excavating mechanism and the serpentine propulsion mechanism electrically sealed together via the joint section.

2. The excavating mechanism according to claim 1, characterized in that, It includes a body, a telescopic expansion conical drill bit, and a telescopic shovel; the telescopic shovel is located in the slide grooves on both sides of the body, and the telescopic expansion conical drill bit is located in the slide groove between the two telescopic shovels at the top of the body. All moving parts of the excavation mechanism adopt a dynamic sealing design.

3. The telescopic expansion conical drill bit according to claim 2, characterized in that, It includes a conical auger drill bit, a first extension wing, a second extension wing, and a third extension wing; the conical auger drill bit has a helical structure on its outer periphery and is installed on the top of the telescopic expansion conical drill bit; the first extension wing, the second extension wing, and the third extension wing have serrated cutting edges on one side, which are installed in the groove in the middle part of the telescopic expansion conical drill bit and are evenly distributed in the radial direction.

4. The telescopic shovel according to claim 2, characterized in that, It includes a telescopic frame, a swing linkage, and a swing shovel; the swing linkage is installed in a groove inside the telescopic frame, and the swing shovel is located at the top of the telescopic frame and is connected to the swing linkage and the telescopic frame through a rotating shaft.

5. The joint segment according to claim 1, characterized in that, It includes an omnidirectional joint and a telescopic dustproof and waterproof cover; the omnidirectional joint includes a first rotating frame, a connecting part and a second rotating frame, the bottom of the first rotating frame and the second rotating frame are connected by the connecting part, the first rotating frame rotates about a first extending direction of the connecting part, and the second rotating frame rotates about a second extending direction of the connecting part, the first extending direction and the second extending direction are perpendicular and coplanar; the telescopic dustproof and waterproof cover is installed on the periphery of the omnidirectional joint, the inner wall of the telescopic dustproof and waterproof cover is spaced at a preset distance from the omnidirectional joint, and both ends are sealed.

6. The serpentine propulsion mechanism according to claim 1, characterized in that, It consists of multiple functional compartments and joint segments, with each functional compartment electrically sealed and connected to the other through the joint segments; the outer spiral structure of the functional compartments can rotate independently around the central axis relative to the internal structure.

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