Underground coal mine advance shed erecting device based on all-terrain tracked vehicle

Abstract

This invention relates to the field of coal mine underground roadway support and mechanized operation equipment technology, and discloses a coal mine underground pre-support and canopy operation device based on an all-terrain tracked vehicle. The device includes a vehicle body, with a platform base fixedly connected to the top of the vehicle body. A lifting and adjusting assembly is installed inside the platform base, and a lifting platform is installed on top of the lifting and adjusting assembly. The top of the lifting platform has anti-slip patterns and a guardrail. X-axis hydraulic cylinders are symmetrically installed on both sides of the platform base, and the output end of each X-axis hydraulic cylinder is fixedly connected to a Z-axis hydraulic cylinder. Mechanized operation can, to a certain extent, replace manual handling, lifting, and straightening of individual hydraulic supports and Π-shaped steel beams, achieving spatial isolation between workers and heavy materials. This avoids safety accidents such as support collapse and steel beam slippage caused by manual operation in the confined space underground, thus improving the safety of underground operations.

Description

Technical Field

[0001] This invention relates to the field of coal mine underground roadway support and mechanized operation equipment technology, specifically a coal mine underground advanced canopy operation device based on an all-terrain tracked vehicle. Background Technology

[0002] In underground coal mining operations, roadway support is a key link in ensuring safe production. As a temporary support measure at the end of the working face and in the area affected by the advance pressure of the two roadways, advance support is of great significance for controlling roof deformation, preventing slab spalling and collapse, and ensuring the safety of the working space. At present, the industry generally adopts the advance support method of manually erecting single hydraulic props in combination with Π-shaped steel beams.

[0003] The existing advanced scaffolding process usually requires multiple workers to work together to complete a series of operations, including moving the props, positioning the props, placing the top beams, adjusting the angle, and sealing the back of the roof. In the above process, heavy components such as single hydraulic props and Π-shaped steel beams are all handled and installed manually, lacking effective mechanized assistance. Due to the narrow underground space, limited lighting conditions, high roof pressure, and dynamic changes in the working environment, workers are prone to accidents such as single hydraulic props falling and injuring people, and Π-shaped steel beams slipping and falling, when frequently lifting, adjusting, and dismantling heavy objects due to factors such as unstable operation, insecure support, or unexpected dynamic pressure from the roof. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a coal mine underground pre-support erection device based on an all-terrain tracked vehicle. This device solves the problems of existing pre-support erection processes requiring multiple workers to coordinate a series of operations such as pillar transportation, pillar positioning, top beam placement, angle adjustment, and back-top sealing, which lack effective mechanized assistance. Underground working conditions are poor, components are heavy, and workers are prone to safety accidents such as pillar tilting and steel beam falling during operation.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a coal mine underground pre-support canopy operation device based on an all-terrain tracked vehicle, comprising a vehicle body, a platform base fixedly connected to the top of the vehicle body, a lifting and adjusting assembly disposed inside the platform base, a lifting platform mounted on the top of the lifting and adjusting assembly, an anti-slip pattern on the top of the lifting platform, a guardrail on the top of the lifting platform, X-axis hydraulic cylinders symmetrically mounted on both sides of the platform base, Z-axis hydraulic cylinders fixedly connected to the output end of the X-axis hydraulic cylinders, a support base plate fixedly connected to the output end of the Z-axis hydraulic cylinders, lifting hydraulic cylinders symmetrically mounted on the top of the platform base, groove positioning components adapted to the cross-section of the flange of the Π-shaped steel beam fixedly connected to the output end of the lifting hydraulic cylinders, a robotic arm assembly disposed on the top of the vehicle body, and walking assemblies disposed on both sides of the vehicle body.

[0006] By adopting the above-mentioned technical solutions, mechanized operations can replace high-risk processes such as manual handling, lifting, and straightening of individual hydraulic supports and Π-shaped steel beams to a certain extent. This achieves spatial isolation between workers and heavy materials, preventing safety accidents such as support collapse and steel beam slippage caused by manual operation in the narrow underground space, thus improving the safety of underground operations. By setting a groove positioning component at the top of the lifting hydraulic cylinder that matches the flange section of the Π-shaped steel beam, slippage of the beam during the lifting process can be prevented, improving the safety level of beam erection operations. Mechanized continuous operation eliminates time losses such as rest intervals during manual handling. The lifting hydraulic cylinder and the robotic arm work together, with the robotic arm responsible for material handling and transfer, and the lifting hydraulic cylinder responsible for lifting and positioning. The average erection cycle of a single hydraulic support or a single Π-shaped steel beam is shortened compared to traditional manual processes, improving work efficiency.

[0007] Preferably, the robotic arm assembly includes a hydraulic motor, an encoder at the bottom of the hydraulic motor, a turntable support fixedly connected to the output end of the hydraulic motor, a main arm hinged inside the turntable support, a connecting seat 1 hinged to the top of the main arm, a waist arm hinged inside the connecting seat 1, a connecting seat 2 hinged to the end of the waist arm away from the connecting seat 1, a forearm hinged inside the connecting seat 2, and a connecting seat 3 hinged to the end of the forearm away from the connecting seat 2.

[0008] Preferably, a mounting bracket is fixedly connected to the bottom of the waist arm, and a first hydraulic cylinder and a second hydraulic cylinder are respectively hinged in the turntable support. The output end of the first hydraulic cylinder is hinged in a connecting seat one, and the output end of the second hydraulic cylinder is hinged in the mounting bracket. A third hydraulic cylinder is hinged in the mounting bracket, and the output end of the third hydraulic cylinder is hinged in a connecting seat two. A fourth hydraulic cylinder is hinged in the connecting seat two, and the output end of the fourth hydraulic cylinder is hinged in a connecting seat three.

[0009] Preferably, a hydraulic motor 2 is installed on one side of the connecting seat 3. The output end of the hydraulic motor 2 is fixedly connected to a mounting plate. A fixing frame is symmetrically installed on the bottom of the mounting plate. A clamping jaw is symmetrically rotatably connected in both fixing frames, and the two pairs of clamping jaws are arranged in parallel. The clamping surface of the clamping jaws is provided with a rubber anti-slip pad. A bidirectional hydraulic cylinder is installed in both fixing frames, and the two output ends of the two bidirectional hydraulic cylinders are rotatably connected to one end of each pair of clamping jaws.

[0010] Preferably, the lifting adjustment assembly includes two T-shaped slide rails, the bottoms of which are symmetrically fixedly connected to the inner wall of the bottom of the platform base. A sliding seat is slidably connected to the outer wall of the T-shaped slide rails. A swing rod is rotatably connected inside the sliding seat. A fixed seat is rotatably connected to the end of the swing rod away from the sliding seat. The top of the fixed seat is fixedly connected to the bottom of the lifting platform.

[0011] Preferably, a fixed seat 1 is symmetrically fixedly connected inside the platform base, a swing arm 2 is rotatably connected inside the fixed seat 1, a guide wheel is rotatably connected to the end of the swing arm 2 away from the fixed seat 1, the outer wall of the guide wheel is slidably connected inside the limiting slide rail, the bottom of the lifting platform is symmetrically fixedly connected to the limiting slide rail, and a rotating shaft is rotatably connected at the intersection of the swing arm 2 and the swing arm 1.

[0012] Preferably, a mounting base one is fixedly connected inside the platform base, a fifth hydraulic cylinder is rotatably connected inside the mounting base one, a mounting base two is hinged to the output end of the fifth hydraulic cylinder, a rotating sleeve is fixedly connected to one side of the mounting base two, a connecting rod is installed on the opposite side of the two swing arms one, and the inner wall of the rotating sleeve is fitted into the middle of the connecting rod.

[0013] Preferably, the walking component includes a mounting slot, and mounting slots are provided on both sides of the vehicle body. Hydraulic drive motors are uniformly installed in the mounting slots of the vehicle body, and the output end of the hydraulic drive motor is fixedly connected to a rotating shaft.

[0014] Preferably, one end of the rotating shaft is fixedly connected to a rotating wheel, and the outer walls of the plurality of rotating wheels on the same side are fitted with tracks.

[0015] Preferably, a hydraulic valve control system is installed on one side of the vehicle body. The hydraulic valve control system is connected to the hydraulic cylinders of the X-axis direction, the hydraulic cylinders of the Z-axis direction, the lifting hydraulic cylinder, the hydraulic motors and cylinders of the robotic arm assembly, the hydraulic cylinders of the lifting adjustment assembly, and the hydraulic drive motor of the walking assembly. The hydraulic valve control system is pre-set with a single hydraulic support operation mode and a Π-shaped steel beam operation mode.

[0016] This invention provides a pre-excavation device for underground coal mine operations based on an all-terrain tracked vehicle. It has the following beneficial effects: 1. This invention, through mechanized operations, partially replaces high-risk processes such as manual handling, lifting, and straightening of individual hydraulic supports and Π-shaped steel beams, achieving spatial isolation between workers and heavy materials. This prevents accidents caused by manual operation in confined underground spaces, such as support collapse and steel beam slippage, thus improving the safety of underground operations. By setting a grooved positioning component at the top of the lifting hydraulic cylinder that matches the flange cross-section of the Π-shaped steel beam, slippage during lifting is prevented, improving the safety level of beam erection. Mechanized continuous operation eliminates time losses due to rest intervals during manual handling. The lifting hydraulic cylinder and robotic arm work together, with the robotic arm responsible for material handling and transfer, and the lifting hydraulic cylinder responsible for lifting and positioning. The average erection cycle of a single hydraulic support or a single Π-shaped steel beam is shortened compared to traditional manual processes, improving operational efficiency.

[0017] 2. This invention adopts a fully hydraulic integrated drive mode for walking, supporting, grasping, adjusting posture, placing, and lifting, eliminating the need for heavy manual operation. The number of personnel required for a single canopy erection operation is reduced from the traditional 5-8 people to 2-3 people, reducing the physical burden and occupational health risks for underground workers. The hydraulic valve control system is pre-set with two operating modes: single hydraulic support and Π-shaped steel beam, which can be switched with one button and is easy to operate. The complete sensor and electrical control system has reserved upgrade interfaces for trajectory optimization, adaptive control, remote monitoring, and unmanned operation. The whole machine adopts an intrinsically safe design for mining and meets underground explosion-proof safety standards.

[0018] 3. This invention features an all-terrain tracked chassis that can adapt to rugged and narrow underground tunnels, offering excellent mobility and turning capabilities. A six-degree-of-freedom robotic arm paired with a 360° rotating platform allows the end effector to cover the entire tunnel cross-section. The grippers are equipped with a ±90° rotation mechanism, enabling rapid conversion between horizontal and vertical supports, horizontal and inclined steel beams, meeting the construction needs of different cross-sections, support angles, and material specifications. By raising the lifting platform to near the roof, the condition of the roof can be observed closely, support quality can be checked, and scaffolding can be finely adjusted, avoiding the safety risks associated with traditional operations where personnel use temporary platforms or stand in unstable positions for high-altitude work.

[0019] 4. This invention uses an encoder to provide real-time feedback on the robotic arm's rotation angle and a displacement sensor to monitor the cylinder stroke. Combined with a closed-loop position control system using a hydraulic valve control system, it achieves high-precision positioning for material grabbing and placement. Synchronous lifting control of the hydraulic cylinder ensures uniform force distribution and stable placement of the Π-shaped steel beam. The standardized automated operation process eliminates common quality problems associated with manual erection, such as tilting, offset, and inadequate support. The hydraulic valve control system has two preset operating modes, supporting one-button switching for simple and efficient operation. A comprehensive sensor feedback system provides the hardware foundation for subsequent intelligent upgrades such as trajectory optimization, adaptive control, remote monitoring, and unmanned operation. The entire machine adopts an intrinsically safe design for mining, meeting underground explosion-proof safety standards. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the planar structure of the present invention; Figure 3 This is a schematic diagram of a partial structure of the vehicle body of the present invention; Figure 4 This is a schematic diagram of the robotic arm assembly structure of the present invention; Figure 5 This is a partial structural diagram of the lifting platform of the present invention; Figure 6 This is a partial structural diagram of the platform base of the present invention; Figure 7 This is a three-dimensional schematic diagram of the lifting and adjusting component of the present invention.

[0021] The components include: 1. Vehicle body; 101. Rotating shaft; 102. Rotating wheel; 103. Track; 2. Platform base; 3. T-shaped slide rail; 301. Sliding seat; 302. Swing rod one; 303. Fixed seat one; 304. Swing rod two; 305. Rotating shaft; 306. Fixed seat two; 307. Guide wheel; 308. Limiting slide rail; 309. Mounting seat one; 310. Fifth hydraulic cylinder; 311. Rotating sleeve; 312. Connecting rod; 4. Lifting platform; 401. Guardrail; 5. X-axis hydraulic cylinder; 6. Z-axis hydraulic cylinder; 601. Support. 7. Base plate; 8. Hydraulic motor one; 9. Encoder; 10. Turntable support; 11. Main boom; 12. Connecting seat one; 13. Waist boom; 14. Connecting seat two; 15. Forearm; 16. First hydraulic cylinder; 17. Second hydraulic cylinder; 18. Mounting bracket; 19. Third hydraulic cylinder; 20. Fourth hydraulic cylinder; 21. Connecting seat three; 22. Hydraulic motor two; 23. Fixing bracket; 24. Two-way hydraulic cylinder; 25. Gripper; 26. Rubber anti-slip pad; 27. Lifting hydraulic cylinder; 28. Groove positioning component; 29. ​​Hydraulic valve control system; 20. Mounting plate. Detailed Implementation

[0022] The technical solution of the present invention will now be clearly and completely described 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.

[0023] Please see the appendix Figure 1 - Appendix Figure 7 This invention provides a coal mine underground pre-support canopy operation device based on an all-terrain tracked vehicle, including a vehicle body 1. A platform base 2 is fixedly connected to the top of the vehicle body 1. A lifting adjustment component is provided inside the platform base 2. A lifting platform 4 is installed on the top of the lifting adjustment component. The top of the lifting platform 4 is provided with anti-slip patterns. A guardrail 401 is provided on the top of the lifting platform 4. X-axis hydraulic cylinders 5 are symmetrically installed on both sides of the platform base 2. The output end of the X-axis hydraulic cylinder 5 is fixedly connected to a Z-axis hydraulic cylinder 6. The output end of the Z-axis hydraulic cylinder 6 is fixedly connected to a support base plate 601. Lifting hydraulic cylinders 26 are symmetrically installed on the top of the platform base 2. The output end of the lifting hydraulic cylinder 26 is fixedly connected to a groove positioning component 27 adapted to the cross section of the Π-shaped steel beam flange. A robotic arm component is provided on the top of the vehicle body 1. Walking components are provided on both sides of the vehicle body 1.

[0024] Specifically, the all-terrain tracked vehicle drives into the section of the roadway to be supported, drives to the designated work position and stops. Then, the hydraulic cylinders 5 on both sides of the platform base 2 extend outward, driving the hydraulic cylinders 6 on the Z-axis to move synchronously. The hydraulic cylinders 6 on the Z-axis extend downward, causing the support base plate 601 to move down to contact the roadway ground. After the hydraulic system holds pressure and locks, the whole machine forms a stable support, providing a stable base platform for the robotic arm to operate. For the Π-shaped steel beam, the robotic arm holds the steel beam in a horizontal position using grippers 24, smoothly moves it to the top of the platform base 2, and accurately places it in the groove positioning part 27 at the top of the lifting hydraulic cylinder 26. The groove positioning part 27 is adapted to the flange section of the Π-shaped steel beam, which can prevent the beam from shifting or slipping. After the steel beam is in place, the grippers 24 release and retract, and the lifting hydraulic cylinders 26 on both sides lift synchronously, pushing the Π-shaped steel beam smoothly to the roof of the roadway. It can be adjusted according to the actual undulation and inclination of the roof to make the beam fit tightly against the roof, thus completing the beam support. For a single hydraulic prop, after the robotic arm assembly grips the prop with the gripper 24, the hydraulic motor 21 is started to drive the mounting plate 29, the fixing frame 22 and the gripper 24 to rotate 90° as a whole, so that the single hydraulic prop is adjusted from a horizontal state to a vertical position. The robotic arm accurately moves the prop to the support point according to the preset trajectory, controls the base of the prop to contact the bottom plate and the top cover to approach the top plate, and works with the hydraulic system to complete the lifting of the prop, the support, and the locking, so as to realize the automated installation of the single prop. The lifting platform 4 can be raised to a suitable height through the lifting adjustment component, providing workers with a safe and stable high-altitude operating position, which facilitates real-time observation of the support status, inspection of the beam fit quality, and assistance in alignment correction, realizing the combination of mechanized operation and manual assistance, and improving the construction quality and safety of advanced scaffolding support; By installing guardrails 401 around the lifting platform 4, the risk of falling from height is prevented. The overall structure is stable and reliable, meeting the safety requirements for high-altitude support operations in the confined space of underground coal mines. The top of the lifting platform 4 is equipped with anti-slip patterns to increase the friction coefficient between the soles of the workers' shoes and the surface of the lifting platform 4, preventing slipping in damp, waterlogged, or dusty underground environments. The robotic arm assembly adopts a multi-degree-of-freedom hydraulic drive and an encoder-based 8-precision positioning structure, enabling it to achieve a wide range of posture adjustments and precise positioning required for advanced scaffolding operations in underground coal mines.

[0025] Please see the appendix Figure 1 - Appendix Figure 4The robotic arm assembly includes a hydraulic motor 7, an encoder 8 at the bottom of the hydraulic motor 7, a turntable support 9 fixedly connected to the output end of the hydraulic motor 7, a main arm 10 hinged within the turntable support 9, a connecting seat 11 hinged to the top of the main arm 10, a waist arm 12 hinged within the connecting seat 11, a connecting seat 2 13 hinged to the end of the waist arm 12 away from the connecting seat 11, a forearm 14 hinged within the connecting seat 2 13, and a connecting seat 3 20 hinged to the end of the forearm 14 away from the connecting seat 2 13. The bottom of the arm 12 is fixedly connected to the mounting bracket 17. The first hydraulic cylinder 15 and the second hydraulic cylinder 16 are respectively hinged in the turntable support 9. The output end of the first hydraulic cylinder 15 is hinged in the connecting seat 11. The output end of the second hydraulic cylinder 16 is hinged in the mounting bracket 17. The third hydraulic cylinder 18 is hinged in the mounting bracket 17. The output end of the third hydraulic cylinder 18 is hinged in the connecting seat 23. The fourth hydraulic cylinder 19 is hinged in the connecting seat 23. The output end of the fourth hydraulic cylinder 19 is hinged in the connecting seat 30.

[0026] Specifically, the hydraulic motor 7 is started to drive the turntable support 9 and the entire robotic arm to achieve 360° stepless horizontal rotation. The encoder 8 collects and feeds back the rotation angle signal in real time to achieve high-precision positioning of the rotation position and precise locking of the angle, avoiding overshoot or positioning deviation of the robotic arm rotation. It can quickly align with the needs of grabbing and positioning components at different locations and distances in the underground roadway. The first hydraulic cylinder 15 extends and retracts, driving the upper arm 10 to pitch and swing around the turntable support 9, realizing the overall lifting and lowering of the robotic arm. The second hydraulic cylinder 16 extends and retracts, driving the waist arm 12 to rotate around the connecting seat 11, adjusting the height and extension angle of the middle section of the robotic arm. The third hydraulic cylinder 18 extends and retracts, driving the lower arm 14 to swing around the connecting seat 2 13, realizing the extension and retraction of the end effector and the height adjustment. The fourth hydraulic cylinder 19 extends and retracts, driving the connecting seat 3 20 and the clamping mechanism to realize the pitch attitude adjustment. Through the coordinated action of the first hydraulic cylinder 15, the second hydraulic cylinder 16, the third hydraulic cylinder 18, and the fourth hydraulic cylinder 19, and with the rotational drive of the hydraulic motor 7, the robotic arm can form a multi-degree-of-freedom compound motion, flexibly adjust the spatial position, height, and posture of the gripping end, and accurately complete the gripping, transfer, alignment, posture adjustment, and positioning of single hydraulic support columns and Π-shaped steel beams, completely replacing manual handling and lifting, and improving the efficiency and safety of scaffolding operations.

[0027] Please see the appendix Figure 1 - Appendix Figure 4A hydraulic motor 21 is installed on one side of the connecting seat 3 20. The output end of the hydraulic motor 21 is fixedly connected to the mounting plate 29. The bottom of the mounting plate 29 is symmetrically equipped with a fixing frame 22. The two fixing frames 22 are symmetrically rotatably connected with grippers 24, and the two pairs of grippers 24 are arranged in parallel. The gripping surface of the grippers 24 is provided with a rubber anti-slip pad 25. The two fixing frames 22 are each equipped with a bidirectional hydraulic cylinder 23. The two output ends of the two bidirectional hydraulic cylinders 23 are rotatably connected to one end of the two pairs of grippers 24 respectively.

[0028] Specifically, through the synchronous extension and retraction of two bidirectional hydraulic cylinders 23, the claws of two pairs of grippers 24 are driven to move closer or further apart, thereby clamping and releasing the single hydraulic prop or Π-shaped steel beam. In conjunction with the rubber anti-slip pads 25 on the clamping surface, the clamping friction is increased to prevent the components from slipping, thus achieving stable and rigid clamping of the single hydraulic prop or Π-shaped steel beam. By setting two pairs of grippers 24, the single hydraulic prop or Π-shaped steel beam can be clamped more securely. Start the hydraulic motor 21 to drive the mounting plate 29, the fixing frame 22 and the gripper 24 to rotate as a whole, so as to achieve continuous stepless rotation and precise locking within a range of ±90°. This allows for flexible adjustment of the spatial posture of the clamped components, meeting the posture conversion and precise alignment requirements of different working conditions such as support erection, steel beam leveling and angle correction in scaffolding operations, and enabling the posture conversion of different materials under different working conditions.

[0029] Please see the appendix Figure 5 - Appendix Figure 7 The lifting and adjusting assembly includes two T-shaped slide rails 3. The bottoms of the two T-shaped slide rails 3 are symmetrically and fixedly connected to the bottom inner wall of the platform base 2. A sliding seat 301 is slidably connected to the outer wall of the T-shaped slide rails 3. A rocker arm 302 is rotatably connected inside the sliding seat 301. A fixed seat 306 is rotatably connected to the end of the rocker arm 302 away from the sliding seat 301. The top of the fixed seat 306 is fixedly connected to the bottom of the lifting platform 4. A fixed seat 303 is symmetrically and fixedly connected inside the platform base 2. A rocker arm 304 is rotatably connected inside the fixed seat 303. A guide is rotatably connected to the end of the rocker arm 304 away from the fixed seat 303. Wheel 307, the outer wall of guide wheel 307 is slidably connected to limit slide rail 308, the bottom of lifting platform 4 is symmetrically fixedly connected to limit slide rail 308, the intersection of swing arm 2 304 and swing arm 1 302 is rotatably connected to shaft 305, the platform base 2 is fixedly connected to mounting seat 1 309, the mounting seat 1 309 is rotatably connected to fifth hydraulic cylinder 310, the output end of fifth hydraulic cylinder 310 is hinged to mounting seat 2, one side of mounting seat 2 is fixedly connected to rotating sleeve 311, the opposite side of the two swing arms 1 302 is installed with connecting rod 312, the inner wall of rotating sleeve 311 is sleeved in the middle of connecting rod 312.

[0030] Specifically, when the lifting platform 4 rises, the fifth hydraulic cylinder 310 retracts, driving the rotating sleeve 311 to move via the second mounting seat. The rotating sleeve 311 drives the two swing arms 302 to move synchronously via the connecting rod 312. The sliding seat 301 at the bottom of the swing arm 302 slides along the T-shaped slide rail 3 towards the fixed seat 303. At the same time, the top of the swing arm 304 pushes the lifting platform 4 to rise via the fixed seat 306. During this process, the swing arm 304 slides along the limit slide rail 308 via the guide wheel 307, cooperating with the swing arm 302 to ensure that the lifting platform 4 rises smoothly. The lifting stroke is not less than 1.5m, which can raise the lifting platform 4 to a height near the roof of the roadway, providing workers with a safe and open high-altitude operating platform, facilitating roof observation, support inspection, scaffolding assistance, and equipment maintenance. When the lifting platform 4 descends, the fifth hydraulic cylinder 310 extends, and the second mounting seat drives the rotating sleeve 311 to move. The rotating sleeve 311 drives the two swing arms 302 to move synchronously through the connecting rod 312. The sliding seat 301 at the bottom of the swing arm 302 slides along the T-shaped slide rail 3 away from the fixed seat 303. At the same time, the top of the swing arm 304 drives the lifting platform 4 to descend through the fixed seat 306. During this process, the swing arm 304 slides along the limit slide rail 308 through the guide wheel 307, cooperating with the swing arm 302 to ensure that the lifting platform 4 moves down smoothly and returns to the initial low position.

[0031] Please see the appendix Figure 1 - Appendix Figure 3 The walking component includes a mounting slot. Mounting slots are provided on both sides of the vehicle body 1. Hydraulic drive motors are evenly installed in the mounting slots of the vehicle body 1. A rotating shaft 101 is fixedly connected to the output end of the hydraulic drive motor. A rotating wheel 102 is fixedly connected to one end of the rotating shaft 101. Tracks 103 are fitted on the outer wall of the multiple rotating wheels 102 on the same side.

[0032] Specifically, the hydraulic drive motors on both sides of the vehicle body 1 operate, driving the rotating shafts 101 on both sides to rotate, which in turn drives the rotating wheels 102 on both sides to rotate. The rotating wheels 102 drive the tracks 103 to rotate, thereby enabling the all-terrain tracked vehicle to travel to the designated work position. The left and right tracks 103 can be independently controlled by hydraulic drive motors to achieve differential steering, on-the-spot steering and omnidirectional movement. They can adapt to the narrow and rugged roadway environment in coal mines, providing stable and reliable walking and load-bearing support for the whole machine and meeting the movement and positioning requirements of advanced canopy operations.

[0033] Please see the appendix Figure 2A hydraulic valve control system 28 is installed on one side of the vehicle body 1. The hydraulic valve control system 28 is connected to the hydraulic cylinder 5 in the X-axis direction, the hydraulic cylinder 6 in the Z-axis direction, the lifting hydraulic cylinder 26, the hydraulic motor and hydraulic cylinder of the robotic arm assembly, the hydraulic cylinder of the lifting adjustment assembly, and the hydraulic drive motor of the walking assembly. The hydraulic valve control system 28 is pre-set with a single hydraulic support operation mode and a Π-shaped steel beam operation mode.

[0034] Specifically, the hydraulic valve control system 28 serves as the central control unit of the entire machine, and is connected to the X-axis hydraulic cylinder 5, the Z-axis hydraulic cylinder 6, the lifting hydraulic cylinder 26, all the hydraulic motors and cylinders of the robotic arm assembly, the hydraulic cylinders of the lifting adjustment assembly, and the hydraulic drive motors of the walking assembly, respectively, to achieve centralized control of the entire mechanism. The hydraulic valve control system 28 receives the robotic arm rotation angle signal fed back by the encoder 8 and the stroke detection signal of each hydraulic cylinder displacement sensor in real time. After internal processing, it outputs closed-loop control commands to each hydraulic drive unit to complete the precise positioning, attitude correction and automatic trajectory planning of the robotic arm end. The hydraulic valve control system 28 is pre-set with single hydraulic prop operation mode and Π-shaped steel beam operation mode. Operators can switch between them with one click according to the on-site working conditions, and the system will automatically execute the corresponding process. At the same time, the hydraulic valve control system 28 coordinates the synchronous lifting of the lifting hydraulic cylinder 26, the smooth lifting of the lifting platform 4, the leveling and support of the vehicle body, the clamping and transfer of the robotic arm and other mechanisms to achieve automated, integrated and safe operation of the entire process of advanced scaffolding, reducing the intensity of manual operation and safety risks.

[0035] Work process: The all-terrain tracked vehicle drives into the section of roadway to be supported, drives to the designated work position and stops. Then, the hydraulic cylinders 5 on both sides of the platform base 2 extend outward, driving the hydraulic cylinders 6 on the Z-axis to move synchronously. The hydraulic cylinders 6 on the Z-axis extend downward, so that the support base plate 601 moves down to contact the roadway ground. After the hydraulic system holds pressure and locks, the whole machine forms a stable support, providing a stable base platform for the robotic arm to operate. At the same time, the lifting platform 4 is raised to an appropriate height according to the operation needs. Driven by hydraulic motor 7, the turntable support 9 rotates the entire robotic arm to the material storage direction. The encoder 8 provides real-time feedback of the rotation angle. The robotic arm extends the gripping mechanism to the material gripping position through multi-degree-of-freedom linkage motion. The hydraulic valve control system 28 automatically switches the gripping posture according to the preset operation mode. For the Π-shaped steel beam, the robotic arm holds the steel beam in a horizontal position with the gripper 24, smoothly moves it to the top of the platform base 2, and accurately places it in the groove positioning part 27 at the top of the lifting hydraulic cylinder 26. After the steel beam is in place, the gripper 24 releases and retracts, and the two lifting hydraulic cylinders 26 on both sides lift simultaneously, smoothly pushing the Π-shaped steel beam to the roof of the roadway. The adjustment is made according to the actual undulation and inclination of the roof to make the beam fit tightly against the roof, thus completing the beam support. For a single hydraulic prop, after the robotic arm assembly horizontally clamps the prop with gripper 24, it starts hydraulic motor 21 to drive the mounting plate 29, fixing frame 22 and gripper 24 to rotate 90° as a whole, so that the single hydraulic prop is adjusted from a horizontal state to a vertical position. The robotic arm accurately moves the prop to the support point according to the preset trajectory, controls the base of the prop to contact the bottom plate and the top cover to approach the top plate, and works with the hydraulic system to complete the lifting of the prop, supporting the top and locking. During cyclical operations, the robotic arm returns to the material-picking position and repeats the above-mentioned material-picking, posture adjustment, and placement operations until all the canopy-building tasks at this workstation are completed. After the operation is completed, the lifting platform 4 is retracted to the lowest position, the hydraulic outrigger assembly is retracted, and the tracked vehicle drives to the next workstation to continue construction.

[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 coal mine underground pre-support canopy operation device based on an all-terrain tracked vehicle, comprising a vehicle body (1), characterized in that: The top of the vehicle body (1) is fixedly connected to a platform base (2). The platform base (2) is equipped with a lifting adjustment component. The top of the lifting adjustment component is equipped with a lifting platform (4). The top of the lifting platform (4) is equipped with anti-slip patterns. The top of the lifting platform (4) is equipped with a guardrail (401). The two sides of the platform base (2) are symmetrically equipped with X-axis hydraulic cylinders (5). The output end of the X-axis hydraulic cylinder (5) is fixedly connected to a Z-axis hydraulic cylinder (6). The output end of the Z-axis hydraulic cylinder (6) is fixedly connected to a support base plate (601). The top of the platform base (2) is symmetrically equipped with lifting hydraulic cylinders (26). The output end of the lifting hydraulic cylinder (26) is fixedly connected to a groove positioning component (27) that matches the flange section of the Π-shaped steel beam. The top of the vehicle body (1) is equipped with a robotic arm assembly. The two sides of the vehicle body (1) are equipped with walking components.

2. The underground pre-support canopy operation device for coal mines based on an all-terrain tracked vehicle according to claim 1, characterized in that: The robotic arm assembly includes a hydraulic motor (7), an encoder (8) is provided at the bottom of the hydraulic motor (7), a turntable support (9) is fixedly connected to the output end of the hydraulic motor (7), a large arm (10) is hinged in the turntable support (9), a connecting seat (11) is hinged at the top of the large arm (10), a waist arm (12) is hinged in the connecting seat (11), a connecting seat (13) is hinged at the end of the waist arm (12) away from the connecting seat (11), a small arm (14) is hinged in the connecting seat (13), and a connecting seat (20) is hinged at the end of the small arm (14) away from the connecting seat (13).

3. The underground pre-support canopy operation device for coal mines based on an all-terrain tracked vehicle according to claim 2, characterized in that: The bottom of the waist arm (12) is fixedly connected to a mounting bracket (17). The turntable support (9) is hinged to a first hydraulic cylinder (15) and a second hydraulic cylinder (16). The output end of the first hydraulic cylinder (15) is hinged to a connecting seat one (11). The output end of the second hydraulic cylinder (16) is hinged to the mounting bracket (17). The mounting bracket (17) is hinged to a third hydraulic cylinder (18). The output end of the third hydraulic cylinder (18) is hinged to a connecting seat two (13). The connecting seat two (13) is hinged to a fourth hydraulic cylinder (19). The output end of the fourth hydraulic cylinder (19) is hinged to a connecting seat three (20).

4. A coal mine underground advance canopy operation device based on an all-terrain tracked vehicle according to claim 2, characterized in that: A hydraulic motor 2 (21) is installed on one side of the connecting seat 3 (20). The output end of the hydraulic motor 2 (21) is fixedly connected to a mounting plate (29). A fixing frame (22) is symmetrically installed at the bottom of the mounting plate (29). A clamp (24) is symmetrically rotatably connected inside the two fixing frames (22). The two pairs of clamps (24) are arranged in parallel. The clamping surface of the clamp (24) is provided with a rubber anti-slip pad (25). A bidirectional hydraulic cylinder (23) is installed inside the two fixing frames (22). The two output ends of the two bidirectional hydraulic cylinders (23) are rotatably connected to one end of the two pairs of clamps (24).

5. A coal mine underground advance canopy operation device based on an all-terrain tracked vehicle according to claim 1, characterized in that: The lifting adjustment assembly includes two T-shaped slide rails (3). The bottoms of the two T-shaped slide rails (3) are symmetrically fixed to the bottom inner wall of the platform base (2). The outer wall of the T-shaped slide rails (3) is slidably connected to a sliding seat (301). A swing rod (302) is rotatably connected inside the sliding seat (301). A fixed seat (306) is rotatably connected to the end of the swing rod (302) away from the sliding seat (301). The top of the fixed seat (306) is fixedly connected to the bottom of the lifting platform (4).

6. A coal mine underground advance canopy operation device based on an all-terrain tracked vehicle according to claim 5, characterized in that: The platform base (2) is symmetrically fixedly connected to a first fixed seat (303). The first fixed seat (303) is rotatably connected to a second swing rod (304). The end of the second swing rod (304) away from the first fixed seat (303) is rotatably connected to a guide wheel (307). The outer wall of the guide wheel (307) is slidably connected to a limiting slide rail (308). The bottom of the lifting platform (4) is symmetrically fixedly connected to a limiting slide rail (308). The intersection of the second swing rod (304) and the first swing rod (302) is rotatably connected to a rotating shaft (305).

7. A coal mine underground advance canopy operation device based on an all-terrain tracked vehicle according to claim 5, characterized in that: The platform base (2) is fixedly connected to a mounting seat (309), and a fifth hydraulic cylinder (310) is rotatably connected to the mounting seat (309). The output end of the fifth hydraulic cylinder (310) is hinged to a mounting seat (2). A rotating sleeve (311) is fixedly connected to one side of the mounting seat (2). A connecting rod (312) is installed on the opposite side of the two swing rods (302). The inner wall of the rotating sleeve (311) is sleeved in the middle of the connecting rod (312).

8. A coal mine underground advance canopy operation device based on an all-terrain tracked vehicle according to claim 1, characterized in that: The walking component includes a mounting slot. Mounting slots are provided on both sides of the vehicle body (1). Hydraulic drive motors are uniformly installed in the mounting slots of the vehicle body (1). The output end of the hydraulic drive motor is fixedly connected to a rotating shaft (101).

9. A coal mine underground advance canopy operation device based on an all-terrain tracked vehicle according to claim 8, characterized in that: One end of the rotating shaft (101) is fixedly connected to a rotating wheel (102), and the outer wall of the multiple rotating wheels (102) on the same side is fitted with a track (103).

10. A coal mine underground advance canopy operation device based on an all-terrain tracked vehicle according to claim 1, characterized in that: A hydraulic valve control system (28) is installed on one side of the vehicle body (1). The hydraulic valve control system (28) is connected to the hydraulic cylinder (5) in the X-axis direction, the hydraulic cylinder (6) in the Z-axis direction, the lifting hydraulic cylinder (26), the hydraulic motor and hydraulic cylinder of the robotic arm assembly, the hydraulic cylinder of the lifting adjustment assembly, and the hydraulic drive motor of the walking assembly. The hydraulic valve control system (28) is pre-set with a single hydraulic support operation mode and a Π-shaped steel beam operation mode.

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