A smart robotic arm for ultra-deep vertical shaft reverse pull equipment

Abstract

An intelligent robotic arm for ultra-deep vertical shaft reverse pull equipment includes an end base fixing system, a reverse pull drive system, a vertical shaft adaptable support device, a robotic arm body, and an intelligent control system. The end base fixing system is fixed to the bedrock surface at the bottom of the vertical shaft. The reverse pull drive system includes a hydraulic tank, an oil pump control box, a hydraulic pump, and a telescopic control box, with the hydraulic tank fixed to the end base fixing system. The three-section telescopic bracket of the vertical shaft adaptable support device is supported on the vertical shaft wall. The robotic arm body includes a horizontal rotor, a robotic arm, and a robotic hand. The horizontal rotor rests on the oil pump control box, and its top is fixed to the support platform of the vertical shaft adaptable support device via a power support shaft. The robotic arm is hinged to the support platform, and a robotic hand or pusher shovel is installed at the tail. The intelligent control system includes sensors, a main control box, alarm indicator lights, and a signal receiver. This robotic arm has a compact structure, high rock-breaking efficiency, continuous slag removal, intelligent control, and can adapt to the harsh environment of ultra-deep vertical shafts.

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