Installation system of robotized flexible drainage protection unit suitable for coal mine tunnel

Abstract

The invention relates to the technical field of coal mine tunnel supporting, and discloses a mounting system of a robotized flexible drainage protection unit suitable for a coal mine tunnel, which comprises a fixed seat, a first joint mounted in the center of the top of the fixed seat, a telescopic arm mounted at the movable end of the first joint, and a second joint mounted at the tail end of the telescopic arm in a flange connection manner. The second joint circumferentially moves with the length direction of the telescopic arm as the axis, the connecting support is connected to the movable end of the second joint through a high-strength bolt, the third joint is installed on one side of the connecting support, the counter weight frame is installed on the other side of the connecting support and forms moment balance with the third joint, and the net grabbing hand grab is installed at the movable end of the third joint. According to the flexible drainage protection unit installation system, through the robotization flexible drainage protection unit installation system, the multi-degree-of-freedom joint design and the intelligent net grabbing tongs are adopted, automatic grabbing, accurate positioning and stable laying of a supporting net are achieved, and the flexible drainage protection unit installation system adapts to roadways of different section shapes and flexible drainage protection units of various specifications.

Description

Technical Field

[0001] This invention relates to the field of coal mine roadway support, and more specifically, to an installation system for a robotic flexible drainage protection unit suitable for coal mine roadways. Background Technology

[0002] Coal mine roadway drainage is a crucial aspect of ensuring safe production in mines. Flexible drainage protection units, as an important component of roadway drainage protection, can effectively prevent loosening of surrounding rock and spalling, ensuring the safety of workers and the normal operation of equipment.

[0003] When faced with roadways of different cross-sectional shapes (such as rectangular, trapezoidal, arched, etc.), traditional manual operation methods suffer from problems such as low efficiency, unstable quality, and difficulty in ensuring personnel safety. Meanwhile, existing mechanized equipment cannot adapt to the complex and ever-changing working environment in coal mines and the different specifications of support netting materials. Therefore, it is urgent to develop an intelligent and automated laying system. Summary of the Invention

[0004] This invention provides an installation system for robotic flexible drainage protection units suitable for coal mine roadways, solving the technical problems in related technologies that make it impossible to achieve robotic automatic laying of drainage protection units in coal mine roadways, and to reliably grasp, accurately position, stably lay, and coordinately control support nets of different specifications in complex and harsh underground environments.

[0005] This invention provides an installation system for a robotic flexible drainage protection unit suitable for coal mine roadways. The flexible drainage protection unit is a three-dimensional composite mesh sheet used to support drainage equipment. The installation system includes a fixed base, with a joint one installed at the top center of the fixed base. A telescopic arm is installed at the movable end of the joint one, and a joint two is installed at the end of the telescopic arm via a flange connection. The joint two moves circumferentially about the length direction of the telescopic arm. A connecting bracket is connected to the movable end of the joint two via high-strength bolts. A joint three is installed on one side of the connecting bracket, and a counterweight is installed on the other side of the connecting bracket to form a torque balance with the joint three. A grabber is installed at the movable end of the joint three. The grabber includes a first support plate and a second support plate. Two sets of adjusting hydraulic cylinders are provided between the first support plate and the second support plate. A lifting hook unit is provided at the bottom of the first support plate and the second support plate at the end away from the adjusting hydraulic cylinder. An adjustable lifting hook unit is provided at the top of the first support plate at the end away from the adjusting hydraulic cylinder. A fixed hook is provided at the top of the second support plate at the end away from the adjusting hydraulic cylinder. The lifting hook unit includes a Y-shaped hook body with a sliding groove on one side. The side walls of the first and second support plates are equipped with lifting cylinders. One end of the piston rod of the lifting cylinder is connected to the outer wall of the other side of the Y-shaped hook body. The lifting cylinder drives the Y-shaped hook body to move along the vertical direction. The adjustable hook unit includes a rotary cylinder, a rotary hook, and a connecting key. An arc-shaped groove is opened on the side wall of the first support plate. The bottom end of the rotary hook is slidably connected to the arc-shaped groove through the key. The rotary cylinder is installed on the inner side wall of the first support plate. The movable end of the rotary cylinder is connected to the connecting key, and the other end of the connecting key is connected to the rotary hook.

[0006] Furthermore, the first support plate is a rectangular plate structure with a curved front end, and the cross-section of the first support plate is J-shaped. The second support plate has the same structure as the first support plate and is arranged in parallel with the first support plate.

[0007] Furthermore, the adjusting hydraulic cylinder is connected between the first support plate and the second support plate via a pin connection. The adjusting hydraulic cylinder is a double-acting hydraulic cylinder that controls the opening and closing angle and clamping force between the first support plate and the second support plate.

[0008] Furthermore, a groove is provided on one side of the Y-shaped hook, and a lifting key is slidably connected in the groove. The lifting cylinder drives the Y-shaped hook to move along the vertical direction, and the lifting key moves along the groove direction of the groove.

[0009] Furthermore, joint one includes a horizontal rotation mechanism, which uses a stepless drive motor to achieve 360° continuous rotation.

[0010] Furthermore, joint two moves circumferentially around the length of the telescopic arm as its axis, with a rotation angle range of ±180°, and is driven by a servo motor.

[0011] Furthermore, the third joint is driven by a servo motor, which drives the gripper on the connecting bracket to move in a circumferential direction.

[0012] Furthermore, the adjusting hydraulic cylinder is a double-acting hydraulic cylinder, and a pressure sensor is installed on the hydraulic end of the adjusting hydraulic cylinder to detect whether the grab net is firmly gripped.

[0013] Furthermore, the bottom of the fixed base is equipped with a stabilizing support foot, and the fixed base is installed to the movable end of the robot in the coal mine roadway through the stabilizing support foot.

[0014] Furthermore, the telescopic boom has a two-section telescopic structure, is driven by a hydraulic cylinder, and has hydraulic pipelines and cable channels inside.

[0015] The beneficial effects of this invention are as follows: This invention utilizes robots to install flexible drainage and protection units, effectively solving the technical challenges of traditional manual labor. The system employs a multi-degree-of-freedom joint design and an intelligent net-grabbing gripper, enabling automatic grasping, precise positioning, and stable laying of the support net. It adapts to roadways with different cross-sectional shapes and various specifications of flexible drainage and protection units, shortening the traditional multi-person collaborative laying time, improving work efficiency, reducing safety risks, and integrating shotcreting equipment for integrated operation, further enhancing the overall efficiency and quality of roadway support. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the installation system of the robotic flexible drainage protection unit applicable to coal mine roadways according to the present invention; Figure 2 This is the invention Figure 1 Top view; Figure 3 This is the invention Figure 1 Side view; Figure 4 This is the invention Figure 1 A schematic diagram of the axial structure; Figure 5 This is the invention Figure 4 A schematic diagram of the adjustable hook unit and the lifting hook unit.

[0017] In the diagram: 100, fixed base; 200, joint one; 300, telescopic arm; 400, joint two; 410, connecting bracket; 500, joint three; 600, counterweight frame; 710, first support plate; 720, second support plate; 730, adjustable hook unit; 731, rotating hook; 732, rotating keyway; 733, swing cylinder; 734, arc groove; 740, fixed hook; 750, lifting hook unit; 751, lifting cylinder; 752, Y-shaped hook body; 753, lifting keyway; 760, adjusting hydraulic cylinder. Detailed Implementation

[0018] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0019] like Figures 1-5As shown, the installation system of the robotic flexible drainage protection unit suitable for coal mine roadways includes a fixed base 100, which serves as the basic support platform for the entire system. The fixed base 100 is made of high-strength steel and has stable support feet at the bottom. It is installed on the movable end of the robot in the coal mine roadway through the stable support feet. Joint 200 is installed at the top center of the fixed base 100 via a flange connection. Joint 200 includes a horizontal rotation mechanism, which is driven by a stepless motor to achieve 360° continuous rotation. The telescopic boom 300 is installed on the movable end of the joint 200 by bolt connection. The telescopic boom 300 is a two-section telescopic structure and is driven by a hydraulic cylinder. The telescopic boom 300 is equipped with hydraulic pipelines and cable channels to ensure smooth transmission of pipelines during each stage of telescopic movement. Joint 2 400 is installed at the end of telescopic boom 300 via flange connection. Joint 2 400 moves circumferentially around the length of telescopic boom 300 as its axis, with a rotation angle range of ±180°. It is driven by a servo motor and equipped with an absolute encoder for position feedback. The connecting bracket 410 is connected to the movable end of the joint 2 400 by high-strength bolts. The connecting bracket 410 has a T-shaped structure and is made of lightweight aluminum alloy, which ensures both strength and weight reduction. The joint 3 500 is installed on one side of the connecting bracket 410 and is driven by a servo motor to drive the net gripper on the connecting bracket 410 to perform circumferential movement, which can realize the precise positioning and attitude adjustment of the net gripper. The counterweight frame 600 is installed on the other side of the connecting bracket 410, forming a torque balance with the joint 500. The counterweight frame 600 can be equipped with shotcrete equipment to realize the integration of support net laying and shotcrete operation. The grabber is installed at the movable end of the joint 3500 to grab, transport and lay the flexible drainage protection unit. When retracting, it picks up the flexible drainage protection unit, and when opening, it grabs the flexible drainage protection unit.

[0020] It should be noted that the net gripper includes the following components: The first support plate 710 is a rectangular plate structure with a curved front end. The cross-section of the first support plate 710 is J-shaped. It is made of high-strength steel plate and the surface is treated with anti-corrosion. The second support plate 720 has the same structure as the first support plate 710. The two support plates are arranged in parallel and the spacing is adjustable. Two sets of adjusting hydraulic cylinders 760 are installed between the first support plate 710 and the second support plate 720. They are connected to the inner sides of the two support plates by means of pin shaft connection. The adjusting hydraulic cylinder 760 is a double-acting hydraulic cylinder, which can control the opening and closing angle and clamping force between the two support plates. The hydraulic end of the adjusting hydraulic cylinder 760 is equipped with a pressure sensor to detect whether the grab net is firmly gripped. The lifting hook unit 750 is provided at the bottom of the first support plate 710 and the second support plate 720 at the end away from the adjusting hydraulic cylinder 760, and is used to hook and lift the flexible drainage protection unit from the bottom. The adjustable hook unit 730 is provided at the top of the first support plate 710 away from the adjusting hydraulic cylinder 760, and can adjust the hooking angle according to the different specifications of the flexible drainage protection unit; a fixed hook 740 is provided at the top of the second support plate 720 away from the adjusting hydraulic cylinder 760, which works in conjunction with the adjustable hook unit 730 to ensure the stable gripping of the flexible drainage protection unit.

[0021] In one embodiment of the present invention, the lifting hook unit 750 includes a Y-shaped hook body 752, which is made of high-strength alloy steel. The Y-shaped structure can effectively distribute the force, and the surface is hardened to improve wear resistance. A chute is provided on one side of the Y-shaped hook 752, which cooperates with the guide mechanism of the lifting cylinder 751 to ensure the linear movement of the Y-shaped hook 752. The side walls of the first support plate 710 and the second support plate 720 are both equipped with lifting cylinders 751. The lifting cylinders 751 are double-acting cylinders. One end of the piston rod of the lifting cylinder 751 is connected to the other outer wall of the Y-shaped hook body 752. In addition to the slide, the guide mechanism also includes a lifting keyway 753. The lifting cylinder 751 drives the Y-shaped hook 752 to move along the vertical direction, and the lifting keyway 753 moves along the groove direction of the slide to ensure motion accuracy and stability.

[0022] The adjustable hook unit 730 includes an arc-shaped groove 734 and a rotating hook 731. An arc-shaped groove 734 is formed on the side wall of the first support plate 710. The bottom end of the hook body of the rotating hook 731 is provided with a rotating keyway 732. It is slidably connected to the arc-shaped groove 734 through the rotating keyway and can make arc-shaped movements within the arc-shaped groove 734. The smooth movement of the rotating hook 731 within the groove and the arc-shaped design allow the rotating hook 731 to be adjusted within a large angle range to adapt to different gripping needs. The connecting key is a rectangular key structure with surface hardening treatment. One end of the connecting key is engaged with the rotary keyway 732 of the rotary hook 731, and the other end is connected to the rotary cylinder. The rotary cylinder is installed on the inner side wall of the first support plate 710. The rotary cylinder is a swing cylinder 733, which is fixed on the support plate by a bracket. The transmission mechanism, the movable end of the rotary cylinder is connected to the rotary hook 731 via a connecting key, so as to achieve precise positioning of the rotary hook 731 in the arc groove 734.

[0023] It should be noted that the flexible drainage protection unit is a three-dimensional composite mesh sheet used to support the safety of the drainage equipment. In one embodiment of the present invention, based on the flexible support net laying system, the following flexible support net laying operation is completed, including the following steps: After the system is started, the fixed seat 100 is leveled and positioned in the mine roadway by the leveling mechanism on the moving end of the robot, and the joint 200 performs a self-check and returns to the zero position; construction is carried out in the area to be laid and at the location of the flexible drainage protection unit. Joint 1 200 rotates horizontally according to the target position, telescopic arm 300 extends to the appropriate length as needed, joint 2 400 adjusts the end posture; joint 3 500 drives the grab net gripper to approach the flexible drainage protection unit, and achieves precise positioning through its degree of freedom adjustment. Two sets of adjusting hydraulic cylinders 760 control the first support plate 710 and the second support plate 720 to open to a suitable angle, and the Y-shaped hook body 752 of the lifting hook unit 750 descends to the lowest position; the lifting cylinder 751 drives the Y-shaped hook body 752 to rise and hook the mesh from the bottom of the flexible drainage protection unit; the adjustable hook unit 730 adjusts the angle of the rotating hook 731 according to the specifications of the flexible drainage protection unit, and cooperates with the fixed hook 740 to fix the flexible drainage protection unit from the top. The hydraulic cylinder 760 retracts, and the first support plate 710 and the second support plate 720 clamp the flexible drainage protection unit. The pressure sensor confirms that the grip is secure.

[0024] The Joint 3 500 control grabber lifts the flexible drainage protection unit, avoids obstacles, and transports it to the laying position along the predetermined path; Through the coordinated movement of each joint, the flexible drainage protection unit is precisely positioned at a designated location on the tunnel wall. The lifting hook unit 750 and the adjustable hook unit 730 release the flexible drainage protection unit in sequence, and the adjusting hydraulic cylinder 760 controls the support plate to open, so that the flexible drainage protection unit naturally unfolds and fits the roadway wall; the shotcrete equipment on the counterweight frame 600 can carry out shotcrete operation at the same time to enhance the support effect.

[0025] All components of the grab net and gripper return to their initial positions, ready for the next operation; the telescopic boom retracts 300 degrees, and all joints return to their safe positions; the entire system returns to standby mode, awaiting the next operation command.

[0026] The embodiments of the present invention have been described above, but the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention, all of which are within the protection scope of the present invention.

Claims

1. An installation system for robotic flexible drainage and protection units suitable for coal mine roadways, wherein the flexible drainage and protection unit is a three-dimensional composite mesh sheet used to support drainage equipment, characterized in that... The device includes a fixed base, with a joint one installed at the top center of the fixed base. A telescopic arm is installed at the movable end of the joint one. A joint two is installed at the end of the telescopic arm via a flange connection. The joint two moves circumferentially about the length of the telescopic arm. A connecting bracket is connected to the movable end of the joint two via high-strength bolts. A joint three is installed on one side of the connecting bracket, and a counterweight is installed on the other side of the connecting bracket to form a torque balance with the joint three. The grab net gripper is installed at the movable end of the joint three. The grabber includes a first support plate and a second support plate. Two sets of adjusting hydraulic cylinders are provided between the first support plate and the second support plate. A lifting hook unit is provided at the bottom of the first support plate and the second support plate at the end away from the adjusting hydraulic cylinder. An adjustable lifting hook unit is provided at the top of the first support plate at the end away from the adjusting hydraulic cylinder. A fixed hook is provided at the top of the second support plate at the end away from the adjusting hydraulic cylinder. The lifting hook unit includes a Y-shaped hook body with a sliding groove on one side. The side walls of the first and second support plates are equipped with lifting cylinders. One end of the piston rod of the lifting cylinder is connected to the outer wall of the other side of the Y-shaped hook body. The lifting cylinder drives the Y-shaped hook body to move along the vertical direction. The adjustable hook unit includes a rotary cylinder, a rotary hook, and a connecting key. An arc-shaped groove is opened on the side wall of the first support plate. The bottom end of the rotary hook is slidably connected to the arc-shaped groove through the key. The rotary cylinder is installed on the inner side wall of the first support plate. The movable end of the rotary cylinder is connected to the connecting key, and the other end of the connecting key is connected to the rotary hook.

2. The installation system for the robotic flexible drainage and protection unit suitable for coal mine roadways according to claim 1, characterized in that, The first support plate is a rectangular plate structure with a curved front end. The cross-section of the first support plate is J-shaped. The second support plate has the same structure as the first support plate and is arranged in parallel with the first support plate.

3. The installation system for the robotic flexible drainage and protection unit suitable for coal mine roadways according to claim 2, characterized in that, The adjusting hydraulic cylinder is connected between the first and second support plates via a pin connection. The adjusting hydraulic cylinder is a double-acting hydraulic cylinder that controls the opening and closing angle and clamping force between the first and second support plates.

4. The installation system for the robotic flexible drainage and protection unit suitable for coal mine roadways according to claim 3, characterized in that, A groove is provided on one side of the Y-shaped hook, and a lifting key is slidably connected in the groove. The lifting cylinder drives the Y-shaped hook to move along the vertical direction, and the lifting key moves along the groove direction of the groove.

5. The installation system for the robotic flexible drainage and protection unit suitable for coal mine roadways according to claim 4, characterized in that, Joint 1 includes a horizontal rotation mechanism, which uses a stepless drive motor to achieve 360° continuous rotation.

6. The installation system for the robotic flexible drainage and protection unit suitable for coal mine roadways according to claim 5, characterized in that, Joint 2 moves circumferentially around the length of the telescopic arm, with a rotation angle range of ±180°, and is driven by a servo motor.

7. The installation system for the robotic flexible drainage and protection unit suitable for coal mine roadways according to claim 6, characterized in that, Joint 3 is driven by a servo motor, which drives the gripper on the connecting bracket to move in a circumferential direction.

8. The installation system for the robotic flexible drainage and protection unit suitable for coal mine roadways according to claim 7, characterized in that, The adjusting hydraulic cylinder is a double-acting hydraulic cylinder, and the hydraulic end of the adjusting hydraulic cylinder is equipped with a pressure sensor to detect whether the grab net is firmly gripped.

9. The installation system for the robotic flexible drainage and protection unit suitable for coal mine roadways according to claim 8, characterized in that, The base is equipped with stabilizing support feet at its bottom, and the base is installed onto the movable end of the robot in the coal mine roadway via the stabilizing support feet.

10. The installation system for the robotic flexible drainage and protection unit suitable for coal mine roadways according to claim 9, characterized in that, The telescopic boom has a two-section telescopic structure and is driven by a hydraulic cylinder. The telescopic boom is equipped with hydraulic pipelines and cable channels inside.

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