Monorail installation device

Abstract

A manipulator arranged for lifting up a monorail stored with its longitudinal extension substantially horizontal in a magazine includes a base, an arm segment, an arm actuator for pivoting the arm segment relative to a base about a first pivot axis, a hand segment, a hand actuator for pivoting the hand segment relative to the arm segment about a second pivot axis independent from a pivoting of the arm segment relative to the base about the first pivot axis by the arm actuator, and a gripping device. The gripping device includes at least one clamping element each with two clamping arms for gripping the monorail such that the monorail extends substantially parallel to the second pivot axis. Further a magazine and a monorail installation device are provided.

Description

RELATED APPLICATION DATA

[0001] This application is a § 371 National Stage Application of PCT International Application No. PCT / EP2023 / 060836 filed Apr. 25, 2023.TECHNICAL FIELD

[0002] The present application concerns a manipulator for lifting up a monorail stored with its longitudinal extension substantially horizontal in a magazine.

[0003] Further, the present application concerns a magazine for holding monorails to be lifted up by a manipulator such that a longitudinal extension of the monorails is substantially horizontal.

[0004] Further, the present application concerns a monorail installation device and a method for installing a monorail.BACKGROUND

[0005] In particular in mining operations, monorails are installed, e.g. for roof-supported continuous conveying systems. At present, the monorails need to be installed manually.

[0006] AU7834069 A1 shows a mine roof-bolter machine having an extensible conveyor running therethrough that operates behind a continuous miner machine. As the continuous miner advances, the roof-bolter advances from position-to-position while installing roof bolts and plates, and the extensible conveyor gives and takes the slack between the continuous miner and the roof bolter and feeds mined material to a surge car behind the roof bolter. While forward booms of the roof bolting machine are being utilized to drill, plate and bolt the mine roof, a rear boom on the roof bolter may be used to install advancing monorail sections so that a forward terminus of a Craggs conveyor can follow along behind the surge car. The rear boom seems to be used for supporting a monorail, however it is unclear how this should work. Further, the rear boom cannot pick up a monorail without manual intervention and does not seem capable of stably and safely positioning a monorail for installation.

[0007] Further, U.S. Pat. Nos. 3,506,075, 3,965,994 and 3,986,569 show arrangements for the handling of drill rods. However, these do not allow the storage or handling of monorails and do not allow storage or handling with the longitudinal extension being horizontal.SUMMARY

[0008] It is an objective of the present application to prevent or alleviate at least one of the disadvantages of the prior art. In particular, it is an objective of the present application to propose a manipulator and a magazine that facilitate (preferably automatised) installation of a monorail under mining conditions. In particular, it is an objective to propose a manipulator that allows a monorail to be picked up and / or a monorail to be brought to a position to be installed to the roof easily, in particular only by moving the rail in a lateral direction perpendicular to the monorail's longitudinal axis and by pivoting the monorail around its longitudinal axis. Further, it is in particular an objective of the present application to propose a magazine that allows storage of the monorails such that the monorails can be picked up in a lateral direction perpendicular to the longitudinal extension of the monorails. Further, it is an objective of the present application to propose an easier and / or faster method for installing a monorail.

[0009] According to the present application, a manipulator for lifting up a monorail stored with its longitudinal extension substantially horizontal in a mag-azine, comprises:

[0010] a base;

[0011] an arm segment, which at a base end is connected to the base pivotably about a first pivot axis;

[0012] an arm actuator for pivoting the arm segment relative to the base about the first pivot axis;

[0013] a hand segment, which is connected to the arm segment at a distal end of the arm segment opposite the base end pivotably about a second pivot axis parallel to the first pivot axis;

[0014] gripping means comprising at least one clamping element each with two clamping arms for gripping the monorail, in particular at least a flange of the monorail, such that the monorail extends substantially parallel to the second pivot axis, wherein the gripping means are mounted on the hand segment;

[0015] a hand actuator for pivoting the hand segment relative to the arm segment about the second pivot axis.

[0016] Further, the above objective is achieved by a magazine for holding monorails to be lifted up by a manipulator such that a longitudinal extension of the monorails is substantially horizontal, comprising a guiding device comprising guide elements defining at least one guide for storing monorails, wherein each guide has a width extension and an opening with the width extension such that a monorail can be introduced into the respective guide through the opening with a longitudinal extension of the monorail parallel to the width extension of the guide and each guide has a length extension such that the monorail can be slid along the respective guide in a lateral direction perpendicular to the longitudinal extension of the monorail. The length extension of a guide is defined as an extension of a central line of the cross section of the guide when the guide intersects with the vertical plane that is perpendicular to the width extension. The height extension of a guide is defined as a distance between adjacent guide elements departing from each other in a horizontal or normal direction. The width extension is horizontal.

[0017] Regarding the manipulator, by pivoting the arm segment about the first pivot axis, the hand segment and gripping means can be brought in proximity of a monorail to be picked up. By pivoting the hand segment about the second pivot axis (independent from the first axis), the gripping means can be oriented to be able to grip the monorail. Then, the monorail can be lifted up (e.g. removed from the guide of the magazine) by pivoting the arm segment about the first axis and optionally pivoting the hand segment about the second axis. Finally, the monorail can be moved and rotated into a position for roof installation by pivoting about the first and / or second pivot axis, wherein in particular the monorail can be rotated so that the monorail's flange faces towards the roof, i.e. the monorail's web is substantially vertical. If the monorail is to be installed in the direction of the longitudinal extension of a mine, the monorail can stay with its longitudinal extension parallel to the longitudinal extension of the mine, thus not requiring a rotation of the monorail about an axis perpendicular to the monorail's longitudinal extension and facilitating the monorail's lifting and installation. Once lifted in the right position, connection of the monorail with a roof bolt and an already installed monorail can be performed or automatized.

[0018] Regarding the magazine, this allows the storage of a number of monorails with their longitudinal extension horizontal, and allows picking the monorails up in a lateral direction perpendicular to the longitudinal extension of the monorail, which is beneficial for the installation of the monorails in a small space.

[0019] The arm actuator may be connected to the base and to the arm segment. The arm actuator may be a linear drive element.

[0020] Optionally, the gripping means comprises at least two clamping elements. Optionally, the clamping arms of each clamping element are arranged opposite each other. Optionally, the clamping arms of each clamping element are swingable around a common shaft or parallel shafts spaced apart from each other, wherein optionally all the shafts are parallel to the second pivot axis. Optionally, the clamping arms of at least one clamping element comprise an indentation at their respective side facing the opposite clamping arm (i.e. at a side facing towards the monorail when the monorail is gripped). Optionally, the gripping means comprises a gripping actuator for closing and opening a grip for the monorail, in particular for swinging the clamping arms. Optionally, each clamping element comprises a gripping actuator. Optionally, the gripping actuator is a double acting cylinder.

[0021] Optionally, the hand segment is configured such that hand segment is pivotable between a first gesture for fetching a monorail, and a second gesture for installing the monorail, wherein

[0022] in the first gesture, an opening direction of an opening defined by the clamping arms of each clamping element is in a first angle relative to the plane defined by the first pivot axis and the second pivot axis, preferably the opening defined by the clamping arms faces downwards or obliquely downwards, and

[0023] in the second gesture, the opening direction is in a second angle relative to the plane defined by the first pivot axis and the second pivot axis, preferably this falls within the plane defined by the first pivot axis and the second pivot axis, preferably the opening defined by the clamping arms faces outwards departing from the arm segment.

[0024] Optionally the first angle is in the range of 0 -90 degrees, preferably it is 90 degrees. Optionally, the second angle is in the range of 0 -90 degrees, preferably it is 0 degree.

[0025] That the hand segment is pivotable relative to the arm segment about the second pivot axis independent from a pivoting of the arm segment relative to the base about the first pivot axis by the arm actuator means that for a fixed angle of the arm segment relative to the base, the angle of the hand segment relative to the arm segment is adjustable.

[0026] Returning to the manipulator, the arm segment is pivotable about the first pivot axis over an angle range of preferably at least 45, more preferably at least 60°, even more preferably at least 120°. The hand segment is pivotable about the second pivot axis over an angle range of preferably at least 60°, more preferably at least 75°, even more preferably at least 120°. Optionally, the hand segment can take an angular position in which it encloses an angle of 90°with the arm segment. Optionally, the manipulator is arranged such that the first pivot axis is horizontal. Optionally, the arm segment is pivotable at least between a horizontal orientation and a vertical orientation. The distance between the first pivot axis and the second pivot axis is preferably at least 5 times, more preferably at least 10 times, larger than the distance of the gripping means from the second pivot axis. The distance between the first pivot axis and the second pivot axis is optionally between 50 cm and 5 m, further optionally between 1 m and 3 m (in at least one state, in case the distance is adjustable).

[0027] Optionally, the hand segment is pivotable relative to the arm segment about the second pivot axis independently from a pivoting of the arm segment relative to the base about the first pivot axis, preferably the arm segment is extendable in length and the manipulator comprises a length actuator for adjusting the length of the arm segment. Thereby, the distance between the first pivot axis and second pivot axis is adjustable. This allows to lift up monorails stored in guides located in different distances from the manipulator / base. Further, this facilitates sliding the monorail out of the guide of the magazine. Further, the monorail can be lifted up the exact height necessary for installing the monorail to the roof. Optionally, the arm segment is telescopic. The distance between the first pivot axis and the second pivot axis in a fully extended state of the arm segment is optionally at least 1.2 times, further optionally at least 1.5 times, the distance between the first pivot axis and the second pivot axis in a fully retracted state.

[0028] Optionally, the gripping means comprises a displacement actuator for displacing a monorail held by the gripping means in a direction parallel to the second pivot axis. In this way, the distance of the monorail held by the manipulator relative to an already installed monorail may be adjusted. Further, this may be used for coupling the two monorails together. The displacement actuator is configured for displacing the monorail over a range of optionally at least 5 cm, further optionally at least 10 cm, further optionally at least 30 cm. Optionally, at least one of the at least one clamping element is arranged slide-allowably in a direction parallel to the second pivot axis.

[0029] Optionally, the displacement actuator is configured for displacing at least one of the at least one clamping element in a direction parallel to the second pivot axis. Optionally, the displacement actuator is configured for displacing at least one clamping element relative to at least one other clamping element. Optionally, at least one clamping element is not affected by the displacement actuator.

[0030] Optionally, the gripping means or the hand segment comprises a tilting actuator for tilting a monorail held by the gripping means in a plane that comprises the second pivot axis. Depending on the type of monorail connector, this allows connecting the monorail held by the manipulator to an already installed monorail. Further, this allows to install the monorail sloped (i.e. angled to the horizontal). The tilting actuator is configured for tilting the monorail optionally by at least 2°, further optionally by at least 5°, further optionally by at least 10°.

[0031] Optionally, the gripping means or the hand segment comprises a pin that is extendable by the tilting actuator for contacting the flange of a monorail to be held by the gripping means such that the monorail is tilted in a plane that comprises the second pivot axis. Optionally, the at least one pin is displaced from at least one of the at least one clamping element in a direction parallel to the second pivot axis. The monorail may be held by e.g. one of the at least one clamping elements by frictional engagement. By extending the pin, the pin pushes the monorail on one side of the clamping element, such that the monorail is tiled (and may be held slanted by the clamping arms). Optionally, the gripping means comprises at least one clamping element on either side or both sides of the pin in a direction parallel to the second pivot axis. This allows to tilt the monorail in both directions by selectively loosening or opening the grip of one of the clamping elements.

[0032] Optionally, the at least one clamping element comprises at least two clamping elements, which are spaced apart from each other in a direction parallel to the second pivot axis. The second clamping element may provide redundancy or be used for deciding a tilting direction (see above). Further, in combination with a displacement actuator it can be used to facilitate a displacement in both directions.

[0033] Optionally, the gripping means comprises an actuator for opening and closing each one of the at least one clamping element, in particular one actuator per clamping element for selectively opening each clamping element. In particular, the actuator is for tilting the respective clamping arms.

[0034] Optionally, at least one of the at least two clamping elements is configured for holding the monorail between the clamping arms of the respective one of the at least one of the at least two clamping elements by frictional engagement with (in particular exterior sides of) the monorail (in particular of at least one flange of the monorail) in an engagement state of the at least one of the at least two clamping elements, and at least another one of the at least two clamping elements is configured for holding the monorail (in particular the at least one flange of the monorail) in a slide-allowable arrangement between the clamping arms of the respective one of the at least another one of the at least two clamping elements such that the monorail can be slid in the direction parallel to the second pivot axis in a slide-allowable state of the at least another one of the at least two clamping elements. Optionally, the at least one of the at least two clamping elements configured for holding the monorail in frictional engagement is displaced by the displacement actuator. The at least other one of the at least two clamping elements may act as a safety means, in case the at least one clamping element holding the monorail in frictional engagement fails. Optionally, the griping means comprises at least one clamping element for holding the monorail in frictional engagement and at least one clamping element for holding the monorail in slide-allowable engagement on both sides of the pin in a direction parallel to the second pivot axis. Optionally, the at least one clamping element for holding the monorail in frictional engagement does not comprise rollers and / or the displacement actuator is configured for displacing the at least one clamping element for holding the monorail in frictional engagement. Optionally, the at least one clamping element for holding the monorail in slide-allowable engagement comprises rollers for contacting the monorail. Optionally, the displacement actuator does not displace the at least one clamping element for holding the monorail in slide-allowable engagement.

[0035] Optionally, the clamping arms of the at least one clamping element are swingable respectively around parallel shafts spaced apart from each other, wherein the shafts are parallel to the second pivot axis. Optionally, the clamping arms of the at least one clamping element define an opening with an opening direction for introducing a monorail to be gripped into the opening in the opening direction, wherein the opening direction is perpendicular to the second pivot axis. In particular, the clamping arms of the at least one clamping elements are arranged for gripping a flange of the monorail such that a web of the monorail perpendicular to the flange of the monorail extends in a plane that intersects with the first pivot axis.

[0036] Optionally, the manipulator comprises a turntable seat for rotating the base about a rotation axis perpendicular to the first pivot axis, wherein the rotation axis is optionally vertical. This is useful in case the magazine in installed in a transverse direction (e.g. transverse to the extension of the mine) and the manipulator may be rotated between picking up the monorail and installing the monorail.

[0037] Returning to the magazine, the monorails can in particular be introduced into each guide seriatim. It is preferable if the length extension of each guide is such that a plurality of monorails can be stored in each guide. The length extension of each guide is preferably at least twice, more preferably at least 3 times, more preferably at least 5 times, a height extension of the guide, said height extension is perpendicular to the length extension and to the width extension. Optionally, the height extension of the guide corresponds to the width or height of the monorails. Preferably, the guide is configured for storing a single row of monorails with their longitudinal extension horizontal. Optionally, the width extension of each guide is at least 5 times, preferably 10 times, larger than the height extension. The width extension is optionally parallel to the horizontal extension. The guide elements are preferably sheet-shaped, wherein they optionally extend in an area contacting the guide two-dimensionally. Optionally, the guide elements and / or the guiding plates comprise spacers on their sides facing the guide to more precisely guide the monorails, the spacers being arranged between adjacent guiding elements.

[0038] Optionally, the magazine comprises a frame (e.g. comprising a bottom plate and two guiding plates), and a plurality of generally upright extending / standing guide elements that are mounted onto the frame, each pair of adjacent guide elements that are spaced apart in the height direction (direction of height extension) define or delimit a space for accommodating a section of a monorail and / or are adapted to restrict a displacement in the height direction of a monorail once introduced there, those spaces delimited by at least two pairs of adjacent guide elements and that are aligned in a same direction (parallel to the width extension) define a guide for storing monorails. Preferably, the space or guide is configured for storing a single row of monorails with their longitudinal extension horizontal, e.g. each guide has a limited height extension slightly greater than the height or width of a monorail, that is to say, one monorail is stored above or below another monorail. Preferably, the frame comprises a pair of upright extending / standing guiding plates that are arranged perpendicular to the width extension and spaced apart from each other, wherein the guide elements are respectively installed on either of the opposite surfaces of the two guiding plates.

[0039] Preferably the guide elements are elongate bars, rods, or sheets and the like. Preferably the guide elements extend along an arcuate curve in a cross-section perpendicular to the width extension of the respective guide. Optionally, a middle section of the guides and the frame at the side of the arm segment is kept free or empty, such that free space is left for the arm segment and in this area no hindrance exists to the arm segment's pivoting movement.

[0040] Optionally, each guide is delimited in the direction of the height extension by at least two guide elements spaced apart from each other (in a direction of the height extension), wherein a single guide element may delimit one guide on each of its sides. Optionally, each guide is delimited on each side of its height extension by at least two guide elements spaced apart from each other (in a direction of the width extension). Optionally, monorails are introduced into the guides with their flange first. The opening represents in particular an opening in the direction of the length extension of each guide. Optionally, the opening is arranged at the top of the guides, when the magazine is standing upright. Optionally, the length extension of the guides extends vertical or extends obliquely upwards when the cross section of the guides is in an arcuate curve. The number of the at least one guide is optionally at least two, further optionally at least 3, further optionally at least 4, further optionally at least 5. The guides may have different length extensions. Optionally, all guides have the same height extension and / or the same width extension. Optionally, the guides have parallel width extensions. Optionally, the guides are arranged in a row and / or adjacent in a cross-section along a plane spanned by the width extension and the height extension. Optionally, neighboring guides may share guiding elements between them. Optionally, the magazine comprises shackles for lifting up the magazine.

[0041] Optionally, the magazine also comprises drill guides for drill rods.

[0042] Optionally, the guiding device comprises two guiding plates arranged opposite and spaced apart from each other (in a direction parallel to the width extension of the guides), wherein each one of the two guiding plates delimits the width extension of the at least one guide in a direction facing away from the respective other one of the two guiding plates. This allows to store the monorails more precisely aligned, rendering automated lifting of the monorails easier. Further, this prevents the monorails from falling out. Optionally, the guiding plates extend over the whole width extension and / or the whole height extension of the guides. Optionally, each guiding plate comprises at least one, preferably at least two, shackle(s) for lifting up the magazine.

[0043] Optionally, each one of the guiding elements is installed on one of the two guiding plates wherein each one of the two guiding plates together with the respective guiding elements form for each guide a side channel for receiving an end segment of a monorail when the monorail is introduced into the respective guide. I.e., each guide is delimited by four guiding elements, wherein two guiding elements are installed on each of the guiding plates. Thus, it is easy to lift up the monorails, since their middle sections are freely accessible.

[0044] Optionally, each guide comprises an access opening over at least a section of the length extension in a height direction perpendicular to the width extension and to the length extension. This facilitates lifting up the monorails (in particular monorails stored deeper within the respective guide), since the monorail can not only be gripped by introducing the manipulator through the opening through which the monorails are introduced, but can also be gripped over a section of the length extension from the height direction perpendicular to the width extension. Optionally, the access opening is over the whole length of the length extension. The access opening may be over a section of the width extension, wherein the extension of the section may be different for different positions on the length extension.

[0045] Optionally, the guiding device comprises a bottom plate which delimits the length extension of each guide opposite the opening. Optionally, the bottom plate comprises an opening. Thus, material such as dust does not accumulate on the bottom plate and in the magazine, but instead falls through the opening.

[0046] Optionally, each guide extends along an arcuate curve in a cross-section perpendicular to the width extension of the respective guide. Thus, the length of the manipulator arm, in particular of the arm segment of the manipulator arm, does not need to be adjusted or only needs less adjustment while lifting one monorail out of one of the guides. For example, the arcuate curve may be an oval arc, in particular an elliptic arc. Preferably, the circular arc is bent in the same direction over the whole length extension, i.e. the whole circular arc may have the same concavity. This is particularly beneficial if the manipulator is arranged in the same direction from the magazine as the curved arc is bent. Optionally, the circular arc is smooth. Different guides may extend along different arcuate curves.

[0047] Optionally, each guide extends along a circular arc in the cross-section perpendicular to the width extension of the respective guide. Thus, if the manipulator is installed with its first pivot axis concentric with the circular arc, the length of the arm segment does not need to be adjusted while lifting the monorail out of the guide.

[0048] Optionally, the guiding device comprises at least two guides, wherein the at least two guides have parallel width extensions and wherein the at least two guides are concentric in the cross-section perpendicular to the width extensions of the at least two guides. By arranging the manipulator with its second pivot axis in the center of the concentric guides, the manipulator can lift up monorails from all guides without having to adjust the length of the arm segment while lifting up one monorail. The arm length only has to be adjusted for lifting up monorails from different guides.

[0049] The present application further comprises a monorail installation device, which comprises a platform, wherein a manipulator according to any one of the embodiments described in this disclosure is installed on the platform. The monorail installation device may be a mining machine. The monorail installation device may be a self-propelled carriage, a mobile boot end, a bolter miner and / or a road header. The monorail installation device may also comprise a roof drill and a device for installing roof bolts, e.g. comprising a magazine for roof bolts. Optionally, there is provided for a height adjustment device for adjusting a height over the ground of the platform.

[0050] The monorail to be installed may be provided manually. However optionally, the monorail installation device further comprises a magazine according to any one of the embodiments mentioned in this disclosure.

[0051] Optionally, the monorail installation device comprises a vehicle, in particular a mobile boot end, wherein the platform is mounted on the vehicle.

[0052] Optionally, there is provided for a height adjustment device for adjusting a height of the platform relative to the vehicle. This allows adjustment to different roof heights and ensures an ergonomic working height.

[0053] Optionally, the monorail installation device comprises a lifting device mounted on the vehicle or on the platform, wherein the magazine is mounted on the lifting device and the lifting device is configured for adjusting a height level and / or horizontal position of the magazine. Thus, the height over ground of the magazine can be adjusted to the height of the platform. Optionally, the lifting device is configured for lifting the magazine onto the platform.

[0054] Optionally, the lifting device is configured for lifting the magazine between an operation position on the platform and an exchange position on the ground. The magazine could for example be refilled in the exchange position.

[0055] Optionally, the magazine is detachably mounted on the lifting device. E.g., the detachable connection between the magazine and the lifting device can be achieved with shackles and hooks. Thus, an empty magazine can be replaced with a full magazine. In particular, the magazine can be lifted off the platform, the empty magazine can be detached from the lifting device and replaced by a full magazine, which is subsequently connected to the lifting device and lifted onto the platform.

[0056] Optionally, the lifting device comprises a bearing for mounting the lifting device on the vehicle or the platform, in particular to a side of the vehicle. Optionally, the lifting device comprises two side elements or side mounts. The bearing is connected to a connecting segment pivotably about a lifting axis, the lifting device comprises a drive mechanism for driving the connecting segment to pivot. Optionally, there is provided for one bearing and one connecting segment per side, i.e. two each in total. Optionally, the connecting segments are connected to a rod extending substantially parallel to the lifting axis. The side elements are connected to the rod spaced apart from each other.

[0057] Optionally, each side element comprises a first segment, a second segment, a segment actuator and two connection rods for detachably connecting to the shackles of the magazine. The first segment of each side element comprises a first joint at an intermediate section of the first segment at which the first segment is pivotably connected to the segment actuator and a second joint (at a distal end) at which the first segment is pivotably connected to the second segment. The second segment comprises a protruding section of the second segment at a distal end of the second segment distal to the second joint, the protruding section is pivotably about the axis connected to the segment actuator. The protruding section protrudes from the main part of the second segment substantially vertical to the extension of the main part of the second segment. There is provided for a further protruding section of the second segment, connecting the second segment to the second joint. Further, two connection rods for detachably connecting to the shackles of the magazine are pivotably connected to the distal end of the second segment, in particular to a point where the protruding section protrudes from the main part of the second segment.

[0058] Optionally, the lifting device has two degrees of freedom, first, a rotation around a lifting axis of the bearing which rotates both the first segment and second segment of the lifting device relative to a mounting point on the vehicle, and second, a rotation around the second joint, which can be actuated by the segment actuator and rotates the second segment relative to the first segment. Optionally, the segment actuator is a linear actuator.

[0059] Optionally, the magazine is provided such that (at least in an operation position of the magazine) the width extension of each guide of the magazine is substantially parallel to the first pivot axis of the manipulator. This facilitates lifting monorails out of the magazine.

[0060] Optionally, the magazine is provided such that (at least in an operation position of the magazine) each guide of the magazine is (in a cross-section perpendicular to the width extension of the guides) concentric with the first pivot axis of the manipulator. This allows the monorails to be removed from the guides without having to adjust the length of the arm segment while lifting the monorails from a particular guide.

[0061] The monorail installation device may comprise a sensor to detect a present location, in particular relative to an already installed monorail and / or relative to an already installed roof bolt. The monorail installation device may comprise a sensor for providing measurements on a distance moved forward (e.g. a laser, an encoder, an ultrasonic sensor and / or limit switches).

[0062] The monorail installation device may comprise a sensor for detecting a location of a previously installed monorail (e.g. a camera, a laser scanner and / or a radar), in particular in reference to the manipulator. The monorail installation device may comprise a sensor for detection a location and / or storage level of the monorails (e.g. a camera, a laser scanner and / or a radar). Optionally the monorail installation device comprises a distance sensor for detecting a protrusion on already installed monorails indicating an end of a monorail.

[0063] The monorail installation device may comprise a roof bolter (e.g. with a drill steel handler) and a roof bolt magazine, which are optionally located on the platform.

[0064] Moreover, it is in particular an objective of the present application to propose an easier and / or faster method for installing a monorail. This is achieved by a method for installing a monorail, comprising the steps:

[0065] providing a magazine according to any one of the embodiments mentioned in this disclosure, wherein at least one guide of the magazine comprises at least one monorail;

[0066] lifting one of the at least one monorail with a manipulator according to any one of the embodiments described in this disclosure;

[0067] pivoting the hand segment of the manipulator about the second pivot axis such that a web of the monorail perpendicular to the flange of the monorail extends in a vertical plane.

[0068] The method may be conducted using the monorail installation device according to any one of the embodiments mentioned in this disclosure.

[0069] Optionally, the method comprises the steps:

[0070] connecting the monorail held by the manipulator to a roof bolt installed in a roof (e.g. via a chain);

[0071] connecting the monorail held by the manipulator to another monorail already mounted to the roof.

[0072] Optionally, a vehicle comprises the manipulator and the magazine, the method comprising the step:

[0073] moving the vehicle from an installation position for the other monorail already mounted to the roof to a new installation position for connecting the monorail to a roof bolt and for connecting the monorail to the other monorail already mounted to the roof, wherein the vehicle moves in the direction of the longitudinal extension of the other monorail already installed forward by the length of one monorail.

[0074] Optionally, the monorail installation device comprises a control device configured for conducting the method for installing a monorail according to any one of the variants mentioned in this disclosure.

[0075] For the purpose of the present disclosure, specifications in terms of location and direction, such as “vertical”, “horizontal”, “lowered” etc., refer to the intended operating condition of the manipulator with its base installed on a vertical plane, the magazine standing upright such that a manipulator may pick up monorails from the magazine and the monorail installation device's intended use in a mine.

[0076] By way of example, the present application is further explained with respect to some selected embodiments shown in the drawings. However, these embodiments shall not be considered limiting for the present application.BRIEF DESCRIPTION OF THE DRAWINGS

[0077] FIG. 1A schematically shows a preferred embodiment of a manipulator in a pick-up position in an angled view.

[0078] FIG. 1B schematically shows the manipulator of FIG. 1 in the pick-up position in a lateral view.

[0079] FIG. 1C schematically shows the manipulator of FIG. 1 in a plan view.

[0080] FIG. 1D schematically shows a section of the manipulator of FIG. 1C along the line R-R in FIG. 1C.

[0081] FIG. 2A schematically shows a preferred embodiment of a magazine for storing monorails without monorails in an angled view.

[0082] FIG. 2B schematically shows the magazine of FIG. 2A in a sectional lateral view along line A-A in FIG. 2C.

[0083] FIG. 2C schematically shows the magazine of FIG. 2A in a

[0084] FIG. 3 schematically shows the magazine of FIG. 2A storing monorails.

[0085] FIG. 4A schematically shows the magazine of FIG. 2A for storing monorails in a filled state further storing drilling bolts.

[0086] FIG. 4B schematically shows the magazine of FIG. 4A in a sectional lateral view.

[0087] FIG. 5 schematically shows a preferred embodiment of a monorail installation device with a platform, the manipulator of FIG. 1A, the magazine of FIG. 2A, wherein the magazine is filled with monorails, and two already installed monorails.

[0088] FIGS. 6A to 6E schematically show the process of lifting a monorail out of the magazine of FIG. 3A using the manipulator of FIG. 1A.

[0089] FIGS. 7A to 7D schematically show the process of installing the monorail using the manipulator of FIG. 1A.

[0090] FIG. 8 schematically shows the process of installing a monorail with the monorail installation device of FIG. 5.

[0091] FIGS. 9A to 9F schematically show the process of replacing an empty magazine of the monorail installation device of FIG. 5 with a full magazine.

[0092] FIG. 10A schematically shows the lifting device of the monorail installation device of FIG. 5 in more detail in an exchange position for exchanging the magazine.

[0093] FIG. 10B schematically shows the lifting device of FIG. 10A in an operation position for holding the magazine on top of the platform of the monorail installation device of FIG. 5.

[0094] FIG. 11 schematically shows the monorail installation device of FIG. 5 with the platform and the magazine at a lowest height level.

[0095] FIG. 12 schematically shows the monorail installation device of FIG. 5 with the platform and the magazine at a top height level.

[0096] FIG. 13A schematically shows the lifting device of the monorail installation device of FIG. 5 holding the magazine at the lowest height level of FIG. 12.

[0097] FIG. 13B schematically shows the lifting device of the monorail installation device of FIG. 5 holding the magazine at the top height level of FIG. 12.

[0098] FIG. 14 schematically shows the manipulator of FIG. 1A in yet another pick-up position in an extended state for picking up a monorail stored further away from the base of the manipulator.

[0099] FIG. 15A schematically shows the manipulator of FIG. 1A in a vertical position for installing a monorail on a roof in a lateral view.

[0100] FIG. 15B schematically shows the manipulator of FIG. 1A in the same position as FIG. 15A from another lateral view perpendicular to the lateral view of FIG. 15B.DETAILED DESCRIPTION

[0101] FIG. 1A schematically shows a preferred embodiment of a manipulator 1 in a pick-up position in an angled view. FIG. 1B shows the same embodiment in the pick-up position in a lateral view. FIG. 1C shows the same embodiment in the pick-up position in a plan view. FIG. 1D shows a section of the manipulator of FIG. 1C along the line R-R in FIG. 1C. The manipulator 1 comprises a base 2, an arm segment 3, an arm actuator 5 and a hand segment 6. The arm segment 3 is connected to the base 2 at a base end 3a of the arm segment 3 and can be pivoted relative to the base 2 about a first pivot axis 4 by the arm actuator 5. In this embodiment, the arm segment 3 is extendable in length, as the manipulator 1 comprises a length actuator 20 (see FIG. 1D) for adjusting the length of the arm segment 3. The hand segment 6 is connected to the arm segment 3 at a distal end 3b of the arm segment 3 opposite the base end 3a. The hand segment 6 can be pivoted about a second pivot axis 7, which is parallel to the first pivot axis 4, relative to the arm segment 3 by a hand actuator 11. The pivoting of the hand segment 6 relative to the arm segment 3 is independent from the pivoting of the arm segment 3 relative to the base 2. Thus, e.g. a pivoting of the arm segment 3 relative to the base 2 about the first pivots axis 4 can be actuated, while the relative position of the arm segment 3 to the hand segment 6 is fixed.

[0102] The manipulator 1 further comprises gripping means 8 mounted on the hand segment 6, which themselves comprise two clamping elements 9, each with two clamping arms 10. Each of the clamping arms 10 comprises four clamping fingers 21, arranged spaced apart from each other in a direction parallel to the second pivot axis 4. The four clamping fingers 21 of each clamping arm 10 are actuated and swung simultaneously as a group. The clamping arms 10 can grip a monorail 91, in particular a flange 93 of the monorail 91, such that the monorail 91 extends substantially parallel to the second pivot axis 7. The two clamping arms 10 are spaced apart from each other in a direction 13 parallel to the second pivot axis 7.

[0103] The gripping means 8 further comprises a displacement actuator 12, a tilting actuator 14 and a pin 16. The displacement actuator 12 can displace a monorail 91 held by the gripping means 8 in a direction 13 parallel to the second pivot axis 7 by displacing one of the clamping elements 9 in a direction 13 parallel to the second pivot axis 7. The tilting actuator 14 can tilt a monorail 91 held by the gripping means 8 in a plane 15 that comprises the second pivot axis 7. The pin 16 is extendable by the tilting actuator 14 for contacting the flange 93 of a monorail 91 to be held by the gripping means 8 such that the monorail 91 is tilted in the plane 15 that comprises the second pivot axis 7, while the monorail 91 is held by at one of the clamping elements 9 in a tilt-allowing frictional engagement.

[0104] The manipulator 1 further comprises an actuator 17 for opening and closing each one of the clamping elements 9. One of the clamping elements 9 is configured for holding the monorail 91 between the clamping arms 10 of the respective clamping element 9 by frictional engagement with exterior sides of the flange 93 of the monorail 91 at least in an engagement state of one of the clamping elements 9. The other clamping element 9 is configured for holding a flange 93 of the monorail 91 at least in slide-allowable arrangement between its clamping arms 10, such that the monorail 91 can be slid in the direction 13 parallel to the second pivot axis 7 in a slide-allowable state (and in particular can also be tilted in the plane 15).

[0105] Preferably, the clamping arms 10 of each clamping element 9 are swingable around parallel shafts 10a spaced apart from each other, wherein the shafts are parallel to the second pivot axis 7. In particular, the clamping arms 10 of each clamping element 9 are arranged for gripping a flange 93 of the monorail 91 such that a web of the monorail 91 perpendicular to the flange 93 of the monorail 91 extends in a plane that intersects with the first pivot axis 4. The clamping actuator 17 can move the clamping arms 10, in particular, it can rotate the clamping arms 10 around an axis that goes through the parallel shafts 10a. Preferably, the clamping arms 10 of each clamping element 9 respectively are swung simultaneously. In this embodiment, the clamping actuator 17 is a double acting cylinder. The clamping arms 10 are connected to the gripping actuator 17 (in particular the double acting cylinder) on a side that is opposite an arm segment that contacts the monorail 91 relative to the respective parallel shaft 10a. In particular, the plane 15 in which the tilting actuator 14 can tilt a monorail 91 held by the gripping means 8 is perpendicular to another plane (not shown) that comprises both parallel shafts 10a (of at least one clamping element 9, preferably of each clamping element 10a). Preferably, the plane 15 is arranged between midway between the two parallel shafts 10a and / or the plane 15 is the mirror plane of symmetry between the two parallel shafts 10a.

[0106] The clamping arms 10 of the clamping element 9 define an opening 18 with an opening direction 19 for introducing a monorail 91 to be gripped into the opening 18 in the opening direction 19. This opening direction 19 is perpendicular to the second pivot axis 7. The clamping arms 10 of the clamping elements 9 are arranged for gripping a flange 93 of the monorail 91 such that a web of the monorail perpendicular to the flange 93 of the monorail 91 extends in a plane that intersects with the first pivot axis 4.

[0107] The manipulator 1 may further comprises a turntable seat (not shown in the figures) for rotating the base about a rotation axis perpendicular to the first pivot axis. In this way, there is more flexibility in the area from which monorails 91 can be picked up.

[0108] FIG. 2A shows a preferred embodiment of a magazine 51 for holding monorails 91 to be lifted up by the manipulator 1 of FIGS. 1A to 1C. FIG. 2B shows a sectional lateral view of the magazine of FIG. 2A. FIG. 2C shows the magazine of FIG. 2A in plan view. In FIGS. 2A to 2C, the magazine 51 is empty, i.e. does not store any monorails 91. The magazine 51 comprises a guiding device 52, which comprises guide elements 53, two guiding plates 59 and a bottom plate 62. The guide elements 53 define at least one guide 54 (in this embodiment six guides 54) for storing monorails 91. Each guide 54 has a width extension 55 and an opening 56 with the width extension 55 such that a monorail 91 can be introduced into the respective guide 54 through the opening 56. By doing so, a longitudinal extension 92 of the monorail 91 is parallel to the width extension 55 of the guide 54. Each guide 54 has a length extension 57 such that the monorail 91 can be slid along the respective guide 54 in a lateral direction 58 perpendicular to the longitudinal extension 92 of the monorail 91. In particular, each guide 54 is defined by two adjacent ones of the guide elements 53 at two sections of the width extension 55 of the respective guide 54, wherein intermediate guide elements 53 define guides 54 on both of their sides, such that there is provided for fourteen guide elements 53.

[0109] The two guiding plates 59 are arranged opposite and are spaced apart from each other. Each one of the two guiding plates 59 delimits the width extension 55 of guides 54 in a direction facing away from the respective other one of the two guiding plates 59. Each of the guiding elements 53 is installed on one of the two guiding plates 59. In particular, seven guiding elements 53 are installed on each one of the two guiding plates 59. Each one of the two guiding plates 59 together with the respective guiding elements 53 form for each guide 54 a side channel 60. Each side channel 60 receives an end segment 94 of a monorail 91 when the monorail 91 is introduced into the respective guide 54. Each guide 54 comprises an access opening 61 over at least a section of the length extension 57 in a height direction 64 perpendicular to the width extension 55 and to the length extension 57, allowing easier access with the manipulator 1 to monorails 91 stored deeper within the guides 54. The bottom plate 62 delimits the length extension 57 of each guide opposite the opening 56. Spacers 67 are arranged between adjacent guiding elements 53 and arranged on the guiding plates on their sides facing the guide to more precisely guide the monorails.

[0110] Each guide 54 extends along an arcuate curve 63 (see in particular FIG. 2B), preferably along a circular arc, in a cross-section 65 perpendicular to the width extension 55 of the respective guide 54. The guides 54 have parallel width extensions 55 and are concentric in the cross-section 65 perpendicular to the width extensions 55 of the at least two guides 54.

[0111] The manipulator 1 can lift the monorails 91 out of the magazine 51 such that a longitudinal extension 92 of the monorails 91 is substantially horizontal.

[0112] FIG. 3 shows the magazine 51 of FIG. 2A storing monorails 91 in an angled view.

[0113] FIG. 4A shows the magazine 51 of FIG. 2A storing monorails 91 and further storing drilling bolts 97 in a drilling bolts storage device 98. Thus, not only the mounting of the monorails 91 can be automated, but also the installation of the roof anchors. FIG. 4B shows the magazine of FIG. 4A in a sectional lateral view.

[0114] FIG. 5 shows a monorail installation device 100 with a platform 101, upon which the manipulator 1 of FIG. 1A is mounted, and the empty magazine 51 of FIG. 2A. Further two already installed monorails 91″ are shown. The monorail installation device 100 further comprises a vehicle 103 (which is only shown rudimentary in the figures) wherein the platform 101 is mounted on the vehicle 103.

[0115] A height adjustment device 102 can adjust the height of the platform 101 relative to the vehicle 103. This allows compensating for different roof heights, such that the distance between the platform 101 and the roof can be kept relatively constant. A lifting device 121 is mounted on the vehicle 103, which is configured for adjusting the height level of the magazine 51 in its operation position for providing monorails 91 to be picked up by the manipulator 1 and for lifting the magazine 51 between the operation position on the platform 101 and an exchange position on the ground for allowing an exchange of an empty magazine 51 by a full magazine 51′. In this embodiment, the magazine 51 is mounted on the lifting device 121 detachably.

[0116] The magazine 51 is mounted on the lifting device 121 such that the width extension 55 of each guide 54 of the magazine 51 is substantially parallel to the first pivot axis 4 of the manipulator 1. In the operating position of the magazine 51, the distance between the magazine 51 and the manipulator 1 is such that each guide 54 of the magazine 51 is concentric with the first pivot axis 4 of the manipulator 1.

[0117] The lifting device 121 will be described in more detail below, in particular in the context of FIGS. 10A to 10B.

[0118] FIGS. 6A to 6F show the process of lifting a monorail out of the magazine 51 using the manipulator 1. FIG. 6A shows the manipulator 1 and the magazine 51 filled with monorails 91. Depending on which monorail 91 is intended to be lifted with the manipulator 1, the length of the arm segment 3 may be adjusted with the length actuator 20, thus increasing or decreasing the distance between the base end 3a and the hand segment 6 as necessary. The arm segment 3 is pivoted about the first pivot axis 4 to bring the hand segment 6 in proximity of the monorail 91′ to be picked up, while the hand segment 6 is pivoted about the second pivot axis 7 by means of the hand actuator 11 such that the gripping means 8, in particular the clamping arms 10, encompass the monorail 91′ to be picked up. Then, as shown in FIG. 6A, the gripping means 8 grips a flange 93 of the monorail 91′ by swinging opposing ones of the clamping arms 10 about the shafts 10a against each other such that the flange 93 is clamped between the opposing clamping arms 10. Since in this embodiment the guides 54 follow the shape of concentric curves, the manipulator 1 can even lift monorails 91 stored deeper within the magazine51 out of the magazine 51 without adjusting the length of the arm segment 3 during this process.

[0119] FIG. 6B shows the manipulator 1 of FIG. 6A now holding the monorail 91′ to be installed lifted slightly out of the magazine 51. Subsequently, as shown in FIG. 6C, the arm segment 4 of the manipulator 1 of FIG. 6B is retracted such that the hand segment 6 is closest to the base end 3a. This reduces the moment of inertia of the manipulator 1 around the first pivot axis 4, such that the necessary torque to rotate the arm segment 3 around the first pivot axis 4 is reduced. Then, the manipulator 1 is brought into a vertical state, wherein the arm segment 3 is substantially vertical and the hand segment 6 is rotated such that the hand segment 6 is substantially in extension of the arm segment 3 and the monorail 91′ is oriented such that it can be mounted to a roof anchor / bolt installed in the roof. Subsequently, the length of the arm segment 3 is extended as shown in FIG. 6E such that the monorail 91′ is lifted to the correct height relative to the roof.

[0120] FIGS. 7A to 7D show the process of connecting the monorail 91′ to an already installed monorail 91″. FIG. 7A shows the manipulator 1 holding the monorail 91′ to be installed in proximity of an already installed monorail 91″. Subsequently, as shown in FIG. 7B, the monorail 91′ is slightly tilted in a vertical by raising the pin 16 by means of the tilting actuator 14. In this state, the end 91a′ of the monorail 91′ close to the installed monorail 91″ is raised and at a greater height level than both the installed monorail 91″ and the opposite end 91b′ of the monorail 91′ facing away from the installed monorail 91″. Then, as shown in FIG. 7C, the monorail 91′ is moved towards the already installed monorail 91″ by means of the displacement actuator 12. For this purpose, the one of the clamping elements 9 that is displaced by the displacement actuator 12 (see also FIG. 15B) holds the monorail 91′ in an engagement state and the other one of the clamping elements 9 holds the monorail 91 in a slide-allowable arrangement. Subsequently, the tilting actuator 14 retracts the pin 16 such that the monorail 91′ is tilted in the opposite direction as previously and a locking unit 95 at the end of the monorail 91′ engages with a locking unit 95 at the end of the already installed monorail 91″ and the monorails 91′ and 91″ are connected by a snap-in action. Alternative to a snap-in action, connection may be achieved by inserting a bolt through both locking units 95. FIG. 7D shows two installed monorail 91″, which in this example are substantially parallel and substantially parallel to the second pivot axis 7. In case of an inclined or uneven roof, there may be a non-zero angle between the longitudinal extensions 92 of the monorails 92″ and / or between the monorails 92″ and the second pivot axis 7. Further, a shackle 96 of the monorail 91″ is connected to a roof anchor (not shown in the figures). Subsequently, the manipulator 1 releases the monorail 91″ and returns to a retracted state.

[0121] FIG. 8 shows the installation of a monorail 91′ with the monorail installation device 100 of FIG. 5. In particular, FIG. 8 shows the monorail installation device 100, with a magazine 51 storing monorails 91, as well as the already installed monorail 91″. The manipulator 1 has lifted a monorail 91′ out of the magazine 51 and has lifted the monorail 91′ to the same height as and adjacent to the already installed monorail 91″.

[0122] FIGS. 9A to 9F show the process of replacing an empty magazine 51 of the monorail installation device 100 using the lifting device 121. FIG. 9A shows the monorail installation device 100 with the empty magazine 51 in an operation position on the platform 101, wherein the magazine 51 shall be replaced by the full (replacement) magazine 51′. Further, two installed monorails 91″ are shown. The following figures show the process of replacing the empty magazine 51 by the replacement magazine 51′.

[0123] In FIG. 9B the magazine 51 is lifted from the operation position on the platform 101 to the exchange position on the ground by the lifting device 121. The magazine 51 and the replacement magazine 51′ are now substantially next to each other and oriented in the same way. In FIG. 9C the magazine 51 was detached from the lifting device 121 and the lifting device 121 has moved up from and disengaged with the magazine 51, such that the vehicle 103 can be moved independently from the magazine 51. In FIG. 9D the vehicle 103 has moved in a direction substantially parallel to the direction from the magazine 51 to the replacement magazine 51′ (typically along the extension of a mine) such that the lifting device 121 is in front of the replacement magazine 51′ and the lifting device 121 is now able to pick up the replacement magazine 51′. In FIG. 9E the lifting device 121 has engaged with the replacement magazine 51′ in an exchange position by connecting to the shackles 66 of the replacement magazine 51′.

[0124] In FIG. 9F the lifting device 121 has lifted the replacement magazine 51′ from the exchange position on the ground into an operation position on the platform 101, such that the replacement magazine 51′ is oriented in way that the width extension 55′ of the replacement magazine 51′ is substantially parallel to the first pivot axis 4 of the manipulator 1 and the manipulator 1 can access monorails 91 stored in the magazine 51′. Subsequently, the platform 101 is moved in a direction substantially parallel to the longitudinal extension 92 of an already installed monorail 91″ (i.e. typically along the mine extension), ready to install a further monorail 91. Then, the manipulator 1 lifts a monorail 91″ out of the replacement magazine 51′ and installs this monorail 91″.

[0125] FIG. 10A shows the lifting device 121 connected to the magazine 51, wherein the magazine 51 is held in an exchange position off a platform 101 and on the ground. FIG. 10B shows the lifting device connected to the magazine 51, wherein the magazine 51 is held in an operation position that is on the platform 101 (not shown in this figure, cf. FIG. 9F). The lifting device 121 comprises a bearing 122 for mounting the lifting device 121 on the vehicle 103, in particular to a side of the vehicle 103 as shown in FIG. 9F, and two side elements 129 (see FIG. 5) each comprising a first segment 123, a second segment 124, a segment actuator 125 and two connection rods 126 for detachably connecting to shackles 66 of the magazine 51 (see also FIG. 5). The bearing 122 comprises a lifting axis 122a, which is substantially parallel to a width extension 55 of the magazine 51. The first segment 123 of each of the two side elements 129 is connected to the lifting axis 122a via a connecting segment 127, and a rod 128, wherein an angle between the first segment 123 and the connecting segment is fixed, e.g. at approximately 45°. The connecting segment 127 allows rotating the first segment 123 upwards (around the lifting axis 122a) without the platform 101 getting in the first segment's 123 way. The rod 128 extends substantially parallel to the lifting axis 122. The rod allows the magazine 51 to be held between the two side element 129 (see FIG. 5). The first segment 123 of each side element 129 comprises a first joint 123a at an intermediate section of the first segment 123 at which the first segment 123 is pivotably connected to the actuator 125 and a second joint 123b at which the first segment 123 is pivotably connected to the second segment 124. The second segment 124 comprises a protruding section 124a of the second segment 124 at a distal end of the second segment 124 distal to the second joint 123b, which protruding section 124b is pivotably about the axis 124b connected to the actuator 125. The protruding section 124a protrudes from the main part of the second segment 124 substantially vertical to the extension of the main part of the second segment 124. There is provided for a further protruding section 124c of the second segment 124, connecting the second segment 124 to the second joint 123b. Further, two connection rods 126 for detachably connecting to the shackles 66 of the magazine 51 are pivotably connected to the distal end of the second segment 124, in particular to a point where the protruding section 124a protrudes from the main part of the second segment 124. The lifting device 121 has two degrees of freedom, first, a rotation around a lifting axis 122a of the bearing 122 which rotates both the first segment 123 and second segment 124 of the lifting device 121 relative to a mounting point on the vehicle 103, and second, a rotation around the second joint 123b, which can be actuated by the actuator 125 and rotates the second segment 124 relative to the first segment 123. The actuator 125 is a linear actuator. The pivotable connection of the connecting rods 126 to the second segment 124 ensure that the magazine is always held with its bottom plate 62 horizontally. FIG. 10B shows that the lifting device 121 has lifted the magazine 51 from an exchange position on the ground into an operation position on top of the platform 101 (not shown in FIG. 10B; see FIG. 9F).

[0126] The lifting device 121 can connect to a magazine 51 stored further away from the platform 101 or stored closer to the platform 101, by increasing an angle between the first segment 123 and the second segment 124.

[0127] FIG. 11 shows the monorail installation device 100, wherein the platform 101 is adjusted to a first height level relative to the ground. A height adjustment device 102 is adapted to lift the platform 101 preferably in steps of 200 mm. The platform 101 may thus also be adjusted to a second height level, whereas FIG. 12 shows the monorail installation device 100, wherein the platform 101 is adjusted in a third height level. In this way, the distance from the platform 101 to the roof of the mine can be kept relatively constant even if the roof is uneven or inclined.

[0128] FIGS. 13A to 13B illustrate the adjustment of the height setting of the magazine 61 in its operation position to the height setting of the platform 101. FIG. 13A shows the lifting device 121 connected to the magazine 51 that is in the operation position on top of the platform 101 which is at the first height level shown in FIG. 11. FIG. 13B shows the lifting device 121 connected to a magazine 51 in an operation position on top of the platform 101 which is at the third height level shown in FIG. 12. This is achieved by pivoting by the lifting device 121 around the lifting axis 122a and the second joint 123b, such that the horizontal location of the magazine 51 on the platform 101 stays the same.

[0129] FIG. 14 shows the manipulator 1 in yet another pick-up position in an extended state for picking up the monorail 91 stored further away from the base 2 of the manipulator 1 (in a similar state as FIG. 6F).

[0130] FIG. 15A shows the manipulator 1 in a vertical position (as in FIG. 6D) in a lateral view. FIG. 15B shows the manipulator 1 of FIG. 15A from another lateral view. As mentioned above, the gripping means 8 comprise the displacement actuator 12 for displacing a monorail 91 held by the gripping means 8 in a direction 13 parallel to the second pivot axis 7. As is clearly visible in FIG. 15B, the displacement actuator 12 has displaced one of the clamping elements 9 in a direction 13 parallel to the second pivot axis 7.

Examples

Embodiment Construction

[0101]FIG. 1A schematically shows a preferred embodiment of a manipulator 1 in a pick-up position in an angled view. FIG. 1B shows the same embodiment in the pick-up position in a lateral view. FIG. 1C shows the same embodiment in the pick-up position in a plan view. FIG. 1D shows a section of the manipulator of FIG. 1C along the line R-R in FIG. 1C. The manipulator 1 comprises a base 2, an arm segment 3, an arm actuator 5 and a hand segment 6. The arm segment 3 is connected to the base 2 at a base end 3a of the arm segment 3 and can be pivoted relative to the base 2 about a first pivot axis 4 by the arm actuator 5. In this embodiment, the arm segment 3 is extendable in length, as the manipulator 1 comprises a length actuator 20 (see FIG. 1D) for adjusting the length of the arm segment 3. The hand segment 6 is connected to the arm segment 3 at a distal end 3b of the arm segment 3 opposite the base end 3a. The hand segment 6 can be pivoted about a second pivot axis 7, which is parall...

RELATED APPLICATION DATA

[0001] This application is a § 371 National Stage Application of PCT International Application No. PCT / EP2023 / 060836 filed Apr. 25, 2023.TECHNICAL FIELD

[0002] The present application concerns a manipulator for lifting up a monorail stored with its longitudinal extension substantially horizontal in a magazine.

[0003] Further, the present application concerns a magazine for holding monorails to be lifted up by a manipulator such that a longitudinal extension of the monorails is substantially horizontal.

[0004] Further, the present application concerns a monorail installation device and a method for installing a monorail.BACKGROUND

[0005] In particular in mining operations, monorails are installed, e.g. for roof-supported continuous conveying systems. At present, the monorails need to be installed manually.

[0006] AU7834069 A1 shows a mine roof-bolter machine having an extensible conveyor running therethrough that operates behind a continuous miner machine. As the continuous miner advances, the roof-bolter advances from position-to-position while installing roof bolts and plates, and the extensible conveyor gives and takes the slack between the continuous miner and the roof bolter and feeds mined material to a surge car behind the roof bolter. While forward booms of the roof bolting machine are being utilized to drill, plate and bolt the mine roof, a rear boom on the roof bolter may be used to install advancing monorail sections so that a forward terminus of a Craggs conveyor can follow along behind the surge car. The rear boom seems to be used for supporting a monorail, however it is unclear how this should work. Further, the rear boom cannot pick up a monorail without manual intervention and does not seem capable of stably and safely positioning a monorail for installation.

[0007] Further, U.S. Pat. Nos. 3,506,075, 3,965,994 and 3,986,569 show arrangements for the handling of drill rods. However, these do not allow the storage or handling of monorails and do not allow storage or handling with the longitudinal extension being horizontal.SUMMARY

[0008] It is an objective of the present application to prevent or alleviate at least one of the disadvantages of the prior art. In particular, it is an objective of the present application to propose a manipulator and a magazine that facilitate (preferably automatised) installation of a monorail under mining conditions. In particular, it is an objective to propose a manipulator that allows a monorail to be picked up and / or a monorail to be brought to a position to be installed to the roof easily, in particular only by moving the rail in a lateral direction perpendicular to the monorail's longitudinal axis and by pivoting the monorail around its longitudinal axis. Further, it is in particular an objective of the present application to propose a magazine that allows storage of the monorails such that the monorails can be picked up in a lateral direction perpendicular to the longitudinal extension of the monorails. Further, it is an objective of the present application to propose an easier and / or faster method for installing a monorail.

[0009] According to the present application, a manipulator for lifting up a monorail stored with its longitudinal extension substantially horizontal in a mag-azine, comprises:

[0010] a base;

[0011] an arm segment, which at a base end is connected to the base pivotably about a first pivot axis;

[0012] an arm actuator for pivoting the arm segment relative to the base about the first pivot axis;

[0013] a hand segment, which is connected to the arm segment at a distal end of the arm segment opposite the base end pivotably about a second pivot axis parallel to the first pivot axis;

[0014] gripping means comprising at least one clamping element each with two clamping arms for gripping the monorail, in particular at least a flange of the monorail, such that the monorail extends substantially parallel to the second pivot axis, wherein the gripping means are mounted on the hand segment;

[0015] a hand actuator for pivoting the hand segment relative to the arm segment about the second pivot axis.

[0016] Further, the above objective is achieved by a magazine for holding monorails to be lifted up by a manipulator such that a longitudinal extension of the monorails is substantially horizontal, comprising a guiding device comprising guide elements defining at least one guide for storing monorails, wherein each guide has a width extension and an opening with the width extension such that a monorail can be introduced into the respective guide through the opening with a longitudinal extension of the monorail parallel to the width extension of the guide and each guide has a length extension such that the monorail can be slid along the respective guide in a lateral direction perpendicular to the longitudinal extension of the monorail. The length extension of a guide is defined as an extension of a central line of the cross section of the guide when the guide intersects with the vertical plane that is perpendicular to the width extension. The height extension of a guide is defined as a distance between adjacent guide elements departing from each other in a horizontal or normal direction. The width extension is horizontal.

[0017] Regarding the manipulator, by pivoting the arm segment about the first pivot axis, the hand segment and gripping means can be brought in proximity of a monorail to be picked up. By pivoting the hand segment about the second pivot axis (independent from the first axis), the gripping means can be oriented to be able to grip the monorail. Then, the monorail can be lifted up (e.g. removed from the guide of the magazine) by pivoting the arm segment about the first axis and optionally pivoting the hand segment about the second axis. Finally, the monorail can be moved and rotated into a position for roof installation by pivoting about the first and / or second pivot axis, wherein in particular the monorail can be rotated so that the monorail's flange faces towards the roof, i.e. the monorail's web is substantially vertical. If the monorail is to be installed in the direction of the longitudinal extension of a mine, the monorail can stay with its longitudinal extension parallel to the longitudinal extension of the mine, thus not requiring a rotation of the monorail about an axis perpendicular to the monorail's longitudinal extension and facilitating the monorail's lifting and installation. Once lifted in the right position, connection of the monorail with a roof bolt and an already installed monorail can be performed or automatized.

[0018] Regarding the magazine, this allows the storage of a number of monorails with their longitudinal extension horizontal, and allows picking the monorails up in a lateral direction perpendicular to the longitudinal extension of the monorail, which is beneficial for the installation of the monorails in a small space.

[0019] The arm actuator may be connected to the base and to the arm segment. The arm actuator may be a linear drive element.

[0020] Optionally, the gripping means comprises at least two clamping elements. Optionally, the clamping arms of each clamping element are arranged opposite each other. Optionally, the clamping arms of each clamping element are swingable around a common shaft or parallel shafts spaced apart from each other, wherein optionally all the shafts are parallel to the second pivot axis. Optionally, the clamping arms of at least one clamping element comprise an indentation at their respective side facing the opposite clamping arm (i.e. at a side facing towards the monorail when the monorail is gripped). Optionally, the gripping means comprises a gripping actuator for closing and opening a grip for the monorail, in particular for swinging the clamping arms. Optionally, each clamping element comprises a gripping actuator. Optionally, the gripping actuator is a double acting cylinder.

[0021] Optionally, the hand segment is configured such that hand segment is pivotable between a first gesture for fetching a monorail, and a second gesture for installing the monorail, wherein

[0022] in the first gesture, an opening direction of an opening defined by the clamping arms of each clamping element is in a first angle relative to the plane defined by the first pivot axis and the second pivot axis, preferably the opening defined by the clamping arms faces downwards or obliquely downwards, and

[0023] in the second gesture, the opening direction is in a second angle relative to the plane defined by the first pivot axis and the second pivot axis, preferably this falls within the plane defined by the first pivot axis and the second pivot axis, preferably the opening defined by the clamping arms faces outwards departing from the arm segment.

[0024] Optionally the first angle is in the range of 0 -90 degrees, preferably it is 90 degrees. Optionally, the second angle is in the range of 0 -90 degrees, preferably it is 0 degree.

[0025] That the hand segment is pivotable relative to the arm segment about the second pivot axis independent from a pivoting of the arm segment relative to the base about the first pivot axis by the arm actuator means that for a fixed angle of the arm segment relative to the base, the angle of the hand segment relative to the arm segment is adjustable.

[0026] Returning to the manipulator, the arm segment is pivotable about the first pivot axis over an angle range of preferably at least 45, more preferably at least 60°, even more preferably at least 120°. The hand segment is pivotable about the second pivot axis over an angle range of preferably at least 60°, more preferably at least 75°, even more preferably at least 120°. Optionally, the hand segment can take an angular position in which it encloses an angle of 90°with the arm segment. Optionally, the manipulator is arranged such that the first pivot axis is horizontal. Optionally, the arm segment is pivotable at least between a horizontal orientation and a vertical orientation. The distance between the first pivot axis and the second pivot axis is preferably at least 5 times, more preferably at least 10 times, larger than the distance of the gripping means from the second pivot axis. The distance between the first pivot axis and the second pivot axis is optionally between 50 cm and 5 m, further optionally between 1 m and 3 m (in at least one state, in case the distance is adjustable).

[0027] Optionally, the hand segment is pivotable relative to the arm segment about the second pivot axis independently from a pivoting of the arm segment relative to the base about the first pivot axis, preferably the arm segment is extendable in length and the manipulator comprises a length actuator for adjusting the length of the arm segment. Thereby, the distance between the first pivot axis and second pivot axis is adjustable. This allows to lift up monorails stored in guides located in different distances from the manipulator / base. Further, this facilitates sliding the monorail out of the guide of the magazine. Further, the monorail can be lifted up the exact height necessary for installing the monorail to the roof. Optionally, the arm segment is telescopic. The distance between the first pivot axis and the second pivot axis in a fully extended state of the arm segment is optionally at least 1.2 times, further optionally at least 1.5 times, the distance between the first pivot axis and the second pivot axis in a fully retracted state.

[0028] Optionally, the gripping means comprises a displacement actuator for displacing a monorail held by the gripping means in a direction parallel to the second pivot axis. In this way, the distance of the monorail held by the manipulator relative to an already installed monorail may be adjusted. Further, this may be used for coupling the two monorails together. The displacement actuator is configured for displacing the monorail over a range of optionally at least 5 cm, further optionally at least 10 cm, further optionally at least 30 cm. Optionally, at least one of the at least one clamping element is arranged slide-allowably in a direction parallel to the second pivot axis.

[0029] Optionally, the displacement actuator is configured for displacing at least one of the at least one clamping element in a direction parallel to the second pivot axis. Optionally, the displacement actuator is configured for displacing at least one clamping element relative to at least one other clamping element. Optionally, at least one clamping element is not affected by the displacement actuator.

[0030] Optionally, the gripping means or the hand segment comprises a tilting actuator for tilting a monorail held by the gripping means in a plane that comprises the second pivot axis. Depending on the type of monorail connector, this allows connecting the monorail held by the manipulator to an already installed monorail. Further, this allows to install the monorail sloped (i.e. angled to the horizontal). The tilting actuator is configured for tilting the monorail optionally by at least 2°, further optionally by at least 5°, further optionally by at least 10°.

[0031] Optionally, the gripping means or the hand segment comprises a pin that is extendable by the tilting actuator for contacting the flange of a monorail to be held by the gripping means such that the monorail is tilted in a plane that comprises the second pivot axis. Optionally, the at least one pin is displaced from at least one of the at least one clamping element in a direction parallel to the second pivot axis. The monorail may be held by e.g. one of the at least one clamping elements by frictional engagement. By extending the pin, the pin pushes the monorail on one side of the clamping element, such that the monorail is tiled (and may be held slanted by the clamping arms). Optionally, the gripping means comprises at least one clamping element on either side or both sides of the pin in a direction parallel to the second pivot axis. This allows to tilt the monorail in both directions by selectively loosening or opening the grip of one of the clamping elements.

[0032] Optionally, the at least one clamping element comprises at least two clamping elements, which are spaced apart from each other in a direction parallel to the second pivot axis. The second clamping element may provide redundancy or be used for deciding a tilting direction (see above). Further, in combination with a displacement actuator it can be used to facilitate a displacement in both directions.

[0033] Optionally, the gripping means comprises an actuator for opening and closing each one of the at least one clamping element, in particular one actuator per clamping element for selectively opening each clamping element. In particular, the actuator is for tilting the respective clamping arms.

[0034] Optionally, at least one of the at least two clamping elements is configured for holding the monorail between the clamping arms of the respective one of the at least one of the at least two clamping elements by frictional engagement with (in particular exterior sides of) the monorail (in particular of at least one flange of the monorail) in an engagement state of the at least one of the at least two clamping elements, and at least another one of the at least two clamping elements is configured for holding the monorail (in particular the at least one flange of the monorail) in a slide-allowable arrangement between the clamping arms of the respective one of the at least another one of the at least two clamping elements such that the monorail can be slid in the direction parallel to the second pivot axis in a slide-allowable state of the at least another one of the at least two clamping elements. Optionally, the at least one of the at least two clamping elements configured for holding the monorail in frictional engagement is displaced by the displacement actuator. The at least other one of the at least two clamping elements may act as a safety means, in case the at least one clamping element holding the monorail in frictional engagement fails. Optionally, the griping means comprises at least one clamping element for holding the monorail in frictional engagement and at least one clamping element for holding the monorail in slide-allowable engagement on both sides of the pin in a direction parallel to the second pivot axis. Optionally, the at least one clamping element for holding the monorail in frictional engagement does not comprise rollers and / or the displacement actuator is configured for displacing the at least one clamping element for holding the monorail in frictional engagement. Optionally, the at least one clamping element for holding the monorail in slide-allowable engagement comprises rollers for contacting the monorail. Optionally, the displacement actuator does not displace the at least one clamping element for holding the monorail in slide-allowable engagement.

[0035] Optionally, the clamping arms of the at least one clamping element are swingable respectively around parallel shafts spaced apart from each other, wherein the shafts are parallel to the second pivot axis. Optionally, the clamping arms of the at least one clamping element define an opening with an opening direction for introducing a monorail to be gripped into the opening in the opening direction, wherein the opening direction is perpendicular to the second pivot axis. In particular, the clamping arms of the at least one clamping elements are arranged for gripping a flange of the monorail such that a web of the monorail perpendicular to the flange of the monorail extends in a plane that intersects with the first pivot axis.

[0036] Optionally, the manipulator comprises a turntable seat for rotating the base about a rotation axis perpendicular to the first pivot axis, wherein the rotation axis is optionally vertical. This is useful in case the magazine in installed in a transverse direction (e.g. transverse to the extension of the mine) and the manipulator may be rotated between picking up the monorail and installing the monorail.

[0037] Returning to the magazine, the monorails can in particular be introduced into each guide seriatim. It is preferable if the length extension of each guide is such that a plurality of monorails can be stored in each guide. The length extension of each guide is preferably at least twice, more preferably at least 3 times, more preferably at least 5 times, a height extension of the guide, said height extension is perpendicular to the length extension and to the width extension. Optionally, the height extension of the guide corresponds to the width or height of the monorails. Preferably, the guide is configured for storing a single row of monorails with their longitudinal extension horizontal. Optionally, the width extension of each guide is at least 5 times, preferably 10 times, larger than the height extension. The width extension is optionally parallel to the horizontal extension. The guide elements are preferably sheet-shaped, wherein they optionally extend in an area contacting the guide two-dimensionally. Optionally, the guide elements and / or the guiding plates comprise spacers on their sides facing the guide to more precisely guide the monorails, the spacers being arranged between adjacent guiding elements.

[0038] Optionally, the magazine comprises a frame (e.g. comprising a bottom plate and two guiding plates), and a plurality of generally upright extending / standing guide elements that are mounted onto the frame, each pair of adjacent guide elements that are spaced apart in the height direction (direction of height extension) define or delimit a space for accommodating a section of a monorail and / or are adapted to restrict a displacement in the height direction of a monorail once introduced there, those spaces delimited by at least two pairs of adjacent guide elements and that are aligned in a same direction (parallel to the width extension) define a guide for storing monorails. Preferably, the space or guide is configured for storing a single row of monorails with their longitudinal extension horizontal, e.g. each guide has a limited height extension slightly greater than the height or width of a monorail, that is to say, one monorail is stored above or below another monorail. Preferably, the frame comprises a pair of upright extending / standing guiding plates that are arranged perpendicular to the width extension and spaced apart from each other, wherein the guide elements are respectively installed on either of the opposite surfaces of the two guiding plates.

[0039] Preferably the guide elements are elongate bars, rods, or sheets and the like. Preferably the guide elements extend along an arcuate curve in a cross-section perpendicular to the width extension of the respective guide. Optionally, a middle section of the guides and the frame at the side of the arm segment is kept free or empty, such that free space is left for the arm segment and in this area no hindrance exists to the arm segment's pivoting movement.

[0040] Optionally, each guide is delimited in the direction of the height extension by at least two guide elements spaced apart from each other (in a direction of the height extension), wherein a single guide element may delimit one guide on each of its sides. Optionally, each guide is delimited on each side of its height extension by at least two guide elements spaced apart from each other (in a direction of the width extension). Optionally, monorails are introduced into the guides with their flange first. The opening represents in particular an opening in the direction of the length extension of each guide. Optionally, the opening is arranged at the top of the guides, when the magazine is standing upright. Optionally, the length extension of the guides extends vertical or extends obliquely upwards when the cross section of the guides is in an arcuate curve. The number of the at least one guide is optionally at least two, further optionally at least 3, further optionally at least 4, further optionally at least 5. The guides may have different length extensions. Optionally, all guides have the same height extension and / or the same width extension. Optionally, the guides have parallel width extensions. Optionally, the guides are arranged in a row and / or adjacent in a cross-section along a plane spanned by the width extension and the height extension. Optionally, neighboring guides may share guiding elements between them. Optionally, the magazine comprises shackles for lifting up the magazine.

[0041] Optionally, the magazine also comprises drill guides for drill rods.

[0042] Optionally, the guiding device comprises two guiding plates arranged opposite and spaced apart from each other (in a direction parallel to the width extension of the guides), wherein each one of the two guiding plates delimits the width extension of the at least one guide in a direction facing away from the respective other one of the two guiding plates. This allows to store the monorails more precisely aligned, rendering automated lifting of the monorails easier. Further, this prevents the monorails from falling out. Optionally, the guiding plates extend over the whole width extension and / or the whole height extension of the guides. Optionally, each guiding plate comprises at least one, preferably at least two, shackle(s) for lifting up the magazine.

[0043] Optionally, each one of the guiding elements is installed on one of the two guiding plates wherein each one of the two guiding plates together with the respective guiding elements form for each guide a side channel for receiving an end segment of a monorail when the monorail is introduced into the respective guide. I.e., each guide is delimited by four guiding elements, wherein two guiding elements are installed on each of the guiding plates. Thus, it is easy to lift up the monorails, since their middle sections are freely accessible.

[0044] Optionally, each guide comprises an access opening over at least a section of the length extension in a height direction perpendicular to the width extension and to the length extension. This facilitates lifting up the monorails (in particular monorails stored deeper within the respective guide), since the monorail can not only be gripped by introducing the manipulator through the opening through which the monorails are introduced, but can also be gripped over a section of the length extension from the height direction perpendicular to the width extension. Optionally, the access opening is over the whole length of the length extension. The access opening may be over a section of the width extension, wherein the extension of the section may be different for different positions on the length extension.

[0045] Optionally, the guiding device comprises a bottom plate which delimits the length extension of each guide opposite the opening. Optionally, the bottom plate comprises an opening. Thus, material such as dust does not accumulate on the bottom plate and in the magazine, but instead falls through the opening.

[0046] Optionally, each guide extends along an arcuate curve in a cross-section perpendicular to the width extension of the respective guide. Thus, the length of the manipulator arm, in particular of the arm segment of the manipulator arm, does not need to be adjusted or only needs less adjustment while lifting one monorail out of one of the guides. For example, the arcuate curve may be an oval arc, in particular an elliptic arc. Preferably, the circular arc is bent in the same direction over the whole length extension, i.e. the whole circular arc may have the same concavity. This is particularly beneficial if the manipulator is arranged in the same direction from the magazine as the curved arc is bent. Optionally, the circular arc is smooth. Different guides may extend along different arcuate curves.

[0047] Optionally, each guide extends along a circular arc in the cross-section perpendicular to the width extension of the respective guide. Thus, if the manipulator is installed with its first pivot axis concentric with the circular arc, the length of the arm segment does not need to be adjusted while lifting the monorail out of the guide.

[0048] Optionally, the guiding device comprises at least two guides, wherein the at least two guides have parallel width extensions and wherein the at least two guides are concentric in the cross-section perpendicular to the width extensions of the at least two guides. By arranging the manipulator with its second pivot axis in the center of the concentric guides, the manipulator can lift up monorails from all guides without having to adjust the length of the arm segment while lifting up one monorail. The arm length only has to be adjusted for lifting up monorails from different guides.

[0049] The present application further comprises a monorail installation device, which comprises a platform, wherein a manipulator according to any one of the embodiments described in this disclosure is installed on the platform. The monorail installation device may be a mining machine. The monorail installation device may be a self-propelled carriage, a mobile boot end, a bolter miner and / or a road header. The monorail installation device may also comprise a roof drill and a device for installing roof bolts, e.g. comprising a magazine for roof bolts. Optionally, there is provided for a height adjustment device for adjusting a height over the ground of the platform.

[0050] The monorail to be installed may be provided manually. However optionally, the monorail installation device further comprises a magazine according to any one of the embodiments mentioned in this disclosure.

[0051] Optionally, the monorail installation device comprises a vehicle, in particular a mobile boot end, wherein the platform is mounted on the vehicle.

[0052] Optionally, there is provided for a height adjustment device for adjusting a height of the platform relative to the vehicle. This allows adjustment to different roof heights and ensures an ergonomic working height.

[0053] Optionally, the monorail installation device comprises a lifting device mounted on the vehicle or on the platform, wherein the magazine is mounted on the lifting device and the lifting device is configured for adjusting a height level and / or horizontal position of the magazine. Thus, the height over ground of the magazine can be adjusted to the height of the platform. Optionally, the lifting device is configured for lifting the magazine onto the platform.

[0054] Optionally, the lifting device is configured for lifting the magazine between an operation position on the platform and an exchange position on the ground. The magazine could for example be refilled in the exchange position.

[0055] Optionally, the magazine is detachably mounted on the lifting device. E.g., the detachable connection between the magazine and the lifting device can be achieved with shackles and hooks. Thus, an empty magazine can be replaced with a full magazine. In particular, the magazine can be lifted off the platform, the empty magazine can be detached from the lifting device and replaced by a full magazine, which is subsequently connected to the lifting device and lifted onto the platform.

[0056] Optionally, the lifting device comprises a bearing for mounting the lifting device on the vehicle or the platform, in particular to a side of the vehicle. Optionally, the lifting device comprises two side elements or side mounts. The bearing is connected to a connecting segment pivotably about a lifting axis, the lifting device comprises a drive mechanism for driving the connecting segment to pivot. Optionally, there is provided for one bearing and one connecting segment per side, i.e. two each in total. Optionally, the connecting segments are connected to a rod extending substantially parallel to the lifting axis. The side elements are connected to the rod spaced apart from each other.

[0057] Optionally, each side element comprises a first segment, a second segment, a segment actuator and two connection rods for detachably connecting to the shackles of the magazine. The first segment of each side element comprises a first joint at an intermediate section of the first segment at which the first segment is pivotably connected to the segment actuator and a second joint (at a distal end) at which the first segment is pivotably connected to the second segment. The second segment comprises a protruding section of the second segment at a distal end of the second segment distal to the second joint, the protruding section is pivotably about the axis connected to the segment actuator. The protruding section protrudes from the main part of the second segment substantially vertical to the extension of the main part of the second segment. There is provided for a further protruding section of the second segment, connecting the second segment to the second joint. Further, two connection rods for detachably connecting to the shackles of the magazine are pivotably connected to the distal end of the second segment, in particular to a point where the protruding section protrudes from the main part of the second segment.

[0058] Optionally, the lifting device has two degrees of freedom, first, a rotation around a lifting axis of the bearing which rotates both the first segment and second segment of the lifting device relative to a mounting point on the vehicle, and second, a rotation around the second joint, which can be actuated by the segment actuator and rotates the second segment relative to the first segment. Optionally, the segment actuator is a linear actuator.

[0059] Optionally, the magazine is provided such that (at least in an operation position of the magazine) the width extension of each guide of the magazine is substantially parallel to the first pivot axis of the manipulator. This facilitates lifting monorails out of the magazine.

[0060] Optionally, the magazine is provided such that (at least in an operation position of the magazine) each guide of the magazine is (in a cross-section perpendicular to the width extension of the guides) concentric with the first pivot axis of the manipulator. This allows the monorails to be removed from the guides without having to adjust the length of the arm segment while lifting the monorails from a particular guide.

[0061] The monorail installation device may comprise a sensor to detect a present location, in particular relative to an already installed monorail and / or relative to an already installed roof bolt. The monorail installation device may comprise a sensor for providing measurements on a distance moved forward (e.g. a laser, an encoder, an ultrasonic sensor and / or limit switches).

[0062] The monorail installation device may comprise a sensor for detecting a location of a previously installed monorail (e.g. a camera, a laser scanner and / or a radar), in particular in reference to the manipulator. The monorail installation device may comprise a sensor for detection a location and / or storage level of the monorails (e.g. a camera, a laser scanner and / or a radar). Optionally the monorail installation device comprises a distance sensor for detecting a protrusion on already installed monorails indicating an end of a monorail.

[0063] The monorail installation device may comprise a roof bolter (e.g. with a drill steel handler) and a roof bolt magazine, which are optionally located on the platform.

[0064] Moreover, it is in particular an objective of the present application to propose an easier and / or faster method for installing a monorail. This is achieved by a method for installing a monorail, comprising the steps:

[0065] providing a magazine according to any one of the embodiments mentioned in this disclosure, wherein at least one guide of the magazine comprises at least one monorail;

[0066] lifting one of the at least one monorail with a manipulator according to any one of the embodiments described in this disclosure;

[0067] pivoting the hand segment of the manipulator about the second pivot axis such that a web of the monorail perpendicular to the flange of the monorail extends in a vertical plane.

[0068] The method may be conducted using the monorail installation device according to any one of the embodiments mentioned in this disclosure.

[0069] Optionally, the method comprises the steps:

[0070] connecting the monorail held by the manipulator to a roof bolt installed in a roof (e.g. via a chain);

[0071] connecting the monorail held by the manipulator to another monorail already mounted to the roof.

[0072] Optionally, a vehicle comprises the manipulator and the magazine, the method comprising the step:

[0073] moving the vehicle from an installation position for the other monorail already mounted to the roof to a new installation position for connecting the monorail to a roof bolt and for connecting the monorail to the other monorail already mounted to the roof, wherein the vehicle moves in the direction of the longitudinal extension of the other monorail already installed forward by the length of one monorail.

[0074] Optionally, the monorail installation device comprises a control device configured for conducting the method for installing a monorail according to any one of the variants mentioned in this disclosure.

[0075] For the purpose of the present disclosure, specifications in terms of location and direction, such as “vertical”, “horizontal”, “lowered” etc., refer to the intended operating condition of the manipulator with its base installed on a vertical plane, the magazine standing upright such that a manipulator may pick up monorails from the magazine and the monorail installation device's intended use in a mine.

[0076] By way of example, the present application is further explained with respect to some selected embodiments shown in the drawings. However, these embodiments shall not be considered limiting for the present application.BRIEF DESCRIPTION OF THE DRAWINGS

[0077] FIG. 1A schematically shows a preferred embodiment of a manipulator in a pick-up position in an angled view.

[0078] FIG. 1B schematically shows the manipulator of FIG. 1 in the pick-up position in a lateral view.

[0079] FIG. 1C schematically shows the manipulator of FIG. 1 in a plan view.

[0080] FIG. 1D schematically shows a section of the manipulator of FIG. 1C along the line R-R in FIG. 1C.

[0081] FIG. 2A schematically shows a preferred embodiment of a magazine for storing monorails without monorails in an angled view.

[0082] FIG. 2B schematically shows the magazine of FIG. 2A in a sectional lateral view along line A-A in FIG. 2C.

[0083] FIG. 2C schematically shows the magazine of FIG. 2A in a

[0084] FIG. 3 schematically shows the magazine of FIG. 2A storing monorails.

[0085] FIG. 4A schematically shows the magazine of FIG. 2A for storing monorails in a filled state further storing drilling bolts.

[0086] FIG. 4B schematically shows the magazine of FIG. 4A in a sectional lateral view.

[0087] FIG. 5 schematically shows a preferred embodiment of a monorail installation device with a platform, the manipulator of FIG. 1A, the magazine of FIG. 2A, wherein the magazine is filled with monorails, and two already installed monorails.

[0088] FIGS. 6A to 6E schematically show the process of lifting a monorail out of the magazine of FIG. 3A using the manipulator of FIG. 1A.

[0089] FIGS. 7A to 7D schematically show the process of installing the monorail using the manipulator of FIG. 1A.

[0090] FIG. 8 schematically shows the process of installing a monorail with the monorail installation device of FIG. 5.

[0091] FIGS. 9A to 9F schematically show the process of replacing an empty magazine of the monorail installation device of FIG. 5 with a full magazine.

[0092] FIG. 10A schematically shows the lifting device of the monorail installation device of FIG. 5 in more detail in an exchange position for exchanging the magazine.

[0093] FIG. 10B schematically shows the lifting device of FIG. 10A in an operation position for holding the magazine on top of the platform of the monorail installation device of FIG. 5.

[0094] FIG. 11 schematically shows the monorail installation device of FIG. 5 with the platform and the magazine at a lowest height level.

[0095] FIG. 12 schematically shows the monorail installation device of FIG. 5 with the platform and the magazine at a top height level.

[0096] FIG. 13A schematically shows the lifting device of the monorail installation device of FIG. 5 holding the magazine at the lowest height level of FIG. 12.

[0097] FIG. 13B schematically shows the lifting device of the monorail installation device of FIG. 5 holding the magazine at the top height level of FIG. 12.

[0098] FIG. 14 schematically shows the manipulator of FIG. 1A in yet another pick-up position in an extended state for picking up a monorail stored further away from the base of the manipulator.

[0099] FIG. 15A schematically shows the manipulator of FIG. 1A in a vertical position for installing a monorail on a roof in a lateral view.

[0100] FIG. 15B schematically shows the manipulator of FIG. 1A in the same position as FIG. 15A from another lateral view perpendicular to the lateral view of FIG. 15B.DETAILED DESCRIPTION

[0101] FIG. 1A schematically shows a preferred embodiment of a manipulator 1 in a pick-up position in an angled view. FIG. 1B shows the same embodiment in the pick-up position in a lateral view. FIG. 1C shows the same embodiment in the pick-up position in a plan view. FIG. 1D shows a section of the manipulator of FIG. 1C along the line R-R in FIG. 1C. The manipulator 1 comprises a base 2, an arm segment 3, an arm actuator 5 and a hand segment 6. The arm segment 3 is connected to the base 2 at a base end 3a of the arm segment 3 and can be pivoted relative to the base 2 about a first pivot axis 4 by the arm actuator 5. In this embodiment, the arm segment 3 is extendable in length, as the manipulator 1 comprises a length actuator 20 (see FIG. 1D) for adjusting the length of the arm segment 3. The hand segment 6 is connected to the arm segment 3 at a distal end 3b of the arm segment 3 opposite the base end 3a. The hand segment 6 can be pivoted about a second pivot axis 7, which is parallel to the first pivot axis 4, relative to the arm segment 3 by a hand actuator 11. The pivoting of the hand segment 6 relative to the arm segment 3 is independent from the pivoting of the arm segment 3 relative to the base 2. Thus, e.g. a pivoting of the arm segment 3 relative to the base 2 about the first pivots axis 4 can be actuated, while the relative position of the arm segment 3 to the hand segment 6 is fixed.

[0102] The manipulator 1 further comprises gripping means 8 mounted on the hand segment 6, which themselves comprise two clamping elements 9, each with two clamping arms 10. Each of the clamping arms 10 comprises four clamping fingers 21, arranged spaced apart from each other in a direction parallel to the second pivot axis 4. The four clamping fingers 21 of each clamping arm 10 are actuated and swung simultaneously as a group. The clamping arms 10 can grip a monorail 91, in particular a flange 93 of the monorail 91, such that the monorail 91 extends substantially parallel to the second pivot axis 7. The two clamping arms 10 are spaced apart from each other in a direction 13 parallel to the second pivot axis 7.

[0103] The gripping means 8 further comprises a displacement actuator 12, a tilting actuator 14 and a pin 16. The displacement actuator 12 can displace a monorail 91 held by the gripping means 8 in a direction 13 parallel to the second pivot axis 7 by displacing one of the clamping elements 9 in a direction 13 parallel to the second pivot axis 7. The tilting actuator 14 can tilt a monorail 91 held by the gripping means 8 in a plane 15 that comprises the second pivot axis 7. The pin 16 is extendable by the tilting actuator 14 for contacting the flange 93 of a monorail 91 to be held by the gripping means 8 such that the monorail 91 is tilted in the plane 15 that comprises the second pivot axis 7, while the monorail 91 is held by at one of the clamping elements 9 in a tilt-allowing frictional engagement.

[0104] The manipulator 1 further comprises an actuator 17 for opening and closing each one of the clamping elements 9. One of the clamping elements 9 is configured for holding the monorail 91 between the clamping arms 10 of the respective clamping element 9 by frictional engagement with exterior sides of the flange 93 of the monorail 91 at least in an engagement state of one of the clamping elements 9. The other clamping element 9 is configured for holding a flange 93 of the monorail 91 at least in slide-allowable arrangement between its clamping arms 10, such that the monorail 91 can be slid in the direction 13 parallel to the second pivot axis 7 in a slide-allowable state (and in particular can also be tilted in the plane 15).

[0105] Preferably, the clamping arms 10 of each clamping element 9 are swingable around parallel shafts 10a spaced apart from each other, wherein the shafts are parallel to the second pivot axis 7. In particular, the clamping arms 10 of each clamping element 9 are arranged for gripping a flange 93 of the monorail 91 such that a web of the monorail 91 perpendicular to the flange 93 of the monorail 91 extends in a plane that intersects with the first pivot axis 4. The clamping actuator 17 can move the clamping arms 10, in particular, it can rotate the clamping arms 10 around an axis that goes through the parallel shafts 10a. Preferably, the clamping arms 10 of each clamping element 9 respectively are swung simultaneously. In this embodiment, the clamping actuator 17 is a double acting cylinder. The clamping arms 10 are connected to the gripping actuator 17 (in particular the double acting cylinder) on a side that is opposite an arm segment that contacts the monorail 91 relative to the respective parallel shaft 10a. In particular, the plane 15 in which the tilting actuator 14 can tilt a monorail 91 held by the gripping means 8 is perpendicular to another plane (not shown) that comprises both parallel shafts 10a (of at least one clamping element 9, preferably of each clamping element 10a). Preferably, the plane 15 is arranged between midway between the two parallel shafts 10a and / or the plane 15 is the mirror plane of symmetry between the two parallel shafts 10a.

[0106] The clamping arms 10 of the clamping element 9 define an opening 18 with an opening direction 19 for introducing a monorail 91 to be gripped into the opening 18 in the opening direction 19. This opening direction 19 is perpendicular to the second pivot axis 7. The clamping arms 10 of the clamping elements 9 are arranged for gripping a flange 93 of the monorail 91 such that a web of the monorail perpendicular to the flange 93 of the monorail 91 extends in a plane that intersects with the first pivot axis 4.

[0107] The manipulator 1 may further comprises a turntable seat (not shown in the figures) for rotating the base about a rotation axis perpendicular to the first pivot axis. In this way, there is more flexibility in the area from which monorails 91 can be picked up.

[0108] FIG. 2A shows a preferred embodiment of a magazine 51 for holding monorails 91 to be lifted up by the manipulator 1 of FIGS. 1A to 1C. FIG. 2B shows a sectional lateral view of the magazine of FIG. 2A. FIG. 2C shows the magazine of FIG. 2A in plan view. In FIGS. 2A to 2C, the magazine 51 is empty, i.e. does not store any monorails 91. The magazine 51 comprises a guiding device 52, which comprises guide elements 53, two guiding plates 59 and a bottom plate 62. The guide elements 53 define at least one guide 54 (in this embodiment six guides 54) for storing monorails 91. Each guide 54 has a width extension 55 and an opening 56 with the width extension 55 such that a monorail 91 can be introduced into the respective guide 54 through the opening 56. By doing so, a longitudinal extension 92 of the monorail 91 is parallel to the width extension 55 of the guide 54. Each guide 54 has a length extension 57 such that the monorail 91 can be slid along the respective guide 54 in a lateral direction 58 perpendicular to the longitudinal extension 92 of the monorail 91. In particular, each guide 54 is defined by two adjacent ones of the guide elements 53 at two sections of the width extension 55 of the respective guide 54, wherein intermediate guide elements 53 define guides 54 on both of their sides, such that there is provided for fourteen guide elements 53.

[0109] The two guiding plates 59 are arranged opposite and are spaced apart from each other. Each one of the two guiding plates 59 delimits the width extension 55 of guides 54 in a direction facing away from the respective other one of the two guiding plates 59. Each of the guiding elements 53 is installed on one of the two guiding plates 59. In particular, seven guiding elements 53 are installed on each one of the two guiding plates 59. Each one of the two guiding plates 59 together with the respective guiding elements 53 form for each guide 54 a side channel 60. Each side channel 60 receives an end segment 94 of a monorail 91 when the monorail 91 is introduced into the respective guide 54. Each guide 54 comprises an access opening 61 over at least a section of the length extension 57 in a height direction 64 perpendicular to the width extension 55 and to the length extension 57, allowing easier access with the manipulator 1 to monorails 91 stored deeper within the guides 54. The bottom plate 62 delimits the length extension 57 of each guide opposite the opening 56. Spacers 67 are arranged between adjacent guiding elements 53 and arranged on the guiding plates on their sides facing the guide to more precisely guide the monorails.

[0110] Each guide 54 extends along an arcuate curve 63 (see in particular FIG. 2B), preferably along a circular arc, in a cross-section 65 perpendicular to the width extension 55 of the respective guide 54. The guides 54 have parallel width extensions 55 and are concentric in the cross-section 65 perpendicular to the width extensions 55 of the at least two guides 54.

[0111] The manipulator 1 can lift the monorails 91 out of the magazine 51 such that a longitudinal extension 92 of the monorails 91 is substantially horizontal.

[0112] FIG. 3 shows the magazine 51 of FIG. 2A storing monorails 91 in an angled view.

[0113] FIG. 4A shows the magazine 51 of FIG. 2A storing monorails 91 and further storing drilling bolts 97 in a drilling bolts storage device 98. Thus, not only the mounting of the monorails 91 can be automated, but also the installation of the roof anchors. FIG. 4B shows the magazine of FIG. 4A in a sectional lateral view.

[0114] FIG. 5 shows a monorail installation device 100 with a platform 101, upon which the manipulator 1 of FIG. 1A is mounted, and the empty magazine 51 of FIG. 2A. Further two already installed monorails 91″ are shown. The monorail installation device 100 further comprises a vehicle 103 (which is only shown rudimentary in the figures) wherein the platform 101 is mounted on the vehicle 103.

[0115] A height adjustment device 102 can adjust the height of the platform 101 relative to the vehicle 103. This allows compensating for different roof heights, such that the distance between the platform 101 and the roof can be kept relatively constant. A lifting device 121 is mounted on the vehicle 103, which is configured for adjusting the height level of the magazine 51 in its operation position for providing monorails 91 to be picked up by the manipulator 1 and for lifting the magazine 51 between the operation position on the platform 101 and an exchange position on the ground for allowing an exchange of an empty magazine 51 by a full magazine 51′. In this embodiment, the magazine 51 is mounted on the lifting device 121 detachably.

[0116] The magazine 51 is mounted on the lifting device 121 such that the width extension 55 of each guide 54 of the magazine 51 is substantially parallel to the first pivot axis 4 of the manipulator 1. In the operating position of the magazine 51, the distance between the magazine 51 and the manipulator 1 is such that each guide 54 of the magazine 51 is concentric with the first pivot axis 4 of the manipulator 1.

[0117] The lifting device 121 will be described in more detail below, in particular in the context of FIGS. 10A to 10B.

[0118] FIGS. 6A to 6F show the process of lifting a monorail out of the magazine 51 using the manipulator 1. FIG. 6A shows the manipulator 1 and the magazine 51 filled with monorails 91. Depending on which monorail 91 is intended to be lifted with the manipulator 1, the length of the arm segment 3 may be adjusted with the length actuator 20, thus increasing or decreasing the distance between the base end 3a and the hand segment 6 as necessary. The arm segment 3 is pivoted about the first pivot axis 4 to bring the hand segment 6 in proximity of the monorail 91′ to be picked up, while the hand segment 6 is pivoted about the second pivot axis 7 by means of the hand actuator 11 such that the gripping means 8, in particular the clamping arms 10, encompass the monorail 91′ to be picked up. Then, as shown in FIG. 6A, the gripping means 8 grips a flange 93 of the monorail 91′ by swinging opposing ones of the clamping arms 10 about the shafts 10a against each other such that the flange 93 is clamped between the opposing clamping arms 10. Since in this embodiment the guides 54 follow the shape of concentric curves, the manipulator 1 can even lift monorails 91 stored deeper within the magazine51 out of the magazine 51 without adjusting the length of the arm segment 3 during this process.

[0119] FIG. 6B shows the manipulator 1 of FIG. 6A now holding the monorail 91′ to be installed lifted slightly out of the magazine 51. Subsequently, as shown in FIG. 6C, the arm segment 4 of the manipulator 1 of FIG. 6B is retracted such that the hand segment 6 is closest to the base end 3a. This reduces the moment of inertia of the manipulator 1 around the first pivot axis 4, such that the necessary torque to rotate the arm segment 3 around the first pivot axis 4 is reduced. Then, the manipulator 1 is brought into a vertical state, wherein the arm segment 3 is substantially vertical and the hand segment 6 is rotated such that the hand segment 6 is substantially in extension of the arm segment 3 and the monorail 91′ is oriented such that it can be mounted to a roof anchor / bolt installed in the roof. Subsequently, the length of the arm segment 3 is extended as shown in FIG. 6E such that the monorail 91′ is lifted to the correct height relative to the roof.

[0120] FIGS. 7A to 7D show the process of connecting the monorail 91′ to an already installed monorail 91″. FIG. 7A shows the manipulator 1 holding the monorail 91′ to be installed in proximity of an already installed monorail 91″. Subsequently, as shown in FIG. 7B, the monorail 91′ is slightly tilted in a vertical by raising the pin 16 by means of the tilting actuator 14. In this state, the end 91a′ of the monorail 91′ close to the installed monorail 91″ is raised and at a greater height level than both the installed monorail 91″ and the opposite end 91b′ of the monorail 91′ facing away from the installed monorail 91″. Then, as shown in FIG. 7C, the monorail 91′ is moved towards the already installed monorail 91″ by means of the displacement actuator 12. For this purpose, the one of the clamping elements 9 that is displaced by the displacement actuator 12 (see also FIG. 15B) holds the monorail 91′ in an engagement state and the other one of the clamping elements 9 holds the monorail 91 in a slide-allowable arrangement. Subsequently, the tilting actuator 14 retracts the pin 16 such that the monorail 91′ is tilted in the opposite direction as previously and a locking unit 95 at the end of the monorail 91′ engages with a locking unit 95 at the end of the already installed monorail 91″ and the monorails 91′ and 91″ are connected by a snap-in action. Alternative to a snap-in action, connection may be achieved by inserting a bolt through both locking units 95. FIG. 7D shows two installed monorail 91″, which in this example are substantially parallel and substantially parallel to the second pivot axis 7. In case of an inclined or uneven roof, there may be a non-zero angle between the longitudinal extensions 92 of the monorails 92″ and / or between the monorails 92″ and the second pivot axis 7. Further, a shackle 96 of the monorail 91″ is connected to a roof anchor (not shown in the figures). Subsequently, the manipulator 1 releases the monorail 91″ and returns to a retracted state.

[0121] FIG. 8 shows the installation of a monorail 91′ with the monorail installation device 100 of FIG. 5. In particular, FIG. 8 shows the monorail installation device 100, with a magazine 51 storing monorails 91, as well as the already installed monorail 91″. The manipulator 1 has lifted a monorail 91′ out of the magazine 51 and has lifted the monorail 91′ to the same height as and adjacent to the already installed monorail 91″.

[0122] FIGS. 9A to 9F show the process of replacing an empty magazine 51 of the monorail installation device 100 using the lifting device 121. FIG. 9A shows the monorail installation device 100 with the empty magazine 51 in an operation position on the platform 101, wherein the magazine 51 shall be replaced by the full (replacement) magazine 51′. Further, two installed monorails 91″ are shown. The following figures show the process of replacing the empty magazine 51 by the replacement magazine 51′.

[0123] In FIG. 9B the magazine 51 is lifted from the operation position on the platform 101 to the exchange position on the ground by the lifting device 121. The magazine 51 and the replacement magazine 51′ are now substantially next to each other and oriented in the same way. In FIG. 9C the magazine 51 was detached from the lifting device 121 and the lifting device 121 has moved up from and disengaged with the magazine 51, such that the vehicle 103 can be moved independently from the magazine 51. In FIG. 9D the vehicle 103 has moved in a direction substantially parallel to the direction from the magazine 51 to the replacement magazine 51′ (typically along the extension of a mine) such that the lifting device 121 is in front of the replacement magazine 51′ and the lifting device 121 is now able to pick up the replacement magazine 51′. In FIG. 9E the lifting device 121 has engaged with the replacement magazine 51′ in an exchange position by connecting to the shackles 66 of the replacement magazine 51′.

[0124] In FIG. 9F the lifting device 121 has lifted the replacement magazine 51′ from the exchange position on the ground into an operation position on the platform 101, such that the replacement magazine 51′ is oriented in way that the width extension 55′ of the replacement magazine 51′ is substantially parallel to the first pivot axis 4 of the manipulator 1 and the manipulator 1 can access monorails 91 stored in the magazine 51′. Subsequently, the platform 101 is moved in a direction substantially parallel to the longitudinal extension 92 of an already installed monorail 91″ (i.e. typically along the mine extension), ready to install a further monorail 91. Then, the manipulator 1 lifts a monorail 91″ out of the replacement magazine 51′ and installs this monorail 91″.

[0125] FIG. 10A shows the lifting device 121 connected to the magazine 51, wherein the magazine 51 is held in an exchange position off a platform 101 and on the ground. FIG. 10B shows the lifting device connected to the magazine 51, wherein the magazine 51 is held in an operation position that is on the platform 101 (not shown in this figure, cf. FIG. 9F). The lifting device 121 comprises a bearing 122 for mounting the lifting device 121 on the vehicle 103, in particular to a side of the vehicle 103 as shown in FIG. 9F, and two side elements 129 (see FIG. 5) each comprising a first segment 123, a second segment 124, a segment actuator 125 and two connection rods 126 for detachably connecting to shackles 66 of the magazine 51 (see also FIG. 5). The bearing 122 comprises a lifting axis 122a, which is substantially parallel to a width extension 55 of the magazine 51. The first segment 123 of each of the two side elements 129 is connected to the lifting axis 122a via a connecting segment 127, and a rod 128, wherein an angle between the first segment 123 and the connecting segment is fixed, e.g. at approximately 45°. The connecting segment 127 allows rotating the first segment 123 upwards (around the lifting axis 122a) without the platform 101 getting in the first segment's 123 way. The rod 128 extends substantially parallel to the lifting axis 122. The rod allows the magazine 51 to be held between the two side element 129 (see FIG. 5). The first segment 123 of each side element 129 comprises a first joint 123a at an intermediate section of the first segment 123 at which the first segment 123 is pivotably connected to the actuator 125 and a second joint 123b at which the first segment 123 is pivotably connected to the second segment 124. The second segment 124 comprises a protruding section 124a of the second segment 124 at a distal end of the second segment 124 distal to the second joint 123b, which protruding section 124b is pivotably about the axis 124b connected to the actuator 125. The protruding section 124a protrudes from the main part of the second segment 124 substantially vertical to the extension of the main part of the second segment 124. There is provided for a further protruding section 124c of the second segment 124, connecting the second segment 124 to the second joint 123b. Further, two connection rods 126 for detachably connecting to the shackles 66 of the magazine 51 are pivotably connected to the distal end of the second segment 124, in particular to a point where the protruding section 124a protrudes from the main part of the second segment 124. The lifting device 121 has two degrees of freedom, first, a rotation around a lifting axis 122a of the bearing 122 which rotates both the first segment 123 and second segment 124 of the lifting device 121 relative to a mounting point on the vehicle 103, and second, a rotation around the second joint 123b, which can be actuated by the actuator 125 and rotates the second segment 124 relative to the first segment 123. The actuator 125 is a linear actuator. The pivotable connection of the connecting rods 126 to the second segment 124 ensure that the magazine is always held with its bottom plate 62 horizontally. FIG. 10B shows that the lifting device 121 has lifted the magazine 51 from an exchange position on the ground into an operation position on top of the platform 101 (not shown in FIG. 10B; see FIG. 9F).

[0126] The lifting device 121 can connect to a magazine 51 stored further away from the platform 101 or stored closer to the platform 101, by increasing an angle between the first segment 123 and the second segment 124.

[0127] FIG. 11 shows the monorail installation device 100, wherein the platform 101 is adjusted to a first height level relative to the ground. A height adjustment device 102 is adapted to lift the platform 101 preferably in steps of 200 mm. The platform 101 may thus also be adjusted to a second height level, whereas FIG. 12 shows the monorail installation device 100, wherein the platform 101 is adjusted in a third height level. In this way, the distance from the platform 101 to the roof of the mine can be kept relatively constant even if the roof is uneven or inclined.

[0128] FIGS. 13A to 13B illustrate the adjustment of the height setting of the magazine 61 in its operation position to the height setting of the platform 101. FIG. 13A shows the lifting device 121 connected to the magazine 51 that is in the operation position on top of the platform 101 which is at the first height level shown in FIG. 11. FIG. 13B shows the lifting device 121 connected to a magazine 51 in an operation position on top of the platform 101 which is at the third height level shown in FIG. 12. This is achieved by pivoting by the lifting device 121 around the lifting axis 122a and the second joint 123b, such that the horizontal location of the magazine 51 on the platform 101 stays the same.

[0129] FIG. 14 shows the manipulator 1 in yet another pick-up position in an extended state for picking up the monorail 91 stored further away from the base 2 of the manipulator 1 (in a similar state as FIG. 6F).

[0130] FIG. 15A shows the manipulator 1 in a vertical position (as in FIG. 6D) in a lateral view. FIG. 15B shows the manipulator 1 of FIG. 15A from another lateral view. As mentioned above, the gripping means 8 comprise the displacement actuator 12 for displacing a monorail 91 held by the gripping means 8 in a direction 13 parallel to the second pivot axis 7. As is clearly visible in FIG. 15B, the displacement actuator 12 has displaced one of the clamping elements 9 in a direction 13 parallel to the second pivot axis 7.

Examples

Embodiment Construction

[0101]FIG. 1A schematically shows a preferred embodiment of a manipulator 1 in a pick-up position in an angled view. FIG. 1B shows the same embodiment in the pick-up position in a lateral view. FIG. 1C shows the same embodiment in the pick-up position in a plan view. FIG. 1D shows a section of the manipulator of FIG. 1C along the line R-R in FIG. 1C. The manipulator 1 comprises a base 2, an arm segment 3, an arm actuator 5 and a hand segment 6. The arm segment 3 is connected to the base 2 at a base end 3a of the arm segment 3 and can be pivoted relative to the base 2 about a first pivot axis 4 by the arm actuator 5. In this embodiment, the arm segment 3 is extendable in length, as the manipulator 1 comprises a length actuator 20 (see FIG. 1D) for adjusting the length of the arm segment 3. The hand segment 6 is connected to the arm segment 3 at a distal end 3b of the arm segment 3 opposite the base end 3a. The hand segment 6 can be pivoted about a second pivot axis 7, which is parall...

Claims

1. A manipulator arranged for lifting up a monorail stored with its longitudinal extension substantially horizontal in a magazine, the manipulator comprising:a base;an arm segment, which at a base end is connected to the base pivotably about a first pivot axis;an arm actuator arranged for pivoting the arm segment relative to the base about the first pivot axis;a hand segment, which is connected to the arm segment at a distal end of the arm segment opposite the base end pivotably about a second pivot axis parallel to the first pivot axis;gripping means including at least one clamping element each with two clamping arms for gripping the monorail, in particular at least a flange of the monorail, such that the monorail extends substantially parallel to the second pivot axis wherein the gripping means are mounted on the hand segment; anda hand actuator arranged for pivoting the hand segment relative to the arm segment about the second pivot axis.

2. The manipulator according to claim 1, wherein the hand segment is pivotable relative to the arm segment about the second pivot axis independently from a pivoting of the arm segment relative to the base about the first pivot axis, and wherein the arm segment is extendable in length and the manipulator further comprises a length actuator for adjusting the length of the arm segment.

3. The manipulator according to claim 1, wherein the gripping means includes a displacement actuator arranged for displacing the monorail held by the gripping means in a direction parallel to the second pivot axis.

4. The manipulator according to claim 3, wherein the displacement actuator is configured for displacing at least one of the at least one clamping element in a direction parallel to the second pivot axis.

5. The manipulator according to claim 1, wherein the gripping means or the hand segment includes a tilting actuator arranged for tilting the monorail held by the gripping means in a plane that includes the second pivot axis.

6. The manipulator according to claim 5, wherein the gripping means or the hand segment includes a pin that is extendable by the tilting actuator for contacting the flange of the monorail to be held by the gripping means such that the monorail is tilted in the plane that includes the second pivot axis.

7. The manipulator according to claim 1, wherein the at least one clamping element includes at least two clamping elements, which are spaced apart from each other in a direction parallel to the second pivot axis.

8. The manipulator according to claim 1, further comprising an actuator arranged for opening and closing each one of the at least one clamping element.

9. The manipulator according to claim 7, wherein the at least one clamping element includes at least two clamping elements, wherein at least one of the at least two clamping elements is configured for holding the monorail between the clamping arms of the respective one of the at least one of the at least two clamping elements by frictional engagement with the monorail in an engagement state of the at least one of the at least two clamping elements, and at least another one of the at least two clamping elements is configured for holding the monorail in a slide-allowable arrangement between the clamping arms of the respective one of the at least another one of the at least two clamping elements such that the monorail can be slid in the direction parallel to the second pivot axis in the slide-allowable state of the at least another one of the at least two clamping elements.

10. The manipulator according to claim 1, wherein the clamping arms of the at least one clamping element are swingable respectively around parallel shafts spaced apart from each other, wherein the shafts are parallel to the second pivot axis and wherein in the clamping arms of the at least one clamping element are arranged for gripping a flange of the monorail such that a web of the monorail perpendicular to the flange of the monorail extends in a plane that intersects with the first pivot axis.

11. The manipulator according to claim 1, further comprising a turntable seat for rotating the base about a rotation axis perpendicular to the first pivot axis, wherein the rotation axis is optionally vertical.

12. A magazine arranged for holding monorails to be lifted up by a manipulator such that a longitudinal extension of the monorails is substantially horizontal, the magazine comprising:a guiding device including guide elements defining at least one guide for storing monorails, wherein each guide has a width extension and an opening with the width extension such that a monorail can be introduced into the respective guide through the opening with a longitudinal extension of the monorail parallel to the width extension of the guide, and each guide has a length extension such that the monorail can be slid along the respective guide in a lateral direction perpendicular to the longitudinal extension of the monorail.

13. The magazine according to claim 12, wherein the guiding device includes two guiding plates arranged opposite and spaced apart from each other, wherein each one of the two guiding plates delimits the width extension of the at least one guide in a direction facing away from the respective other one of the two guiding plates.

14. The magazine according to claim 13, wherein each one of the guide elements is installed on one of the two guiding plates, wherein each one of the two guiding plates together with the respective guiding elements form for each guide a side channel arranged for receiving an end segment of the monorail when the monorail is introduced into the respective guide.

15. The magazine according to claim 12, wherein each guide includes an access opening over at least a section of the length extension in a height direction perpendicular to the width extension and to the length extension.

16. The magazine according to claim 12, wherein the guiding device includes a bottom plate which delimits the length extension of each guide opposite the opening.

17. The magazine according to claim 12, wherein each guide extends along an arcuate curve in a cross-section perpendicular to the width extension of the respective guide.

18. The magazine according to claim 17, wherein each guide extends along a circular arc in the cross-section perpendicular to the width extension of the respective guide.

19. The magazine according to claim 17, wherein the guiding device includes at least two guides, wherein the at least two guides have parallel width extensions and wherein the arcuate curves of the at least two guides are concentric in the cross-section perpendicular to the width extensions of the at least two guides.

20. A monorail installation device, comprising a platform, wherein a manipulator according to claim 1 is installed on the platform.

21. The monorail installation device according to claim 20, further comprising a magazine, the magazine including a guiding device having guide elements defining at least one guide for storing monorails, wherein each guide has a width extension and an opening with the width extension such that a monorail can be introduced into the respective guide through the opening with a longitudinal extension of the monorail parallel to the width extension of the guide, and each guide has a length extension such that the monorail can be slid along the respective guide in a lateral direction perpendicular to the longitudinal extension of the monorail.

22. The monorail installation device according to claim 21, further comprising a vehicle, including a mobile boot end, wherein the platform is mounted on the vehicle.

23. The monorail installation device according to claim 22, a height adjustment device for adjusting a height of the platform relative to the vehicle.

24. The monorail installation device according to claim 21, further comprising a lifting device mounted on the vehicle or on the platform, wherein the magazine is mounted on the lifting device and the lifting device is configured for adjusting a height level of the magazine.

25. The monorail installation device according to claim 24, wherein the lifting device is configured for lifting the magazine between an operation position on the platform and an exchange position on the ground.

26. The monorail installation device according to claim 24, wherein the magazine is detachably mounted on the lifting device.

27. The monorail installation device according to claim 21, wherein the magazine is provided such that the width extension of each guide of the magazine is substantially parallel to the first pivot axis of the manipulator.

28. The monorail installation device according to claim 21, wherein the magazine is provided such that each guide of the magazine is concentric with the first pivot axis of the manipulator.

29. A method for installing a monorail, comprising the steps of:providing a magazine, the magazine including a guiding device having guide elements defining at least one guide for storing monorails, wherein each guide has a width extension and an opening with the width extension such that a monorail can be introduced into the respective guide through the opening with a longitudinal extension of the monorail parallel to the width extension of the guide, and each guide has a length extension such that the monorail can be slid along the respective guide in a lateral direction perpendicular to the longitudinal extension of the monorail, wherein at least one guide of the magazine includes at least one monorail;lifting the at least one monorail with a manipulator according to claim 1; andpivoting the hand segment of the manipulator about the second pivot axis such that a web of the monorail perpendicular to the flange of the monorail extends in a vertical plane.

30. The method according to claim 29, further comprising the steps of:connecting the monorail held by the manipulator to a roof bolt installed in a roof; andconnecting the monorail held by the manipulator to another monorail already mounted to the roof.

31. The method according to claim 30, wherein a vehicle includes the manipulator and the magazine, the method further comprising the step of moving the vehicle from an installation position of the other monorail already mounted to the roof to a new installation position for connecting the monorail to a roof bolt and for connecting the monorail to the other monorail already mounted to the roof, wherein the vehicle moves in the direction of the longitudinal extension of the other monorail already installed forward by the length of one monorail.

Images