An automated support robot

Abstract

The utility model relates to the technical field of coal mine underground supporting equipment, more particularly, relates to an automatic supporting robot. Including walking trolley, supporting unit, liquid injection device, walking track, multi -joint arm and movable clamp block, walking track sets up below the roadway roof that needs to support, walking trolley sets up the just below of walking track, and supporting unit is hinged and hangs in the both sides of walking track through hinged connecting rod and telescopic oil cylinder, and liquid injection device inserts the hydraulic action of control supporting unit in walking track through valve core, and multi -joint arm installs in the side of walking trolley, and liquid injection device sets up in the end of multi -joint arm, and the joint of multi -joint arm is equipped with speed reducer or rotary oil cylinder, and movable clamp block sets up in the bottom of walking track. The labour intensity of artificial support, the problem of slow response speed is solved, and safe and reliable, flexible and efficient support solution is provided for coal mine high-risk area. The utility model mainly applies to the aspect of underground support automatic supporting robot.

Description

Technical Field

[0001] This utility model relates to the field of underground support equipment technology in coal mines, and more specifically, to an automatic support robot. Background Technology

[0002] Currently, hydraulic supports are commonly used for roof support in fully mechanized coal mining faces, which has significant advantages in standardized operating areas. However, due to limitations imposed by changes in roadway alignment, equipment layout, and geological conditions, blind spots that cannot be covered by the supports often form at the face ends, in the roadway, and in the return airway.

[0003] Currently, these areas primarily rely on manual installation of hydraulic single-pillar supports for supplementary support. However, this method has significant drawbacks: personnel must frequently enter hazardous areas with complex roof conditions, resulting in high labor intensity and low efficiency. Furthermore, manual handling of pillars and manual injection of hydraulic pressure relief are difficult to coordinate precisely, easily leading to localized roof collapses due to delayed support. Existing technologies attempt to cover blind spots by extending the support structure or adding simple mechanical devices, but the former is limited by the rigid structure of the hydraulic supports, making it difficult to adapt to varying roadway orientations, while the latter, due to its limited functionality, cannot achieve autonomous pillar movement and cyclic support. The industry urgently needs a new type of equipment that combines flexibility and fully automated support capabilities, requiring it to move autonomously in confined spaces, accurately locate itself, and complete pillar lifting, lowering, and transfer, ultimately achieving the goal of unmanned support in high-risk underground areas. Utility Model Content

[0004] To overcome the shortcomings of the existing technology, this utility model provides an automated support robot. This device can autonomously walk, accurately position itself, and autonomously complete the lifting, lowering, and transfer of supports in narrow spaces. It can easily enter areas such as the ends of working faces and roadways, reducing the number of times workers need to enter complex environments. This frees up labor and improves work efficiency, thus meeting the construction requirements of unmanned support in high-risk underground areas.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: An automated support robot includes a traveling trolley, a support unit, a fluid injection device, a traveling track, a multi-joint arm, and a movable locking block. The traveling track is located below the roof of the roadway requiring support, and the traveling trolley is positioned directly below the traveling track. The support unit is hinged and suspended on both sides of the traveling track via hinged connecting rods and telescopic cylinders. The fluid injection device controls the hydraulic action of the support unit by inserting a valve core into the traveling track. The multi-joint arm is mounted on the side of the traveling trolley, and the fluid injection device is located at the end of the multi-joint arm. The joints of the multi-joint arm are equipped with reducers or rotary cylinders to drive the multi-joint arm to move in three-dimensional space. The movable locking block is located at the bottom of the traveling track.

[0006] The traveling trolley includes a bidirectional pushing cylinder, a gear, an offset cylinder, and a hydraulic control device. The bidirectional pushing cylinder is fixedly mounted on the chassis of the traveling trolley. The piston rods at both ends of the bidirectional pushing cylinder are hinged to movable locking blocks. One end of the offset cylinder is fixedly connected to the chassis of the traveling trolley, and the other end is a telescopic piston rod, which is hinged to one end of the cylinder body of the bidirectional pushing cylinder. The traveling trolley is equipped with a drive shaft via bearings. The gear is fixedly mounted on the drive shaft, and the hydraulic control device is fixedly mounted on the body of the traveling trolley.

[0007] The offset cylinder is controlled by a lifting bidirectional pushing cylinder to alternately engage the movable block at the bottom of the travel track. The gear is connected to the bottom of the travel track. The hydraulic control device controls the bidirectional pushing cylinder, the offset cylinder, and the gear.

[0008] The support unit includes a support body, a hinged connecting rod, a telescopic cylinder, and a support column cylinder. The bottom of the support body is provided with a pin hole and two sets of hinged lugs are symmetrically arranged. One lug is hinged to one end of the hinged connecting rod, and the other lug is hinged to one end of the telescopic cylinder. The other end of the hinged connecting rod is connected to the travel track through a pin, and the other end of the telescopic cylinder is connected to the travel track through a pin. The support column cylinder is connected to the pin below the support body and is vertically suspended directly below the support body.

[0009] When the support column cylinder extends, its bottom end supports the ground, and its top end is pressed against the top plate through the support body.

[0010] The injection device includes a valve core cylinder, a valve core, and a push cylinder. The rear end of the valve core cylinder is fixedly connected to the end of the multi-joint arm. The valve core is disposed in the cavity inside the valve core cylinder. One end of the push cylinder is fixedly connected to the valve core cylinder, and the other end is rigidly connected to the rear end of the valve core.

[0011] The valve core surface is provided with an annular oil injection groove. The valve core is connected to the support column cylinder, telescopic cylinder and multi-joint arm through the oil injection groove. The push cylinder pushes the valve core into the travel track to connect the oil circuit.

[0012] The travel track includes connecting ears, a first groove, a valve core channel, a second groove, and a rack. The connecting ears are spaced apart on the lower side of the travel track and are arranged along the length of the track. The two ends of the travel track are a recessed part and a protruding part, respectively. The valve core channel is located in the middle section of the travel track. The second groove is located below the middle section of the travel track and is adjacent to the entrance area of ​​the valve core channel. The rack is fixedly installed at the center of the bottom of the travel track and is continuously laid along the entire length of the track. The rack meshes with a gear.

[0013] The valve core channel has an annular oil chamber that is sealed and connected to the oil injection groove of the valve core. The connecting ear has an integrated oil circuit that connects the valve core channel to the oil cylinder of the support unit.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model of an automated support robot significantly improves the safety and efficiency of support operations in complex underground coal mine areas through an innovative multi-mechanism collaborative design. Its core advantage lies in utilizing the spatial movement capabilities of its multi-joint arm to precisely control the docking of the injection device with the walking track, achieving fully automated lifting and transfer of support units, completely replacing the high-risk operation mode of traditional manual handling of single props.

[0015] The self-moving system of the traveling trolley adopts a dual-drive mechanism of bidirectional pushing cylinders and gear racks, combined with intelligent lifting control of the movable blocks by offset cylinders, enabling the equipment to autonomously move and position itself in narrow tunnels. The unique articulated connecting rod and telescopic cylinder combination structure of the support unit can maintain stable pressure bearing in the vertical support state, and can quickly switch to an inclined suspension posture after pressure relief, creating a safe space for equipment relocation. The modular design of the traveling track enables rapid splicing through an interlocking structure with concave and protruding ends. The cooperation between the valve core channel and the internal integrated oil circuit allows the injection device to simultaneously control the extension and retraction of the support column cylinder, the movement of the multi-joint arm, and the unit posture conversion, greatly simplifying the complexity of the hydraulic system. When operating in the roof fracture zone, the device avoids roof damage caused by repeated support through flexible support. Its adaptive support characteristics can cover blind areas such as ends and roadways that are difficult for hydraulic supports to reach, significantly reducing the risk of roof collapse. The overall technical solution achieves the goal of reducing manpower underground while solving the industry pain points of high labor intensity and slow response speed of manual support, providing a safe, reliable, flexible and efficient unmanned support solution for high-risk areas of coal mines. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the structure of the walking trolley of this utility model; Figure 3 This is a schematic diagram of the support unit structure of this utility model; Figure 4 This is a schematic diagram of the liquid injection device of this utility model; Figure 5 This is a schematic diagram of the walking track structure of this utility model; Figure 6 This is a schematic diagram of the movable card block structure of this utility model; Figure 7 This is a schematic diagram of the multi-joint arm for moving parts according to this utility model. Figure 1 ; Figure 8This is a schematic diagram of the multi-joint arm for moving parts according to this utility model. Figure 2 ; Figure 9 This is a schematic diagram of the multi-joint arm for moving parts according to this utility model. Figure 3 In the diagram: 1 is the traveling trolley, 101 is the bidirectional pushing cylinder, 102 is the gear, 103 is the offset cylinder, 104 is the hydraulic control device, 2 is the support unit, 201 is the support body, 202 is the hinged connecting rod, 203 is the telescopic cylinder, 204 is the support column cylinder, 3 is the injection device, 301 is the valve core cylinder, 302 is the valve core, 303 is the pushing cylinder, 4 is the traveling track, 401 is the connecting lug, 402 is the first groove, 403 is the valve core channel, 404 is the second groove, 405 is the rack, 5 is the multi-joint arm, and 6 is the movable locking block. Detailed Implementation

[0017] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0018] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0019] like Figures 1 to 9 As shown, an automated support robot includes a traveling trolley 1, a support unit 2, an injection device 3, a traveling track 4, a multi-joint arm 5, and a movable locking block 6. The traveling track 4 is located below the roof of the roadway requiring support. The traveling trolley 1 is located directly below the traveling track 4. The support unit 2 is hinged and suspended on both sides of the traveling track 4 via a hinged connecting rod 202 and a telescopic cylinder 203. The injection device 3 controls the hydraulic movement of the support unit 2 by inserting a valve 302 into the traveling track 4. The multi-joint arm 5 is mounted on the side of the traveling trolley 1, and the injection device 3 is located at the end of the multi-joint arm 5. The joints of the multi-joint arm 5 are equipped with reducers or rotary cylinders to drive the multi-joint arm 5 to move in three-dimensional space. The movable block 6 is set at the bottom of the walking track 4. The walking trolley 1 moves and positions itself autonomously on the walking track 4 through gear and rack meshing and cylinder locking mechanism. The multi-joint arm 5 carries the injection device 3 and precisely inserts it into the valve core channel 403 on the walking track 4. After docking, the injection device 3 controls the hydraulic oil circuit through the valve core 302 to drive the support unit 2 to switch between lifting support or tilting suspension posture, and at the same time provides power to the joints of the multi-joint arm 5 and the cylinders of the walking trolley 1.

[0020] Preferably, the traveling trolley 1 includes a bidirectional pushing cylinder 101, a gear 102, an offset cylinder 103, and a hydraulic control device 104. The bidirectional pushing cylinder 101 is fixedly installed on the chassis of the traveling trolley 1. The piston rods at both ends of the bidirectional pushing cylinder 101 are hinged to the movable locking blocks 6. One end of the offset cylinder 103 is fixedly connected to the chassis of the traveling trolley 1, and the other end is a telescopic piston rod. The telescopic piston rod is hinged to one end of the cylinder body of the bidirectional pushing cylinder 101. The traveling trolley 1 is equipped with a drive shaft through bearings. The gear 102 is fixedly installed on the drive shaft. The hydraulic control device 104 is fixedly installed on the body of the traveling trolley 1. The movable locking blocks 6 are vertically suspended at both ends of the bidirectional pushing cylinder 101 under the action of gravity.

[0021] Preferably, the offset cylinder 103 controls the movable block 6 to alternately engage with the bottom of the travel track 4 through the lifting bidirectional push cylinder 101, so as to realize the movement of the travel trolley 1. The gear 102 is connected to the bottom of the travel track 4, and the hydraulic control device 104 controls the bidirectional push cylinder 101, the offset cylinder 103 and the gear 102.

[0022] Preferably, the support unit 2 includes a support body 201, a hinged connecting rod 202, a telescopic cylinder 203, and a support column cylinder 204. The bottom of the support body 201 is provided with a pin hole and two sets of hinged lugs are symmetrically provided. One lug is hinged to one end of the hinged connecting rod 202, and the other lug is hinged to one end of the telescopic cylinder 203. The other end of the hinged connecting rod 202 is connected to the travel track 4 through a pin. The other end of the telescopic cylinder 203 is connected to the travel track 4 through a pin. The support column cylinder 204 is connected to the pin below the support body 201 and is vertically suspended directly below the support body 201.

[0023] Preferably, when the support column cylinder 204 extends, its bottom end supports the ground, and its top end is pressed against the top plate by the support body 201.

[0024] Preferably, the injection device 3 includes a valve core cylinder 301, a valve core 302, and a push cylinder 303. The rear end of the valve core cylinder 301 is fixedly connected to the end of the multi-joint arm 5. The valve core 302 is disposed in the cavity inside the valve core cylinder 301. One end of the push cylinder 303 is fixedly connected to the valve core cylinder 301, and the other end is rigidly connected to the rear end of the valve core 302.

[0025] Preferably, the valve core 302 has an annular oil injection groove on its surface. The valve core 302 is connected to the support column cylinder 204, the telescopic cylinder 203 and the multi-joint arm 5 through the oil injection groove. The push cylinder 303 pushes the valve core 302 into the travel track 4 to connect the oil circuit.

[0026] Preferably, the travel track 4 includes a connecting ear 401, a first groove 402, a valve core channel 403, a second groove 404, and a rack 405. The connecting ears 401 are spaced apart on the lower side of the travel track 4 and are arranged along the length of the track. The two ends of the travel track 4 are a recessed part and a protruding part, respectively. The valve core channel 403 is located in the middle section of the travel track 4. The second groove 404 is located below the middle section of the travel track 4 and is adjacent to the inlet area of ​​the valve core channel 403. The rack 405 is fixedly installed at the center of the bottom of the travel track 4 and is continuously laid along the entire length of the track. The rack 405 meshes with the gear 102. The second groove 404 serves as a temporary snap-in support point for the liquid injection device 3.

[0027] Preferably, the valve core channel 403 has an annular oil chamber that is sealed and connected to the oil injection groove of the valve core 302, and the connecting ear 401 has an integrated oil circuit inside, connecting the valve core channel 403 to the oil cylinder of the support unit 2.

[0028] The operator lays multiple sections of the traveling track 4 end-to-end under the tunnel roof. Support units 2 are correspondingly positioned to the traveling track 4, each support unit 2 distributed on one side of its corresponding traveling track 4. Each support unit 2 is suspended from the connecting lugs 401 on both sides of the track via a hinged connecting rod 202 and a telescopic cylinder 203. The support cylinder 204 is in a retracted state. When the traveling trolley 1 moves to the area requiring support, the nearest support unit 2 can be moved to the desired position. The traveling trolley 1 is installed directly below the traveling track 4, its gear 102 meshing with the rack 405 at the bottom of the traveling track 4. Movable blocks 6 are vertically suspended at both ends of the bidirectional pushing cylinder 101 under gravity. The hydraulic control device 104 drives the multi-joint arm 5 to move, precisely positioning the end-of-line injection device 3 to the inlet of the valve core channel 403 in the traveling track 4. The pushing cylinder 303 pushes the valve core 302 into the channel, and the annular oil injection groove on the surface of the valve core 302 seals and connects with the annular oil cavity integrated within the traveling track 4. Hydraulic oil is injected into the support unit 2 through the oil injection groove of valve core 302: the support column cylinder 204 extends, its bottom end pressing against the ground, and its top end pressing against the top plate through the support body 201 to form vertical support; the telescopic cylinder 203 retracts synchronously, causing the hinged connecting rod 202 to tighten the support unit 2 and keep it in a vertical position. When it is necessary to move the support area forward: valve core 302 switches the oil circuit, controlling the support column cylinder 204 to retract and lift off the ground, and the telescopic cylinder 203 extends to push the support unit 2 to tilt and suspend, disengaging it from the support state. The multi-joint arm 5 drives the injection device 3 to engage in the second groove 404 of the traveling track 4, and valve core 302 remains in the docked state to maintain oil circuit continuity. The rotating cylinder at the joint of the multi-joint arm 5 drives the traveling track 4 to move down as a whole and detach from the top plate. The retraction of the offset cylinder 103 causes the left end of the bidirectional pushing cylinder 101 to tilt downwards, and the movable locking block 6 engages with the bottom of the track. The bidirectional cylinder 101 moves to the right, pushing the trolley to the right end of the track. After the bidirectional cylinder 101 resets, the offset cylinder 103 extends and lifts its left end, and the movable locking block 6 locks the traveling track 4. The bidirectional cylinder 101 then moves to the left a second time to complete the step. The multi-joint arm 5 moves the grasped traveling track 4 forward to the support position. The protruding part of the traveling track 4 is embedded into the concave part of the front track to complete the splicing, and the support unit 2 re-supports the top plate.

[0029] The valve core 302 synchronously controls three systems through branch oil passages: oil is transported to the support column cylinder 204 and the telescopic cylinder 203 via the internal oil passage of the connecting ear 401; the hydraulic oil drives the rotating cylinder of the multi-joint arm 5 to achieve spatial positioning, providing power for the bidirectional pushing cylinder 101 and the offset cylinder 103. The hydraulic control device 104 coordinates the action sequence of each cylinder according to a preset program. The above is only a detailed description of the preferred embodiment of this utility model, but this utility model is not limited to the above embodiment. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this utility model, and all such changes should be included within the protection scope of this utility model.

Claims

1. An automated support robot, characterized by: The system includes a traveling trolley (1), a support unit (2), an injection device (3), a traveling track (4), a multi-joint arm (5), and a movable block (6). The traveling track (4) is located below the roof of the roadway that needs support. The traveling trolley (1) is located directly below the traveling track (4). The support unit (2) is hinged and suspended on both sides of the traveling track (4) by a hinged connecting rod (202) and a telescopic cylinder (203). The injection device (3) controls the hydraulic action of the support unit (2) by inserting a valve core (302) into the traveling track (4). The multi-joint arm (5) is installed on the side of the traveling trolley (1). The injection device (3) is located at the end of the multi-joint arm (5). The joints of the multi-joint arm (5) are equipped with a reducer or a rotary cylinder to drive the multi-joint arm (5) to move in three-dimensional space. The movable block (6) is located at the bottom of the traveling track (4).

2. The automated can support robot of claim 1, wherein: The traveling trolley (1) includes a bidirectional pushing cylinder (101), a gear (102), an offset cylinder (103), and a hydraulic control device (104). The bidirectional pushing cylinder (101) is fixedly installed on the chassis of the traveling trolley (1). The piston rods at both ends of the bidirectional pushing cylinder (101) are hinged to the movable locking block (6). One end of the offset cylinder (103) is fixedly connected to the traveling trolley (1), and the other end is a telescopic piston rod. The telescopic piston rod is hinged to one end of the cylinder body of the bidirectional pushing cylinder (101). The traveling trolley (1) is equipped with a drive shaft through a bearing. The gear (102) is fixedly installed on the drive shaft. The hydraulic control device (104) is fixedly installed on the body of the traveling trolley (1).

3. An automated bolting robot according to claim 2, wherein: The bias cylinder (103) controls the movable block (6) to alternately engage with the bottom of the walking track (4) through the lifting bidirectional push cylinder (101). The gear (102) is connected to the bottom of the walking track (4). The hydraulic control device (104) controls the bidirectional push cylinder (101), the bias cylinder (103) and the gear (102).

4. The automated can support robot of claim 1, wherein: The support unit (2) includes a support body (201), a hinged connecting rod (202), a telescopic cylinder (203), and a support column cylinder (204). The bottom of the support body (201) is provided with a pin hole and two sets of hinged lugs are symmetrically provided. One lug is hinged to one end of the hinged connecting rod (202), and the other lug is hinged to one end of the telescopic cylinder (203). The other end of the hinged connecting rod (202) is connected to the travel track (4) through a pin. The other end of the telescopic cylinder (203) is connected to the travel track (4) through a pin. The support column cylinder (204) is connected to the pin below the support body (201), and the support column cylinder (204) is vertically suspended directly below the support body (201).

5. An automated bolting robot according to claim 4, wherein: When the support column cylinder (204) extends, its bottom end supports the ground and its top end is pressed against the top plate through the support body (201).

6. The automated can support robot of claim 1, wherein: The injection device (3) includes a valve core cylinder (301), a valve core (302), and a push cylinder (303). The rear end of the valve core cylinder (301) is fixedly connected to the end of the multi-joint arm (5). The valve core (302) is disposed in the cavity inside the valve core cylinder (301). One end of the push cylinder (303) is fixedly connected to the valve core cylinder (301), and the other end is rigidly connected to the rear end of the valve core (302).

7. An automated can support robot according to claim 6, characterized in that: The valve core (302) has an annular oil injection groove on its surface. The valve core (302) is connected to the support column cylinder (204), the telescopic cylinder (203) and the multi-joint arm (5) through the oil injection groove. The push cylinder (303) pushes the valve core (302) into the walking track (4) to connect the oil circuit.

8. The automated can support robot of claim 2, wherein: The travel track (4) includes a connecting ear (401), a first groove (402), a valve core channel (403), a second groove (404), and a rack (405). The connecting ear (401) is spaced apart on the lower side of the travel track (4). The connecting ear (401) is arranged along the length of the track. The two ends of the travel track (4) are a recessed part and a protruding part, respectively. The valve core channel (403) is located in the middle section of the travel track (4). The second groove (404) is located below the middle section of the travel track (4) and adjacent to the entrance area of ​​the valve core channel (403). The rack (405) is fixedly arranged at the center of the bottom of the travel track (4) and is continuously laid along the entire length of the track. The rack (405) meshes with the gear (102).

9. An automated bolting robot according to claim 8, wherein: The valve core channel (403) has an annular oil chamber that is sealed and connected to the oil injection groove of the valve core (302). The connecting ear (401) has an integrated oil circuit that connects the valve core channel (403) to the oil cylinder of the support unit (2).

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