Grooving robot

Abstract

The utility model provides a grooving robot which comprises a crawler belt walking mechanism and a top cutting mechanism, the crawler belt walking mechanism is used for driving the top cutting mechanism to move along a roadway, the top cutting mechanism is connected to the front end of the crawler belt walking mechanism, the top cutting mechanism comprises a mounting seat connected with the crawler belt walking mechanism, and the mounting seat is connected with the crawler belt walking mechanism. A conical cutting drill bit used for punching and cutting the roadway roof is arranged on the mounting base, and the bottom of the conical cutting drill bit is in transmission connection with a driving mechanism. According to the grooving robot, the top cutting mechanism is designed to be in a long and thin cone shape, so that drilling and grooving are conveniently conducted on the top of a roadway, the construction requirement for the cutting distance can be met on the premise that the cutting amount is reduced, the working efficiency of roadway top cutting and pressure relief is improved, and the cutting force is improved.

Description

Technical Field

[0001] The utility model relates to the field of coal mine tunnel machinery, in particular to a slotting robot. Background Art

[0002] In underground coal mining, the stability of the surrounding rock of mining tunnels is significantly impacted by mining activities at the working face. A hard roof tunnel is a general term for tunnels whose roof consists of a hard, thick, and well-developed underlying rock layer. To address the problem of delayed hard roof collapse, roof cutting and pressure relief measures are often employed. This artificially controls the collapse of the hard roof in the goaf, reduces the exposed area, and prevents large-scale roof pressure. Currently, the main methods used to reduce hard roof pressure relief include drilling and blasting and hydraulic fracturing. Drilling and blasting involves loading explosives into a borehole. The explosive energy is released in all directions, creating radial, random cracks around the borehole. However, the random orientation of the explosive cracks around the borehole negatively impacts the control of the cutting direction and the maintenance of roof stability. Hydraulic fracturing involves injecting high-pressure water into a closed borehole to fracture the rock mass. This method requires high-pressure equipment, making it difficult to achieve the fracture pressure with conventional equipment. Specialized equipment is expensive, the fracturing direction is difficult to control, and it can also cause water accumulation in the working environment.

[0003] The invention patent with the authorization announcement number CN111810146B discloses an intelligent tunnel grooving robot, including a main frame, a walking part, a cutting part, a cab, a power assembly and a stable support system. The cutting part, the cab and the power assembly are installed on the main frame to form the fuselage; the cutting part includes a base, a large arm, an intermediate arm, a small arm, a milling head, a large arm connecting rod, a milling head connecting rod, a large arm oil cylinder, an intermediate arm oil cylinder, a small arm oil cylinder, a milling head oil cylinder and a rotary drive. The intelligent tunnel grooving robot adopts a multi-arm articulated mechanical arm mechanism, which realizes the positioning of the entire machine at one time to open a full 360-degree groove, and can control the milling head to operate automatically in the horizontal and vertical directions. However, the grooving depth of the intelligent tunnel grooving robot is limited by the diameter of the disc-shaped milling head, and it is mainly used for grooving operations around the tunnel. The grooving force is relatively small, and it cannot be directly applied to the grooving and top cutting and pressure relief of hard roof tunnels. Utility Model Content

[0004] In order to improve the working efficiency of tunnel roof cutting and pressure relief and enhance the cutting force, the technical solution adopted by the utility model is: a grooving robot, including a crawler walking mechanism and a top cutting mechanism, the crawler walking mechanism is used to drive the top cutting mechanism to move along the tunnel, the top cutting mechanism is connected to the front end of the crawler walking mechanism, the top cutting mechanism includes a mounting seat connected to the crawler walking mechanism, and a conical cutting drill bit for drilling and cutting the tunnel roof is provided on the mounting seat, and the bottom of the conical cutting drill bit is connected to a driving mechanism.

[0005] Based on the above, in order to improve the service life and cutting ability of the tapered cutting drill bit, a plurality of cemented carbide cutter bits are installed on the outer peripheral surface of the tapered cutting drill bit.

[0006] Based on the above, in order to be able to change the height of the conical cutting drill bit, the mounting seat and the crawler walking mechanism can be connected in a lifting manner.

[0007] Based on the above, in order to facilitate support, a support arm for mounting the conical cutting drill bit is provided on the mounting seat.

[0008] Based on the above, in order to adapt to the height in the tunnel and expand the operating range of the conical cutting drill bit, the support arm is a telescopic support arm.

[0009] Based on the above, in order to be able to change the inclination angle of the conical cutting drill bit, the bottom of the support arm is hinged to the mounting seat, and a lifting jack is connected between the middle part of the support arm and the mounting seat, and the lifting jack is used to change the inclination angle of the support arm.

[0010] Based on the above, in order to adapt to the construction environment of narrow tunnels and expand the scope of use of the slotting robot, the width of the crawler walking mechanism is less than or equal to 1 meter.

[0011] Based on the above, the width of the mounting seat is less than or equal to the width of the crawler walking mechanism.

[0012] Based on the above, in order to facilitate positioning and real-time monitoring, the crawler walking mechanism is also provided with laser positioning and a camera or UWB positioning.

[0013] The crawler mechanism, conical cutting drill, mounting base and lifting jack are controlled and operated by remote control. The slotting robot uses an engine system as the main drive, and a hydraulic drive as the executive drive.

[0014] This utility model offers substantial advantages and advancements over existing technologies. Specifically, the slotting robot provided by this utility model utilizes a slender, conical design for its top-cutting mechanism, facilitating drilling and slotting in tunnel roofs. This reduces the amount of cutting required while still meeting construction distance requirements. Furthermore, this top-cutting mechanism offers high cutting torque and robust cutting capacity, making it suitable for cutting residual gangue, anchor nets, and W-shaped steel strips from tunnel roofs.

[0015] Furthermore, by mounting the roof-cutting mechanism on a remotely controlled crawler mechanism, the mechanism can be adjusted to suit different tunnel heights by being raised or lowered. The mechanism can be moved and cut to remove the roof, and the speed is steplessly adjustable, allowing for flexible adjustments based on site conditions. Remote control allows for operation without requiring close proximity to personnel even in harsh conditions.

[0016] Furthermore, by installing intelligent functions such as laser positioning or UWB positioning, cameras, etc., the working status of the product can be monitored remotely in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the slotting robot provided by the utility model.

[0018] Figure 2 This is a side structural diagram of the slotting robot provided by the utility model.

[0019] Figure 3 This is a schematic diagram of the local structure of the slotting robot provided by the utility model.

[0020] In the figure: 1. crawler track; 2. crawler walking mechanism; 3. mounting base; 4. lifting jack; 5. support arm; 6. conical cutting drill bit; 7. carbide cutter head. DETAILED DESCRIPTION

[0021] The technical solution of the present utility model is further described in detail below through specific implementation methods.

[0022] Example 1

[0023] This embodiment provides a slotting robot, such as Figure 1 、 Figure 2 、 Figure 3 As shown, it includes a crawler walking mechanism 2 and a topping mechanism. A crawler 1 is provided on the top of the crawler walking mechanism 2. The crawler walking mechanism 2 is used to drive the topping mechanism to move along the roadway. The topping mechanism is connected to the front end of the crawler walking mechanism 2.

[0024] The roof cutting mechanism includes a mounting base 3 connected to the crawler walking mechanism 2, and a conical cutting drill bit 6 for drilling and cutting the tunnel roof is provided on the mounting base 3. The bottom of the conical cutting drill bit 6 is connected to a driving mechanism.

[0025] In this example, in order to improve the service life and cutting ability of the tapered cutting drill bit 6 , a plurality of carbide cutter bits 7 are installed on the outer peripheral surface of the tapered cutting drill bit 6 .

[0026] For easy support, a support arm 5 for mounting the conical cutting drill bit 6 is provided on the mounting base 3, and a driving mechanism is mounted on the support arm 5. In order to adapt to the height in the tunnel and expand the operating range of the conical cutting drill bit, the support arm 5 is a telescopic support arm.

[0027] In order to be able to change the inclination angle of the conical cutting drill bit 6, the bottom of the support arm 5 is hinged to the mounting seat 3, and a lifting jack 4 is connected between the middle part of the support arm 5 and the mounting seat 3. The lifting jack 4 is used to change the inclination angle of the support arm 5, thereby changing the inclination angle of the conical cutting drill bit 6.

[0028] Example 2

[0029] This embodiment provides a slotting robot, which is mainly different from Embodiment 1 in that, in this embodiment, in order to be able to change the height of the conical cutting drill bit, the mounting seat 3 and the crawler walking mechanism 2 are connected in a liftable manner.

[0030] Example 3

[0031] This embodiment provides a slotting robot. The main difference from the first embodiment is that, in this embodiment, to adapt to the construction environment of narrow lanes and expand the scope of use of the slotting robot, the width of the crawler walking mechanism is less than or equal to 1 meter. The width of the mounting base is less than or equal to the width of the crawler walking mechanism.

[0032] Example 4

[0033] This embodiment provides a grooving robot, which is mainly different from Embodiment 1 in that, in this embodiment, in order to facilitate positioning and real-time monitoring, the crawler walking mechanism is further provided with laser positioning and a camera or UWB positioning.

[0034] Specifically, the slotting robot provided by this utility model is driven by an internal engine system and hydraulically actuated. It is operated remotely, eliminating the need for close proximity personnel even in harsh conditions. The product is also equipped with intelligent features such as laser positioning, UWB positioning, and a camera, enabling remote, real-time monitoring of its operation.

[0035] The crawler walking mechanism adopts a small-sized heavy-load design to prevent the lubricity of coal in the coal mine from causing the product to slip and affecting the work efficiency of the product. The travel speed adopts a stepless speed regulation method and can be flexibly adjusted according to the on-site conditions to form a complete and independent tunnel roof cutting, pressure relief and slotting vehicle. The vehicle body width is less than 1 meter, which can meet the construction needs in narrow holes underground and is more conducive to cutting near the edge of the roof.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model and not to limit it; although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the utility model can still be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solution of the utility model, they should all be included in the scope of the technical solution for which protection is requested in the utility model.

Claims

1. A slotting robot, characterized in that: It includes a crawler walking mechanism and a top cutting mechanism. The crawler walking mechanism is used to drive the top cutting mechanism to move along the tunnel. The top cutting mechanism is connected to the front end of the crawler walking mechanism. The top cutting mechanism includes a mounting seat connected to the crawler walking mechanism. The mounting seat is provided with a conical cutting drill bit for drilling and cutting the tunnel roof. The bottom of the conical cutting drill bit is connected to a driving mechanism.

2. The slotting robot according to claim 1, characterized in that: A plurality of carbide cutter bits are mounted on the outer peripheral surface of the conical cutting drill bit.

3. The slotting robot according to claim 1, characterized in that: The mounting seat is connected to the crawler walking mechanism in a liftable manner.

4. The slotting robot according to claim 1, 2 or 3, characterized in that: The mounting seat is provided with a support arm for mounting the conical cutting drill bit.

5. The slotting robot according to claim 4, characterized in that: The support arm is a telescopic support arm.

6. The slotting robot according to claim 5, characterized in that: The bottom of the support arm is hinged to the mounting seat, and a lifting jack is connected between the middle of the support arm and the mounting seat. The lifting jack is used to change the inclination angle of the support arm.

7. The slotting robot according to claim 1, 2 or 3, characterized in that: The width of the crawler walking mechanism is less than or equal to 1 meter.

8. The slotting robot according to claim 1, characterized in that: The width of the mounting seat is less than or equal to the width of the crawler walking mechanism.

9. The slotting robot according to claim 1, 2, 3 or 8, characterized in that: The crawler walking mechanism is also provided with a laser positioning and a camera.

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