Rubber wheel type operation robot under mine

Abstract

The utility model discloses a rubber-tyred operation robot under a mine, and particularly relates to the technical field of robots, the rubber-tyred operation robot comprises a rubber-tyred vehicle chassis, a pipe grabbing manipulator, a stand column assembly, a working platform and a drilling mechanism, and the pipe grabbing manipulator and the stand column assembly are both fixedly installed on the rubber-tyred vehicle chassis. According to the trackless rubber wheel type multifunctional operation robot for the underground coal mine, the drilling mechanism is installed on the working platform, 360-degree swinging and positioning can be achieved through the rotating device, the rotating device is installed on the lifting frame, the length of the whole drilling part can be adjusted according to stretching and retracting of the lifting frame, and the drilling part can be fixed through the rotating device. According to the trackless rubber wheel type multifunctional operation robot, the drilling part can realize multi-degree-of-freedom adjustment, so that the whole trackless rubber wheel type multifunctional operation robot is allocated and transported under the condition that the vehicle body width is as small as possible, and meanwhile, the drilling mechanism can be extended, so that the adaptability of the roadway width is improved, quick and accurate positioning and hole finding can be realized, and the construction operation efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically, to a rubber-wheeled operating robot in a mine. Background Art

[0002] With the increasingly accelerated pace of coal mining, higher requirements are also put forward for the support operations of the tunnels. Under the premise of ensuring operational safety, in order to adapt to the rapidly improving efficiency of coal mine excavation, the existing multi-arm anchor drilling vehicles are usually large in body, slow in movement, incomplete in function, and inconvenient to operate. They cannot meet the current rapid excavation needs and waste a lot of time in the entire excavation work. In addition, some existing anchor drilling vehicles cannot meet the drilling work of the anchors at the bottom of the tunnel, resulting in manual supplementary drilling, and cannot achieve comprehensive anchor drilling work, resulting in low operating efficiency, affecting the excavation speed, and increasing the hidden dangers of excavation; the installation of gas extraction and discharge pipes, water pipes, air ducts and other pipelines is low in intelligence, which consumes manpower and material resources, is inefficient, and affects the overall speed. Utility Model Content

[0003] In order to overcome the above-mentioned defects of the prior art, an embodiment of the utility model provides a rubber-wheeled working robot for underground mines. The utility model provides a trackless rubber-wheeled multifunctional working robot for underground coal mines. The drilling mechanism is installed on a working platform, and 360° swing and positioning can be achieved through a slewing device. The slewing device is installed on a lifting frame, and the length of the entire drilling part can be adjusted according to the extension and retraction of the lifting frame, so that the drilling part can achieve multi-degree-of-freedom adjustment, so that the trackless rubber-wheeled multifunctional working robot can be transported as a whole vehicle with the smallest possible body width. At the same time, the drilling mechanism can be extended, thereby improving the adaptability of the tunnel width, and can achieve fast and accurate positioning and hole finding, greatly improving the construction operation efficiency, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a rubber-wheeled working robot for underground mines, comprising a rubber-wheeled vehicle chassis, a pipe grabbing manipulator, a column assembly, a working platform and a drilling mechanism, wherein the pipe grabbing manipulator and the column assembly are both fixedly mounted on the rubber-wheeled vehicle chassis, the working platform is fixedly mounted at the front end of the column assembly, and the drilling mechanism is fixedly mounted at the front end of the working platform;

[0005] The rubber-tyred vehicle chassis includes a cab, a power box compartment, a hydraulic oil tank, a controller compartment, a tool box, a chassis assembly and a fuel tank. The power box compartment is arranged on one side of the cab, the hydraulic oil tank is arranged on the rear side of the power box compartment, the controller compartment is arranged on the rear side of the cab, the tool box is arranged at the bottom of the chassis assembly, and the controller compartment includes a hydraulic system and an electrical system.

[0006] The pipe grabbing manipulator comprises a rotating base, a pipe grabbing base arm, a pipe grabbing telescopic arm, a pipe grabbing lifting arm, a pipe grabbing angle adjustment arm, a rotating frame, a rotating frame, a mechanical claw base and a mechanical claw mechanism;

[0007] The column assembly includes a column lifting frame, a lifting arm and a swing cylinder. The column lifting frame is fixedly installed on the chassis of the rubber-wheeled vehicle. The lifting arm is connected to the column lifting frame. The swing cylinder is fixedly installed at the front end of the lifting arm.

[0008] The working platform comprises a working platform frame, a standing platform, an operating table and a rotating device, and the working platform frame is installed together with the column assembly through a swing cylinder;

[0009] The drilling mechanism comprises a rear bracket, a fine-adjustment device and an anchor drill, and the drilling mechanism is fixedly mounted on the rotary device via the rear bracket.

[0010] In a preferred embodiment, the rotating base is fixedly mounted on the chassis of the rubber-wheeled vehicle, and the pipe grabbing base arm is connected to the rotating base.

[0011] In a preferred embodiment, the pipe grabbing telescopic arm is connected to the pipe grabbing base arm, and the pipe grabbing lifting arm is connected to the pipe grabbing telescopic arm.

[0012] In a preferred embodiment, the pipe grabbing angle adjustment arm is connected to the pipe grabbing lifting arm, and the slewing frame is installed on the pipe grabbing angle adjustment arm.

[0013] In a preferred embodiment, the rotating frame is connected to the slewing frame, and the mechanical claw base is fixedly mounted on the rotating frame.

[0014] In a preferred embodiment, the mechanical claw mechanism is installed on a mechanical claw base.

[0015] In a preferred embodiment, the operating platform is installed on the working platform frame, and the standing platform is installed on both sides of the working platform frame.

[0016] Technical effects and advantages of the utility model:

[0017] The utility model is provided with a rubber-wheeled vehicle chassis, a pipe grabbing manipulator, a column assembly, a working platform and a drilling mechanism. The utility model provides a trackless rubber-wheeled multifunctional operating robot for underground coal mines. The drilling mechanism is installed on the working platform and can achieve 360° swing and positioning through a slewing device. The slewing device is installed on the lifting frame and can adjust the length of the entire drilling part according to the extension and retraction of the lifting frame, so that the drilling part can achieve multi-degree-of-freedom adjustment, so that the trackless rubber-wheeled multifunctional operating robot can be transported as a whole vehicle with a vehicle body width as small as possible. At the same time, the drilling mechanism can be extended, thereby improving the adaptability of the lane width, and can achieve fast and accurate positioning and hole finding, which greatly improves the construction operation efficiency. Compared with the prior art, the utility model provides a trackless rubber-wheeled multifunctional operating robot for underground coal mines, which is more flexible in transportation, can adapt to rapid excavation processes, adapt to lanes with various cross-sections, can achieve fast positioning and hole finding, and can efficiently perform full-section anchor operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the fuel tank of the utility model.

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of the pipe grabbing telescopic arm of the utility model.

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the column lifting frame of the utility model.

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the operating table of the utility model.

[0023] Figure 6 It is a schematic diagram of the three-dimensional structure of the anchor drilling rig of the utility model.

[0024] The accompanying drawings are marked as follows: 1. chassis of a rubber-wheeled vehicle; 2. pipe-grabbing manipulator; 3. column assembly; 4. working platform; 5. drilling mechanism; 6. cab; 7. power box compartment; 8. hydraulic oil tank; 9. controller compartment; 10. tool box; 11. chassis assembly; 12. fuel tank; 13. rotating base; 14. pipe-grabbing base arm; 15. pipe-grabbing telescopic arm; 16. pipe-grabbing lifting arm; 17. pipe-grabbing angle adjustment arm; 18. slewing frame; 19. rotating frame; 20. mechanical claw base; 21. mechanical claw mechanism; 22. column lifting frame; 23. lifting arm; 24. swing cylinder; 25. working platform frame; 26. standing platform; 27. operating table; 28. slewing device; 29. ​​rear bracket; 30. fine-tuning device; 31. anchor drilling rig. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] As attached Figure 1-6 As shown, the utility model provides a rubber-wheeled working robot for underground mines, comprising a rubber-wheeled vehicle chassis 1, a pipe grabbing manipulator 2, a column assembly 3, a working platform 4 and a drilling mechanism 5, wherein the pipe grabbing manipulator 2 and the column assembly 3 are both fixedly mounted on the rubber-wheeled vehicle chassis 1, the working platform 4 is fixedly mounted at the front end of the column assembly 3, and the drilling mechanism 5 is fixedly mounted at the front end of the working platform 4;

[0027] The rubber-wheeled vehicle chassis 1 includes a cab 6, a power box compartment 7, a hydraulic oil tank 8, a controller compartment 9, a tool box 10, a chassis assembly 11 and a fuel tank 12. The power box compartment 7 is arranged on one side of the cab 6, the hydraulic oil tank 8 is arranged on the rear side of the power box compartment 7, the controller compartment 9 is arranged on the rear side of the cab 6, the tool box 10 is arranged at the bottom of the chassis assembly 11, and the controller compartment 9 includes a hydraulic system and an electrical system;

[0028] The pipe grabbing manipulator 2 includes a rotating base 13, a pipe grabbing base arm 14, a pipe grabbing telescopic arm 15, a pipe grabbing lifting arm 16, a pipe grabbing angle adjustment arm 17, a rotating frame 18, a rotating frame 19, a mechanical claw base 20 and a mechanical claw mechanism 21;

[0029] The column assembly 3 includes a column lifting frame 22, a lifting arm 23 and a swing cylinder 24. The column lifting frame 22 is fixedly installed on the rubber-wheeled vehicle chassis 1, the lifting arm 23 is connected to the column lifting frame 22, and the swing cylinder 24 is fixedly installed at the front end of the lifting arm 23;

[0030] The working platform 4 includes a working platform frame 25, a standing platform 26, an operating table 27 and a rotating device 28. The working platform frame 25 is installed together with the column assembly 3 through a swing cylinder 24.

[0031] The drilling mechanism 5 includes a rear bracket 29, a fine-tuning device 30 and an anchor drill 31, and the drilling mechanism 5 is fixedly mounted on the rotary device 28 via the rear bracket 29;

[0032] The rotating base 13 is fixedly mounted on the rubber-wheeled vehicle chassis 1, and the pipe grabbing base arm 14 is connected to the rotating base 13;

[0033] The pipe grabbing telescopic arm 15 is connected to the pipe grabbing base arm 14, and the pipe grabbing lifting arm 16 is connected to the pipe grabbing telescopic arm 15;

[0034] The pipe grabbing angle adjustment arm 17 is connected to the pipe grabbing lifting arm 16, and the rotating frame 18 is installed on the pipe grabbing angle adjustment arm 17;

[0035] The rotating frame 19 is connected to the rotary frame 18, and the mechanical claw base 20 is fixedly mounted on the rotating frame 19;

[0036] The mechanical claw mechanism 21 is installed on the mechanical claw base 20;

[0037] The operating platform 27 is installed on the working platform frame 25 , and the standing platform 26 is installed on both sides of the working platform frame 25 .

[0038] The specific implementation method is as follows: when using the utility model, the hydraulic system provides kinetic energy for each actuator, and the electrical system provides electrical energy for each actuator of the whole vehicle. The working platform 4 is installed at the front end of the column assembly 3 through the swing cylinder 24, and can be swung relative to the rubber-wheeled vehicle chassis 1 through the swing cylinder 24, extended or retracted relative to the rubber-wheeled vehicle chassis 1 through the mechanical arm 23, and raised or retracted relative to the rubber-wheeled vehicle chassis 1 through the column lifting frame 22. In the working state, the drilling mechanism 8 can perform anchor construction operations according to the swing adjustment angle of the swing cylinder 24 and the rotating device 28. The rotating base 13 is fixed on the rubber-wheeled vehicle chassis 1, the pipe grab base arm 14 is connected to the rotating base 13, the pipe grab telescopic arm 15 is connected to the pipe grab base arm 14, the pipe grab lifting arm 16 is connected to the pipe grab telescopic arm 15, the pipe grab angle adjustment arm 17 is connected to the pipe grab lifting arm 16, and the rotating frame 18 is installed on On the pipe grabbing angle adjustment arm 17, the rotating frame 19 is connected to the slewing frame 18, the mechanical claw base 20 is fixed on the slewing frame 19, and the mechanical claw mechanism 21 is installed on the mechanical claw base 20 to achieve 360° without dead angles, left and right and upper extension, and to achieve the maximum angle and maximum position of the pipeline installation. The mechanical claw mechanism 21 reaches the maximum working range through the extension of each mechanical arm and the rotation of the slewing frame 18 and the slewing frame 19, and realizes the rising and falling actions according to the column lifting frame 22, and can realize the extension and retraction actions according to the lifting arm 23 to expand the working range of the drilling mechanism 5. In the non-working state, the standing platform 26 is retracted to reduce the width of the trackless rubber-wheeled multifunctional operating robot for easy walking. In the working state, the standing platform 26 is extended to facilitate the operation of the operator. The drilling mechanism 5 is installed on the slewing device 28 through the rear bracket 29 and can follow the slewing device 28 as a whole. 360° rotation. When the trackless rubber-wheeled multifunctional operation robot is working, the drilling mechanism 5 is swung under the drive of the swing cylinder 24 to adjust the construction angle. When in working state, the drilling mechanism 5 is in a vertical state or a horizontal state. When the whole machine is retracted, the drilling mechanism 5 is adjusted to a vertical state, and the compensation action of the drilling mechanism 5 when finding a hole can be achieved through the fine-tuning device 30. The utility model provides a trackless rubber-wheeled multifunctional operation robot for underground coal mines. The drilling mechanism 5 is installed on the working platform 4, and the slewing device 28 can realize 360° swing and positioning. The slewing device 28 is installed on the lifting frame, and can be adjusted according to the lifting frame. The extension and retraction of the lowering frame adjust the length of the entire drilling part, so that the drilling part can be adjusted with multiple degrees of freedom, so that the trackless rubber-wheeled multifunctional operating robot can be transported as a whole vehicle with the smallest possible body width. At the same time, the drilling mechanism 5 can be extended, thereby improving the adaptability of the tunnel width, and can achieve fast and accurate positioning and hole finding, greatly improving the construction efficiency. Compared with the prior art, the utility model provides a trackless rubber-wheeled multifunctional operating robot for underground coal mines, which is more flexible in transportation, can adapt to rapid excavation technology, adapt to various cross-section tunnels, can achieve fast positioning and hole finding, and can efficiently perform full-section anchor operations.

[0039] Working principle of this utility model:

[0040] Refer to the instruction manual Figure 1-6 When using the utility model, a trackless rubber-wheeled multifunctional operating robot for underground coal mines is provided by providing a rubber-wheeled vehicle chassis 1, a pipe grabbing manipulator 2, a column assembly 3, a working platform 4 and a drilling mechanism 5. The utility model provides a trackless rubber-wheeled multifunctional operating robot for underground coal mines. The drilling mechanism 5 is installed on the working platform 4, and 360° swing and positioning can be achieved through a slewing device 28. The slewing device 28 is installed on a lifting frame, and the length of the entire drilling part can be adjusted according to the extension and retraction of the lifting frame, so that the drilling part can achieve multi-degree-of-freedom adjustment, so that the trackless rubber-wheeled multifunctional operating robot can be transported as a whole vehicle with a vehicle body width as small as possible. At the same time, the drilling mechanism 5 can be extended, thereby improving the adaptability of the lane width, and can achieve fast and accurate positioning and hole finding, greatly improving the construction efficiency. Compared with the prior art, the trackless rubber-wheeled multifunctional operating robot for underground coal mines provided by the utility model is more flexible in transportation, can adapt to rapid excavation technology, adapt to various cross-section lanes, can achieve fast positioning and hole finding, and can efficiently perform full-section anchor bolt operations.

[0041] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0042] Secondly: In the drawings of the embodiments disclosed in the present utility model, only the structures related to the embodiments disclosed in the present utility model are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present utility model can be combined with each other;

[0043] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A rubber-wheeled working robot for underground mines, comprising a rubber-wheeled vehicle chassis (1), a pipe grabbing manipulator (2), a column assembly (3), a working platform (4) and a drilling mechanism (5), characterized in that: The pipe grabbing manipulator (2) and the column assembly (3) are both fixedly mounted on the rubber-wheeled vehicle chassis (1), the working platform (4) is fixedly mounted on the front end of the column assembly (3), and the drilling mechanism (5) is fixedly mounted on the front end of the working platform (4); The rubber-wheeled vehicle chassis (1) comprises a cab (6), a power box compartment (7), a hydraulic oil tank (8), a controller compartment (9), a tool box (10), a chassis assembly (11) and a fuel tank (12); the power box compartment (7) is arranged on one side of the cab (6); the hydraulic oil tank (8) is arranged on the rear side of the power box compartment (7); the controller compartment (9) is arranged on the rear side of the cab (6); the tool box (10) is arranged at the bottom of the chassis assembly (11); and the controller compartment (9) comprises a hydraulic system and an electrical system; The pipe grabbing manipulator (2) comprises a rotating base (13), a pipe grabbing base arm (14), a pipe grabbing telescopic arm (15), a pipe grabbing lifting arm (16), a pipe grabbing angle adjustment arm (17), a rotating frame (18), a rotating frame (19), a mechanical claw base (20) and a mechanical claw mechanism (21); The column assembly (3) comprises a column lifting frame (22), a lifting arm (23) and a swing cylinder (24); the column lifting frame (22) is fixedly mounted on the rubber-wheeled vehicle chassis (1); the lifting arm (23) is connected to the column lifting frame (22); and the swing cylinder (24) is fixedly mounted at the front end of the lifting arm (23); The working platform (4) comprises a working platform frame (25), a standing platform (26), an operating table (27) and a rotating device (28); the working platform frame (25) is installed together with the column assembly (3) via a swing cylinder (24); The drilling mechanism (5) comprises a rear bracket (29), a fine-adjustment device (30) and an anchor drill (31); the drilling mechanism (5) is fixedly mounted on the rotary device (28) via the rear bracket (29).

2. The rubber-wheeled working robot for underground mines according to claim 1, characterized in that: The rotating base (13) is fixedly mounted on the rubber-wheeled vehicle chassis (1), and the pipe grabbing base arm (14) is connected to the rotating base (13).

3. The rubber-wheeled working robot for underground mines according to claim 1, characterized in that: The pipe grabbing telescopic arm (15) is connected to the pipe grabbing base arm (14), and the pipe grabbing lifting arm (16) is connected to the pipe grabbing telescopic arm (15).

4. The rubber-wheeled working robot for underground mines according to claim 1, characterized in that: The pipe grabbing angle adjustment arm (17) is connected to the pipe grabbing lifting arm (16), and the rotating frame (18) is installed on the pipe grabbing angle adjustment arm (17).

5. The rubber-wheeled working robot for underground mines according to claim 1, characterized in that: The rotating frame (19) is connected to the rotary frame (18), and the mechanical claw base (20) is fixedly mounted on the rotating frame (19).

6. The rubber-wheeled working robot for underground mines according to claim 1, characterized in that: The mechanical claw mechanism (21) is installed on the mechanical claw base (20).

7. The rubber-wheeled working robot for underground mines according to claim 1, characterized in that: The operating platform (27) is installed on the working platform frame (25), and the standing platform (26) is installed on both sides of the working platform frame (25).

Images