Automatic anchoring safety robot for mine laneway anchor rod support

Abstract

The invention relates to the technical field of automatic anchoring safety robots, and particularly discloses an automatic anchoring safety robot for mine roadway anchor rod support, which comprises a platform, the bottom of the platform is fixedly connected with a crawler walking mechanism, and the top of the platform is fixedly connected with an anchor rod drilling machine, a mechanical arm and a feeding device. The mechanical arm is located on one side of the jumbolter, the feeding device is located on one side of the mechanical arm, the movable end of the mechanical arm is fixedly connected with a connecting plate, the connecting plate is fixedly connected with a replaceable clamp and a camera protection device, and the camera protection device is located on the side edge of the replaceable clamp. According to the invention, the high automation of the anchor rod driving operation is realized, and the manual participation is greatly reduced.

Description

Technical Field

[0001] This invention relates to the field of automatic anchoring safety robot technology, specifically an automatic anchoring safety robot for anchor bolt support in mine roadways. Background Technology

[0002] Currently, most anchor bolt installations still rely on manual labor by workers within the roadways. This carries risks of rockfalls that could injure workers. Furthermore, this work is extremely time-consuming and labor-intensive, posing a significant threat to workers' lives, health, and safety. It also struggles to flexibly adapt to roadways with different cross-sections and rock types. Changing roadway parameters requires extensive manual adjustments, resulting in poor versatility. Additionally, it lacks real-time monitoring capabilities for surrounding rock stress and anchor bolt preload, making it impossible to provide timely warnings of support failure risks. It merely completes the "installation" process and cannot guarantee the long-term stability of the support.

[0003] Traditional anchor bolt installation methods are difficult to flexibly match different cross-sections and rock types in roadways, and cannot observe the three-dimensional information of the roadway. The observation imaging effect is poor, and the tooling fixtures cannot stably fix the anchor bolts to prevent them from loosening during rotation. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention proposes an automatic anchoring safety robot for mine roadway anchor support.

[0005] The technical problem to be solved by this invention is achieved by the following technical solution: An automatic anchoring safety robot for mine roadway anchor bolt support includes a platform. A tracked walking mechanism is fixedly connected to the bottom of the platform. An anchor bolt drilling machine, a robotic arm, and a feeding device are fixedly connected to the top of the platform. The robotic arm is located on one side of the anchor bolt drilling machine, and the feeding device is located on one side of the robotic arm. A connecting plate is fixedly connected to the movable end of the robotic arm. A replaceable clamp and a camera protection device are fixedly connected to the connecting plate. The camera protection device is located on the side of the replaceable clamp.

[0006] Preferably, the replaceable clamp includes a first bracket, a first housing, and a clamp. The first bracket is fixedly connected to the connecting plate, and a fixing plate is fixedly connected to the first bracket. A connecting block is fixedly connected to the fixing plate. The connecting block slides with the inner wall of the first housing. The clamp is fixedly connected to the outer wall of the first housing. A first groove is provided on both sides of the connecting block. A first electric telescopic rod is fixedly connected to the inner wall of the first groove. A limit post is fixedly connected to the movable end of the first electric telescopic rod. A limit groove adapted to the limit post is provided on the inner wall of the first housing.

[0007] Preferably, the clamp includes a support frame fixedly connected to the outer wall of the first box, an annular support block rotatably connected to the inner wall of the support frame via a bearing, a second groove is provided on the inner side wall of the annular support block, a second electric telescopic rod is fixedly connected to the inner wall of the second groove, an elastic telescopic rod is fixedly connected to the movable end of the second electric telescopic rod, a pressing block is fixedly connected to the elastic telescopic rod, a third groove adapted to the thread on the anchor rod is provided on the pressing block, and a rubber anti-slip pad is fixedly connected to the inner wall of the third groove.

[0008] Preferably, the second groove is provided in multiple sets and is evenly distributed on the inner sidewall of the annular support block.

[0009] Preferably, the camera protection device includes a second housing fixedly connected to the connecting plate. A 3D scanning camera is disposed inside the second housing. An observation port is provided on the side wall of the second housing corresponding to the front side of the 3D scanning camera. A transparent glass is rotatably connected to the inner wall of the observation port through a bearing. A circular rack is provided on the inner side of the transparent glass. A motor bracket is fixedly connected inside the second housing. A first drive motor is fixedly connected to the motor bracket. A gear is fixedly connected to the drive shaft of the first drive motor. The gear meshes with the circular rack.

[0010] The beneficial effects of this invention are: 1. This invention achieves a high degree of automation in anchor bolt driving operations by using a tracked walking mechanism, an anchor bolt drilling machine, a robotic arm, replaceable clamps, a 3D scanning camera, a camera protection device, and a feeding device, thereby significantly reducing manual intervention.

[0011] 2. This invention uses a first electric telescopic rod and a limiting post to release the locking state between the first housing and the connecting block. The operator can easily slide the first housing and its clamps off the connecting block and remove the current clamps, which greatly improves the versatility and practicality of the robot. It not only simplifies the clamp replacement process and improves work efficiency, but also solves the problem that traditional fixed clamps often cannot meet the diverse anchoring needs because the specifications and types of anchor bolts in mine roadways may vary due to geological conditions, support requirements and other factors.

[0012] 3. The present invention, through the second electric telescopic rod, the elastic telescopic rod, and the compression block, can adapt to the needs of anchor bolt gripping of different diameters. Moreover, the setting of the rubber anti-slip pad further improves the reliability and stability of gripping, ensuring that the anchor bolt will not easily fall off during the anchoring operation.

[0013] 4. This invention, through a first drive motor, gears, a circular rack, a cleaning agent tank, a nozzle, and a hot air box, ensures that the 3D scanning camera can always provide operators with clear, unobstructed images of the operating area, further guaranteeing the clarity of the image. It solves the problem that in the complex environment of mine tunnels, dust, stains, etc., easily adhere to the transparent glass, seriously affecting the shooting effect of the 3D scanning camera and thus interfering with the operator's accurate judgment of the on-site situation. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the replaceable fixture structure of the present invention; Figure 3 This is a schematic diagram of the internal structure of the replaceable fixture of the present invention; Figure 4 This is a schematic diagram of the internal structure of the fixture of the present invention; Figure 5 This is a schematic diagram of the camera protection device of the present invention; Figure 6 This is a schematic diagram of the internal structure of the camera protection device of the present invention; Figure 7 This is a schematic diagram of the feeding device of the present invention; Figure 8 This is a schematic diagram of the internal structure of the feeding device of the present invention; Figure 9 for Figure 8 Enlarged structural diagram of section A in the middle.

[0015] In the picture: 1. Platform; 2. Tracked walking mechanism; 3. Anchor bolt drilling rig; 4. Robotic arm; 5. Connecting plate; 6. Replaceable clamps; 61. First bracket; 62. Fixing plate; 63. Connecting block; 64. First groove; 65. First electric telescopic rod; 66. Limiting post; 67. First housing; 68. Limiting groove; 69. Clamp; 691. Support frame; 692. Annular support block; 693. Second groove; 694. Second electric telescopic rod; 695. Elastic telescopic rod; 696. Extrusion block; 697. Third groove; 698. Rubber anti-slip mat; 7. Camera protection device; 71. Second housing; 72. Observation port; 73. Transparent glass; 74. Circular rack; 75. 3D scanning camera; 76. Motor bracket; 77. First drive motor; 78. Gear; 79. Detergent tank; 710. Nozzle; 711. Hot air box; 712. Air guide plate; 8. Feeding device; 81. Second support; 82. Conveyor belt; 83. Second drive motor; 84. Rotating roller; 85. Fourth groove; 86. Funnel-shaped storage bin; 87. Wire brush; 88. Fixed base; 89. Servo motor; 810. Third electric telescopic rod. Detailed Implementation

[0016] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0017] like Figure 1 As shown, an automatic anchoring safety robot for mine roadway anchor bolt support includes a platform 1. A tracked walking mechanism 2 is fixedly connected to the bottom of the platform 1. An anchor bolt drilling machine 3, a robotic arm 4, and a feeding device 8 are fixedly connected to the top of the platform 1. The robotic arm 4 is located on one side of the anchor bolt drilling machine 3, and the feeding device 8 is located on one side of the robotic arm 4. A connecting plate 5 is fixedly connected to the movable end of the robotic arm 4. A replaceable clamp 6 and a camera protection device 7 are fixedly connected to the connecting plate 5. The camera protection device 7 is located on the side of the replaceable clamp 6.

[0018] like Figures 2 to 3 As shown, the replaceable clamp 6 includes a first bracket 61, a first housing 67, and a clamp 69. The first bracket 61 is fixedly connected to the connecting plate 5, and a fixing plate 62 is fixedly connected to the first bracket 61. A connecting block 63 is fixedly connected to the fixing plate 62. The connecting block 63 slides with the inner wall of the first housing 67. The clamp 69 is fixedly connected to the outer wall of the first housing 67. A first groove 64 is provided on both sides of the connecting block 63. A first electric telescopic rod 65 is fixedly connected to the inner wall of the first groove 64. A limit post 66 is fixedly connected to the movable end of the first electric telescopic rod 65. A limit groove 68 adapted to the limit post 66 is provided on the inner wall of the first housing 67.

[0019] In this embodiment, the replaceable fixture 6 enables the robot to flexibly respond to anchoring needs under different working conditions, greatly improving the robot's versatility and practicality. It not only simplifies the fixture 69 replacement process but also improves work efficiency.

[0020] like Figure 4As shown, the clamp 69 includes a support frame 691 fixedly connected to the outer wall of the first housing 67. An annular support block 692 is rotatably connected to the inner wall of the support frame 691 via a bearing. A second groove 693 is formed on the inner side wall of the annular support block 692. A second electric telescopic rod 694 is fixedly connected to the inner wall of the second groove 693. An elastic telescopic rod 695 is fixedly connected to the movable end of the second electric telescopic rod 694. A pressing block 696 is fixedly connected to the elastic telescopic rod 695. A third groove 697, adapted to the thread on the anchor rod, is formed on the pressing block 696. A rubber anti-slip pad 698 is fixedly connected to the inner wall of the third groove 697. Multiple sets of the second groove 693 are evenly distributed on the inner side wall of the annular support block 692.

[0021] In this embodiment, the movement of the elastic telescopic rod 695 and the compression block 696 is controlled by the extension and retraction of the second electric telescopic rod 694, which can adapt to the needs of gripping anchor bolts of different diameters. The elastic telescopic rod 695 reduces the damage caused by the compression of the anchor bolt by the second electric telescopic rod 694; the rubber anti-slip pad 698 further improves the reliability and stability of gripping, ensuring that the anchor bolt will not easily fall off during the anchoring operation. The rotation of the annular support block 692 can better fix the anchor bolt during the clamping process, and can fix the anchor bolt more firmly when rotating. When rotating, the rubber anti-slip pad 698 can also better buffer the vibration and friction of the anchor bolt on the compression block 696.

[0022] like Figures 5 to 6 As shown, the camera protection device 7 includes a second housing 71 fixedly connected to the connecting plate 5. A 3D scanning camera 75 is housed inside the second housing 71. An observation port 72 is provided on the side wall of the second housing 71 corresponding to the front side of the 3D scanning camera 75. A transparent glass 73 is rotatably connected to the inner wall of the observation port 72 via a bearing. A circular rack 74 is provided on the inner side of the transparent glass 73. A motor bracket 76 is fixedly connected inside the second housing 71. A first drive motor 77 is fixedly connected to the motor bracket 76. A gear 78 is fixedly connected to the drive shaft of the first drive motor 77, and the gear 78 meshes with the circular rack 74. A cleaning agent tank 79 is fixedly connected inside the second housing 71. The outlet end of the cleaning agent tank 79 is connected to a nozzle 710 via a connecting pipe. The nozzle 710 is located above and facing the transparent glass 73. A hot air box 711 is fixedly connected to the outer side wall of the second housing 71, and a guide plate 712 is fixedly connected to one side of the outlet of the hot air box 711. The guide plate 712 forces the hot air to blow towards the transparent glass 73.

[0023] In this embodiment, the camera protection device 7 described above ensures that the 3D scanning camera 75 can always provide the operator with a clear and unobstructed image of the operating area, further guaranteeing the clarity of the image.

[0024] like Figures 7 to 9 As shown, the feeding device 8 includes a second support 81, on which a conveyor belt 82 is mounted. The conveyor belt 82 serves to stabilize the material and ensure that the anchor bolts accurately reach the designated position. A funnel-shaped storage hopper 86 is fixedly connected to the top of the second support 81. A rotating roller 84 is positioned between the top of the conveyor belt 82 and the bottom of the funnel-shaped storage hopper 86. Both ends of the rotating roller 84 are fixedly connected to fixed seats 88. A second drive motor 83 is fixedly connected to the second support 81. The drive shaft of the second drive motor 83 passes through the second support 81 and is fixedly connected to the fixed seats 88. Multiple evenly distributed fourth grooves 85 are formed on the rotating roller 84, and the fourth grooves 85 are arranged coaxially with the rotating roller 84. A wire brush 87 is fixedly connected to the inner wall of each fourth groove 85. Servo motors 89 are fixedly connected to the fixed seats 88 at both ends of the rotating rod 84 via brackets. The number of servo motors 89 on each fixed seat 88 is matched with the number of fourth grooves 85. The drive shaft of each servo motor 89 passes through the fixed seat 88 and is fixedly connected to a third electric telescopic rod 810. The third electric telescopic rod 810 is located inside the corresponding fourth groove 85.

[0025] Of course, several guide posts can be further added to the side of the end of the third electric telescopic rod 810 to provide motion guidance for the telescopic movement of the third electric telescopic rod 810. The guide posts can be fixed on the drive shaft of the servo motor 89 or on the platform provided by the drive shaft of the servo motor 89. The purpose is that after the third electric telescopic rod 810 clamps the anchor rod, the servo motor 89 drives the anchor rod to rotate. The guide posts can withstand the torque generated during the rust removal process, avoiding any impact on the third electric telescopic rod 810. Traditional anchor bolt support work in mine roadways often requires a large amount of manpower for the handling, positioning, and driving of anchor bolts, which is not only labor-intensive but also inefficient. This device achieves a high degree of automation in anchor bolt driving operations, significantly reducing manual intervention.

[0026] Working principle and usage process of this invention: In use, the anchor rod is first placed into the funnel-shaped storage bin 86. The second drive motor 83 is started, which drives the rotating roller 84 to rotate. When the fourth groove 85 rotates to the bottom of the funnel-shaped storage bin 86, the anchor rod falls into the fourth groove 85. The third electric telescopic rod 810 clamps the anchor rod from both ends. The servo motor 89 is started, driving the third electric telescopic rod 810 and the anchor rod to rotate. The rust on the anchor rod is removed by the wire brush 87. As the rotating roller 84 continues to rotate, the anchor rod falls above the conveyor belt 82, which transports the anchor rod to the designated position. Then, the movable end of the robotic arm 4 drives the replaceable clamp 6 to move precisely to the anchor rod through the connecting plate 5. The clamp 69 on the replaceable clamp 6 picks up the anchor rod.

[0027] The clamping process of clamp 69 is as follows: The second electric telescopic rod 694 is activated, and its movable end extends, pushing the compression block 696 towards the anchor rod. The rubber anti-slip pad 698 on the compression block 696 contacts the surface of the anchor rod. Due to the elasticity and friction of the rubber anti-slip pad 698, it can tightly adhere to the anchor rod, increasing the stability of the grip and thus firmly clamping the anchor rod. When it is necessary to release the anchor rod, the second electric telescopic rod 694 is activated again, causing its movable end to retract, moving the compression block 696 away from the anchor rod, thus releasing the anchor rod.

[0028] When it is necessary to replace the clamp 69 to accommodate different specifications or types of anchor bolts, the first electric telescopic rod 65 is activated. The movable end of the first electric telescopic rod 65 retracts, causing the limiting post 66 to exit from the limiting groove 68 on the inner wall of the first housing 67. At this time, the locking state between the first housing 67 and the connecting block 63 is released, and the operator can easily slide the first housing 67 off the connecting block 63 and remove the current clamp 69. Next, a clamp 69 suitable for the new anchor bolt specification or type is selected, and the corresponding first housing 67 is slid along the connecting block 63 to accurately align the first housing 67 with the connecting block 63. The first electric telescopic rod 65 is activated again, and its movable end extends, pushing the limiting post 66 into the limiting groove 68 on the inner wall of the first housing 67, achieving a firm connection between the first housing 67 and the connecting block 63, thus completing the replacement of the clamp 69. Then, the robotic arm 4 moves the anchor bolt to the position where it needs to be anchored, and the anchor bolt drill 3 starts working to drive the anchor bolt into the mine roadway. The tracked walking mechanism 2 can drive the entire robot to move in the mine roadway to adapt to the anchoring work in different positions.

[0029] The mine tunnel environment is complex and harsh, posing numerous safety hazards such as collapses and rockfalls. Camera protection device 7 safeguards the 3D scanning camera 75 during shooting. In the complex environment of the mine tunnel, dust and stains easily adhere to the transparent glass 73, severely affecting the shooting effect of the 3D scanning camera 75 and interfering with the operator's accurate judgment of the situation. Before the robot operates, the 3D scanning camera 75 scans the three-dimensional information of the tunnel within the work section / area, automatically generating anchor bolt installation points according to the mine anchor bolt support markings, and then performs automatic operation. When stains appear on the surface of the transparent glass 73, the first drive motor 77 is activated, and its drive shaft drives the gear 78 to rotate. Since gear 78 is meshed with circular rack 74, the rotation of gear 78 will drive circular rack 74 and transparent glass 73 fixedly connected to it to rotate at high speed around the bearing. During the high-speed rotation, the stains on transparent glass 73 will be subjected to centrifugal force and gradually detach from the glass surface. When the rotation speed of transparent glass 73 reaches a certain value, the cleaning agent tank 79 sprays water onto transparent glass 73 through nozzle 710, and then blows hot air through hot air box 711 and blows the air onto transparent glass 73 through air guide plate 712 to make it dry quickly and achieve the cleaning effect.

[0030] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely prisms of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An automatic anchor-driving safety robot for anchor bolt support in mine roadways, characterized in that: The system includes a platform (1), a tracked walking mechanism (2), an anchor drilling machine (3), a robotic arm (4), and a feeding device (8) arranged sequentially on the platform (1) along the robot's walking direction. The movable end of the robotic arm (4) is fixedly connected to a connecting plate (5), and a replaceable clamp (6) and a camera protection device (7) are fixedly connected to the connecting plate (5). The feeding device (8) includes a second support (81), a conveyor belt (82) set on the second support (81), a funnel-shaped storage bin (86) located at the top of the second support (81), and a rotating roller (84) set between the conveyor belt (82) and the funnel-shaped storage bin (86). The rotating roller (84) has multiple and evenly distributed fourth grooves (85), and each of the multiple fourth grooves (85) is provided with a rust removal component.

2. The automatic anchor-driving safety robot for mine roadway anchor bolt support according to claim 1, characterized in that: The replaceable clamp (6) includes a snap-fit ​​assembly disposed on the first bracket (61), a first housing (67) snap-fitted to the snap-fit ​​assembly, and a clamp (69) fixedly connected to the first housing (67).

3. The automatic anchor-driving safety robot for mine roadway anchor bolt support according to claim 2, characterized in that: The snap-fit ​​assembly includes a connecting block (63) that slides with the first housing (67). The connecting block (63) has a first electric telescopic rod (65) with a limit post (66) built into both sides. The first housing (67) has a limit groove (68) that matches the limit post (66).

4. The automatic anchor-driving safety robot for mine roadway anchor bolt support according to claim 3, characterized in that: The clamp (69) includes an annular support block (692) rotatably connected inside the support frame (691) and a clamping assembly built into the annular support block (692).

5. The automatic anchor-driving safety robot for mine roadway anchor bolt support according to claim 4, characterized in that: The clamping assembly includes a resilient telescopic rod (695) connected to a second electric telescopic rod (694) and a pressing block (696) connected to the resilient telescopic rod (695).

6. The automatic anchor-driving safety robot for mine roadway anchor bolt support according to claim 5, characterized in that: A rubber anti-slip pad (698) is provided on the clamping surface of the extrusion block (696).

7. The automatic anchor-driving safety robot for mine roadway anchor bolt support according to claim 1, characterized in that: The camera protection device (7) includes a 3D scanning camera (75), a transparent glass (73) rotatably mounted on a second housing (71), and a drive assembly for rotating the transparent glass (73) and a cleaning assembly for cleaning the transparent glass (73) provided on the second housing (71).

8. The automatic anchor-driving safety robot for mine roadway anchor bolt support according to claim 7, characterized in that: The drive assembly includes a first drive motor (77), a gear (78) connected to the first drive motor (77), and a circular rack (74) disposed on the side of the transparent glass (73) and meshing with the gear (78).

9. The automatic anchor-driving safety robot for mine roadway anchor bolt support according to claim 7, characterized in that: The cleaning assembly includes a nozzle (710) facing the transparent glass (73), a hot air box (711) fixed to the outside of the second housing (71), and a deflector (712) that forces hot air toward the transparent glass (73).

10. The automatic anchor-driving safety robot for mine roadway anchor bolt support according to claim 1, characterized in that: The rust removal assembly includes a wire brush (87) set on the inner wall of the fourth groove (85), a third electric telescopic rod (810) located at both ends of the fourth groove (85) along the axial direction, and a servo motor (89) connected to the third electric telescopic rod (810).

Images