Underground coal mine multifunctional operation robot

Abstract

The utility model discloses an underground coal mine multifunctional operation robot, and particularly relates to the technical field of robots, the underground coal mine multifunctional operation robot comprises a crawler chassis, a pipe grabbing manipulator, a stand column assembly, a working platform and a drilling mechanism, the pipe grabbing manipulator and the stand column assembly are both installed on the crawler chassis; the crawler chassis comprises a crawler assembly, a rear supporting assembly, a power box body, a platform assembly and a front supporting leg assembly. 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 therefore the drilling part can achieve multi-degree-of-freedom adjustment. Therefore, the multifunctional operation robot can be used for whole-vehicle allocation and transportation 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, rapid and accurate positioning and hole finding can be achieved, 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 multifunctional operating robot in a coal mine. Background Art

[0002] Under the premise of ensuring operation safety, in order to adapt to the rapidly improving efficiency of coal mine excavation, the existing multi-arm anchor drilling vehicles usually have a large body, slow movement, incomplete functions, and inconvenient operation, which cannot meet the current rapid excavation needs and waste a lot of time in the entire excavation work. In addition, the functions of some existing anchor drilling vehicles cannot meet the drilling work of the anchor at the bottom of the tunnel, resulting in manual supplementary drilling, and the inability to achieve comprehensive anchor drilling work, resulting in low operation 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 multifunctional working robot for underground coal mines. The utility model installs a drilling mechanism on a working platform, and can achieve 360° swing and positioning 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 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 multifunctional working robot for underground coal mines, comprising a crawler 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 mounted on the crawler chassis;

[0005] The crawler chassis includes a crawler assembly, a rear support assembly, a power box, a platform assembly and a front leg assembly, wherein the power box is mounted on the platform assembly, the platform assembly is mounted on the crawler assembly, and the rear support assembly is mounted on the rear side of the crawler assembly;

[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. The rotating base is fixed on a crawler chassis, the pipe grabbing base arm is connected to the rotating base, the pipe grabbing telescopic arm is connected to the pipe grabbing base arm, the pipe grabbing lifting arm is connected to the pipe grabbing telescopic arm, and the pipe grabbing angle adjustment arm is connected to the pipe grabbing angle adjustment arm;

[0007] The column assembly includes a column lifting frame, a lifting arm and a swing cylinder, wherein the column lifting frame is installed on a crawler chassis, the lifting arm is connected to the column lifting frame, and the swing cylinder is 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 fixedly installed with a swing cylinder and a column assembly;

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

[0010] In a preferred embodiment, the working platform is installed at the front end of the column assembly, and the drilling mechanism is installed at the front end of the working platform.

[0011] In a preferred embodiment, the front outrigger assembly is installed on the bottom side of the platform assembly, and the power box includes a hydraulic system and an electrical system.

[0012] In a preferred embodiment, the rear support assembly is installed at the bottom of the platform assembly, and the front leg assembly is installed at the front side of the track assembly.

[0013] 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.

[0014] In a preferred embodiment, the swivel frame is installed on the pipe gripping angle adjustment arm, and the rotating frame is connected to the swivel frame.

[0015] In a preferred embodiment, the mechanical claw base is fixed on a rotating frame, and the mechanical claw mechanism is installed on the mechanical claw base.

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

[0017] The utility model installs the drilling mechanism on the working platform, and can realize 360° swing and positioning through the slewing device. The slewing device is installed on the 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 realize multi-degree-of-freedom adjustment, so that the multifunctional operation 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 roadway 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 multifunctional operation robot for underground coal mines, which is more flexible in transportation, can adapt to fast excavation technology, adapt to various cross-section roadways, 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 platform assembly of the utility model.

[0020] Figure 3 This is a schematic diagram of the structure of the rotating base 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 structure of the standing platform of the utility model.

[0023] Figure 6 It is a schematic diagram of the rear bracket structure of the utility model.

[0024] The accompanying drawings are marked as follows: 1. crawler chassis; 2. pipe grabbing manipulator; 3. column assembly; 4. working platform; 5. drilling mechanism; 6. power box; 7. rear support assembly; 8. crawler assembly; 9. platform assembly; 10. front leg assembly; 11. rotating base; 12. pipe grabbing base arm; 13. pipe grabbing telescopic arm; 14. pipe grabbing lifting arm; 15. pipe grabbing angle adjustment arm; 16. slewing frame; 17. rotating frame; 18. mechanical claw base; 19. mechanical claw mechanism; 20. column lifting frame; 21. lifting arm; 22. swing cylinder; 23. working platform frame; 24. standing platform; 25. operating table; 26. slewing device; 27. rear bracket; 28. fine-tuning device; 29. ​​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 multifunctional working robot for underground coal mines, comprising a crawler 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 mounted on the crawler chassis 1;

[0027] The crawler chassis 1 includes a crawler assembly 8, a rear support assembly 7, a power box 6, a platform assembly 9 and a front leg assembly 10, wherein the power box 6 is mounted on the platform assembly 9, the platform assembly 9 is mounted on the crawler assembly 8, and the rear support assembly 7 is mounted on the rear side of the crawler assembly 8;

[0028] The pipe grabbing manipulator 2 includes a rotating base 11, a pipe grabbing base arm 12, a pipe grabbing telescopic arm 13, a pipe grabbing lifting arm 14, a pipe grabbing angle adjustment arm 15, a rotating frame 16, a rotating frame 17, a mechanical claw base 18 and a mechanical claw mechanism 19. The rotating base 11 is fixed on the crawler chassis 1, the pipe grabbing base arm 12 is connected to the rotating base 11, the pipe grabbing telescopic arm 13 is connected to the pipe grabbing base arm 12, the pipe grabbing lifting arm 14 is connected to the pipe grabbing telescopic arm 13, and the pipe grabbing angle adjustment arm 15 is connected to the pipe grabbing lifting arm 14;

[0029] The column assembly 3 includes a column lifting frame 20, a lifting arm 21 and a swing cylinder 22. The column lifting frame 20 is installed on the crawler chassis 1, the lifting arm 21 is connected to the column lifting frame 20, and the swing cylinder 22 is installed at the front end of the lifting arm 21;

[0030] The working platform 4 includes a working platform frame 23, a standing platform 24, an operating table 25 and a rotating device 26. The working platform frame 23 is fixedly mounted on the column assembly 3 through a swing cylinder 22;

[0031] The drilling mechanism 5 includes an anchor drill 29 , a fine-tuning device 28 and a rear bracket 27 , and the drilling mechanism 5 is mounted on the slewing device 26 via the rear bracket 27 .

[0032] The working platform 4 is installed at the front end of the column assembly 3 , and the drilling mechanism 5 is installed at the front end of the working platform 4 .

[0033] The front outrigger assembly 10 is mounted on the bottom side of the platform assembly 9, and the power box 6 includes a hydraulic system and an electrical system.

[0034] The rear support assembly 7 is installed at the bottom of the platform assembly 9, and the front leg assembly 10 is installed at the front side of the crawler assembly 8.

[0035] The operating platform 25 is installed on the working platform frame 23 , and the standing platform 24 is installed on both sides of the working platform frame 23 .

[0036] The rotating frame 16 is installed on the pipe gripping angle adjustment arm 15 , and the rotating frame 17 is connected to the rotating frame 16 .

[0037] The specific implementation method is as follows: when using the utility model, the power box 6 has a hydraulic system and an electrical system, wherein the hydraulic system provides kinetic energy for each actuator, and the electrical system provides electrical energy for each actuator of the vehicle. In the working state, the drilling mechanism 8 can perform anchor construction operations according to the swing adjustment angle of the swing arm rotating device and the swing device 26, the rotating base 11 is fixed on the crawler chassis 1, the pipe grabbing base arm 12 is connected to the rotating base 11, the pipe grabbing telescopic arm 13 is connected to the pipe grabbing base arm 12, the pipe grabbing lifting arm 14 is connected to the pipe grabbing telescopic arm 13, and the pipe grabbing angle The adjusting arm 15 is connected to the pipe grabbing lifting arm 14, the rotating frame 16 is installed on the pipe grabbing angle adjusting arm 15, the rotating frame 17 is connected to the rotating frame 16, the mechanical claw base 18 is fixed on the rotating frame 17, and the mechanical claw mechanism 19 is installed on the mechanical claw base 18 to achieve 360° without dead angles, left and right and up directions, and achieve the maximum angle and maximum position of the pipeline installation, and then the mechanical claw mechanism 19 can reach the maximum working range through the extension of each mechanical arm and the rotation of the rotating frame 16 and the rotating frame 17. In the non-working state, the standing platform 24 is retracted to reduce the multi-functional operation machine. The width of the robot is convenient for walking. In the working state, the standing platform 24 is extended to facilitate the operation of the operator. The drilling mechanism 5 is installed on the rotating device 26 through the rear bracket 27, and can rotate 360° with the rotating device 26 as a whole. When the multifunctional operation robot is working, the drilling mechanism 5 is driven by the swing cylinder 22 to swing, so as to adjust the construction angle. In the working state, the drilling mechanism 5 is in a vertical state or a horizontal state, and in the state of the whole machine being 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 realized through the fine-tuning device 28. A new multifunctional operating robot for underground coal mines is provided, in which the drilling mechanism is installed on the working platform, and 360° swing and positioning can be achieved through the slewing device. The slewing device is installed on the 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 multifunctional operating robot can be transported as a whole vehicle with the smallest possible body width, and 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 efficiency. Compared with the prior art, the utility model provides a multifunctional operating robot for underground coal mines, which is more flexible in transportation, can adapt to fast excavation technology, adapt to various cross-section tunnels, can achieve fast positioning and hole finding, and can efficiently perform full-section anchor bolt operations.

[0038] Working principle of this utility model:

[0039] Refer to the instruction manual Figure 1-6When using the utility model, the utility model provides a multifunctional operating robot for underground coal mines, the drilling mechanism is installed on the working platform, and 360° swing and positioning can be achieved through the slewing device. The slewing device is installed on the 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 multifunctional operating 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 width of the tunnel, 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 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 bolt operations.

[0040] 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;

[0041] 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;

[0042] 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 multifunctional working robot for underground coal mines, comprising a crawler 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 mounted on the crawler chassis (1); The crawler chassis (1) comprises a crawler assembly (8), a rear support assembly (7), a power box (6), a platform assembly (9) and a front leg assembly (10), wherein the power box (6) is mounted on the platform assembly (9), the platform assembly (9) is mounted on the crawler assembly (8), and the rear support assembly (7) is mounted on the rear side of the crawler assembly (8); The pipe grabbing manipulator (2) comprises a rotating base (11), a pipe grabbing base arm (12), a pipe grabbing telescopic arm (13), a pipe grabbing lifting arm (14), a pipe grabbing angle adjustment arm (15), a rotating frame (16), a rotating frame (17), a mechanical claw base (18) and a mechanical claw mechanism (19); the rotating base (11) is fixed on the crawler chassis (1), the pipe grabbing base arm (12) is connected to the rotating base (11), the pipe grabbing telescopic arm (13) is connected to the pipe grabbing base arm (12), the pipe grabbing lifting arm (14) is connected to the pipe grabbing telescopic arm (13), and the pipe grabbing angle adjustment arm (15) is connected to the pipe grabbing lifting arm (14); The column assembly (3) comprises a column lifting frame (20), a lifting arm (21) and a swing cylinder (22); the column lifting frame (20) is mounted on the crawler chassis (1); the lifting arm (21) is connected to the column lifting frame (20); and the swing cylinder (22) is mounted at the front end of the lifting arm (21); The working platform (4) comprises a working platform frame (23), a standing platform (24), an operating table (25) and a rotating device (26); the working platform frame (23) is fixedly mounted on the column assembly (3) via a swing cylinder (22); The drilling mechanism (5) comprises an anchor drill (29), a fine-adjustment device (28) and a rear bracket (27); the drilling mechanism (5) is mounted on a rotary device (26) via the rear bracket (27).

2. A multifunctional working robot for underground coal mines according to claim 1, characterized in that: The working platform (4) is installed at the front end of the column assembly (3), and the drilling mechanism (5) is installed at the front end of the working platform (4).

3. The multifunctional underground coal mine operation robot according to claim 1, characterized in that: The front outrigger assembly (10) is installed on the bottom side of the platform assembly (9), and the power box (6) includes a hydraulic system and an electrical system.

4. The multifunctional underground coal mine operation robot according to claim 1, characterized in that: The rear support assembly (7) is installed at the bottom of the platform assembly (9), and the front support leg assembly (10) is installed at the front side of the crawler track assembly (8).

5. The multifunctional underground coal mine operation robot according to claim 1, characterized in that: The operating platform (25) is installed on the working platform frame (23), and the standing platform (24) is installed on both sides of the working platform frame (23).

6. The multifunctional underground coal mine operation robot according to claim 1, characterized in that: The rotating frame (16) is installed on the pipe gripping angle adjustment arm (15), and the rotating frame (17) is connected to the rotating frame (16).

7. The multifunctional underground coal mine operation robot according to claim 1, characterized in that: The mechanical claw base (18) is fixed on the rotating frame (17), and the mechanical claw mechanism (19) is installed on the mechanical claw base (18).

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