Patent Application
20210215043
The present invention relates to the field of electromechanical equipment for fully mechanized excavation faces, particularly to electromechanical equipment integrating the functions of anchor protection and supporting, and belongs to the scope of anchoring and supporting integrated machines.
In recent years, the research and development of coal mining technologies and equipment in China have made significant breakthroughs, and coal mining operation has proposed higher requirements on mining speed while requiring less people or no people. In order to solve the problem of “mining maladjustment” in a coal mining process, a great deal of manpower and material resources has been invested in the research and development of road-headers, and great progress has been made. At present, the main factors that restrict the further improvement of production capacity of fully-mechanized coal mining are low anchoring and supporting operating speed and low work efficiency.
Since the working time sequences of tunneling, anchoring and supporting are relatively close, and the synergism and cooperation among the three directly determines the speed of tunneling, some products have integrated tunneling, anchoring and supporting mechanical equipment as a whole at present. The essence of the all-in-one machines disclosed by patents represented by those with publication patent numbers of 201721694586.1, 201711089051.6, 201711288542.3 and 201910109402.8 is to simply combine an anchoring mechanism and a temporary supporting mechanism on a road-header. Although such all-in-one machines have the function of multi-process operation, the processes cannot be performed simultaneously, so that the problem of cooperative operation of tunneling, anchoring and supporting is not fundamentally solved.
The present research group proposed an application patent of integrated equipment with a protection and anchoring cooperative operation function, which adopts a monorail crane advancing manner, separates the anchoring equipment, the supporting equipment and the road-header, and the efficient cooperative operation of tunneling, anchoring and supporting can be generally realized, but the overall size of the equipment and the stability in the transport process still have the following deficiencies:
1) The size of the equipment is large, and the usable range is limited.
In the patent, an anchoring device, a supporting device and the road-header are separated, so that the overall equipment size is greatly reduced compared with a conventional tunneling-anchoring-supporting integrated machine, is suitable for tunnels of common mines, but the structure of a subsidiary carrying mechanism is relatively complicated and heavy, which is not conducive to the transport of the equipment, and the application range is limited to a certain extent.
2) Turning maneuvering characteristics of the equipment is poor and is not conductive to transport.
The patent adopts a monorail crane for the transport of the equipment, the structure of a power system is simple, but the transport state is greatly affected by the operating condition of a tunnel roof. The requirement on performance of the power system on the monorail crane is very high especially when the tunnel has a bending or a slope, but the power system is only that a motor drives a power buggy through a reducer, and the turning performance and anti-slipping performance of the whole set of equipment in a running process on the rail are relatively poor.
3) An anchoring platform of the equipment is unstable and is not conducive to the anchoring operation.
In the patent, the anchoring operation is performed by an anchor rod robot mounted on an anchoring robot working platform. The anchoring robot working platform is mounted at a tail end of a main beam of an anchoring robot system through a pin. A jumbolter may generate a great impact force in a drilling process, which is directly acted on the working platform; however, the platform has no buffering function, so that the anchoring robot working platform cannot provide a stable working environment for the jumbolter, which is not conducive to the anchoring operation.
In view of the above problems, it is necessary to propose an improvement project for the existing equipment to further improve the operation performance of “anchoring and supporting”.
In order to overcome defects of the prior art, the objective of the present invention is to provide a novel anchoring and supporting cooperative machine packaged technology and equipment, which has a structure with a function of anchor protection and supporting operations, reduced equipment volume and improved maneuvering characteristics of the equipment, and is capable of realizing efficient anchor protection operations of a coal mining tunnel and finally forming a fully mechanized excavation face. The technical problem to be solved by the present invention is realized by adopting the following technical solution:
A monorail anchoring and supporting cooperative machine for a fully mechanized excavation face, including a suspension support system, a power system, an advanced support system, a subsidiary transport system and an anchoring robot system. The suspension support system is fixed on a top end of a coal mining tunnel through an anchor rod to provide support for the whole set of equipment. The power system is mounted at a tail end of a system main beam in the suspension support system. The advanced support system is mounted at a front end of the system main beam in the suspension support system. The subsidiary transport system is mounted on the system main beam in the suspension support system at a rear side of the advanced support system. The anchoring robot system is mounted on the system main beam in the suspension support system between the power system and the subsidiary transport system.
The suspension support system includes the system main beam, a top beam, a supporting member, a rail and a rectangular pin. An upper end of the rail is welded with a structural member for mounting, and two sides of a lower end are welded with racks. The system main beam is mounted on the rail through a load-bearing trolley. The top beam is provided with four holes, and is fixed on the top end of the coal mining tunnel through an anchor rod. An upper end of the supporting member is connected with the top beam through the rectangular pin, and a lower end is connected with the rail through the rectangular pin.
The power system includes the load-bearing trolley, a motor, a motor base and a gear driving system. The motor is mounted on the motor base through a bolt. The motor base is mounted on a lower bottom surface of the load-bearing trolley through a bolt. The load-bearing trolley is mounted on a surface of the rail and is capable of sliding on the surface of the rail. The gear driving system includes a driven straight gear A, a driven worm gear A, a worm A, a bevel gear wheel A, a bevel pinion A, a differential mechanism, an axle drive bevel pinion A, a driven straight gear B, a driven worm gear B, a worm B, a bevel gear wheel B, a bevel pinion B and a bevel gear B. In order to facilitate the travelling control of the equipment, the motor is a frequency conversion integrated machine.
The advanced support system includes an advanced support main beam, a supporting net bracket, a supporting net and a supporting net hydraulic telescopic system. One end of the advanced support main beam is connected with the system main beam through a pin, and the other end is connected with the supporting net bracket through a pin. One end of the supporting net hydraulic telescopic system is mounted on the advanced support main beam, and the other end is mounted on the supporting net bracket. The supporting net is tied on the supporting net bracket. The supporting net hydraulic telescopic system is capable of adjusting a size of the supporting net according to a state of equipment to be supported and supporting conditions to realize efficient supporting.
The subsidiary transport system includes a subsidiary transport system supporting assembly A, a subsidiary transport system supporting assembly B, a supporting beam, a supporting stand column A, a supporting stand column B, a chain wheel and chain transporting device, a driving device and a carrying manipulator. Each of the subsidiary transport system supporting assembly A and the subsidiary transport system supporting assembly B includes an upper suspending beam, a hydraulic cylinder and a lower suspending beam. The upper suspending beam is connected with the system main beam through a pin. The chain wheel and chain transporting device includes a chain wheel, a chain, a movable stopping block, a movable stopping plate and an I-shaped stopping rod. The chain wheel drives the chain to move through engaging. The driving device includes a bevel gear AA, a bevel gear BB, a servo motor AA and a motor cabinet. The carrying manipulator includes a mechanical gripper A, a mechanical gripper B, a front-end execution rod, a joint A, a joint B, a joint C, a servo motor A, a servo motor B and a servo motor C. The mechanical gripper A and the mechanical gripper B are welded at left and right sides of a tail end of the front-end execution rod respectively.
The anchoring robot system includes an anchoring robot hydraulic cylinder set, an anchoring robot connecting assembly, an anchor rod storage device, an anchoring robot working platform and an anchoring robot. The anchoring robot connecting assembly includes a foldable arm A, an anchor rod frame motor, a foldable arm B and an anchoring robot connecting assembly hydraulic cylinder set. One end of the foldable arm A is connected with the system main beam through a pin, and the other end is connected with the foldable arm B through a pin. The anchoring robot working platform includes a middle motor stator, a left motor stator, a ground-supporting hydraulic cylinder set, a connecting block, a right motor stator, a motor rotor, a foldable arm connecting hydraulic cylinder, a foldable hydraulic cylinder A and a foldable hydraulic cylinder B. The ground-supporting hydraulic cylinder set is respectively mounted on a lower bottom surface of the left motor stator and a lower bottom surface of the right motor stator. The anchoring robot includes a jumbolter guide rail, a propulsion motor, a rotating table, an anchoring big arm, a motor A, a motor B, a motor C, a base case, a turntable, a mechanical arm base, a connecting rod A, a connecting rod B, a jumbolter driving chain and a jumbolter. The jumbolter is mounted on a sliding rod of the jumbolter guide rail by through holes on two sides. The propulsion motor drives the jumbolter to move in the jumbolter guide rail through the jumbolter driving chain.
A monorail anchoring and supporting cooperative machine for a fully mechanized excavation face, where a working process includes following steps:
S1: manually paving a section of rail on a tunnel roof at first, and mounting a device on the rail;
S2: when a motor is working, enabling a power system to move on the rail through a gear driving system to push a system main beam connected thereto and realize movement of a whole set of equipment;
S3: after the whole set of equipment moves to an assigned working position, pushing a supporting net bracket to extend by a supporting net hydraulic telescopic system in an advanced support system to drive a supporting net to unfold; then, enabling a chain wheel and chain transporting device to be at an assigned height through synchronous action of a subsidiary transport system supporting assembly A and a subsidiary transport system supporting assembly B in a subsidiary transport system; meanwhile, enabling an anchoring robot working platform to descend by a certain height and be parallel to the ground when an anchoring robot connecting assembly in an anchoring robot system swings by a certain angle under a combined action of an anchoring robot connecting assembly hydraulic cylinder set and a foldable arm connecting hydraulic cylinder, then, unfolding the anchoring robot working platform under actions of a foldable hydraulic cylinder A and a foldable hydraulic cylinder B, and enabling a ground-supporting hydraulic cylinder set to extend to complete a ground-supporting action, where an effect is that an impact force generated by a jumbolter in a drilling process is absorbed and transmitted to the ground, so as to make the platform more stable;
S4: transferring materials required in an operation process to an assigned position by a chain wheel and chain transporting device in a subsidiary transport system; grabbing a top beam to a specific position of a tunnel by a carrying manipulator; simultaneously adjusting positions of an anchoring robot and an anchor rod storage device to enable an anchor rod in the anchor rod storage device to be loaded in the jumbolter to complete an anchor rod loading action;
S5: adjusting the anchoring robot to be in different postures to realize anchoring operation of the jumbolter at side faces of the tunnel and different positions of the roof, and fixing the top beam on the roof through the anchor rod to provide support for a whole set of equipment;
S6: grabbing materials required for constructing a suspension support system by the carrying manipulator to be mounted on the top beam, and grabbing the rail by the carrying manipulator to make an upper end of the rail be connected with the suspension support system and a tail end be connected with a front end of a previous section of rail to complete the paving of the rail; and
S7: in the advanced support system, the subsidiary transport system and the anchoring robot system, retracting a hydraulic system for adjusting the configuration, driving the whole set of equipment to move forward by the motor, and continuing the above steps to repeat anchor protection and supporting operations.
Including the existing tunneling-anchoring-supporting integrated machine and the patent mentioned herein (Integrated Equipment with Protection and Anchoring Cooperative Operation Function), compared with the prior art, the present invention has the following beneficial effects:
1) The subsidiary transport system in the present invention is compact in structure and small in volume.
In the present invention, the subsidiary transport system fully uses a space between the advanced support system and the anchoring robot system in the equipment and adopts a chain wheel and chain transporting mode, so that a size of a subsidiary transporting device is reduced, types and amounts of materials to be carried are increased, and the volume of the whole set of equipment is smaller. The present invention is especially suitable for being used in a narrow tunnel at “Huainan and Huaibei basins”.
2) The driving system in the present invention adopts a structure of gear, rack and differential mechanism, and the maneuvering characteristics of the equipment are good.
In the present invention, racks are welded at both sides of a lower end of the rail, and a motor drives a reducer engaged with the rack to rotate, so as to enable the equipment to have good slope changing performance. Meanwhile, a differential mechanism is mounted inside the reducer, so that advancing speeds at an inner side and an outer side of the equipment are different in a turning process, thus realizing the turning of a relatively small radian. Therefore, the present invention has good maneuvering characteristics, and can stably advance in a hostile tunnel environment.
3) The anchoring robot working platform in the present invention has a buffering function and an anchoring process is stable.
In the present invention, the driving between the anchoring robot at an upper end of the anchoring robot working platform and the platform is realized by electromagnetism, so that the movement and control accuracy is higher, which is conducive to accurate positioning and drilling of the jumbolter; and a lower end of the platform is connected with the hydraulic system. When the jumbolter is in operation, a bottom end of the hydraulic system is supported by the ground, so as to absorb an impact force generated in a drilling process and transmit the impact force to the ground, thus making the platform more stable, and providing a good working condition for the jumbolter.
Reference numbers in the drawings are as follows: 1-suspension support system; 2-power system; 3-advanced support system; 4-subsidiary transport system; 5-anchoring robot system; 1-1-system main beam; 1-2-top beam; 1-3-supporting member; 1-4-rail; 1-5-rectangular pin; 2-1-load-bearing trolley; 2-2-motor base; 2-3-motor; 2-4-gear driving system; 2-4-1-driven straight gear A; 2-4-2-driven worm gear A; 2-4-3-worm A;
2-4-4-bevel gear wheel A; 2-4-5-bevel pinion A; 2-4-6-differential mechanism; 2-4-7-axle drive bevel pinion A; 2-4-8-bevel gear B; 2-4-9-bevel pinion B; 2-4-10-bevel gear wheel B; 2-4-11-worm B; 2-4-12-driven worm gear B; 2-4-13-driven straight gear B; 3-1-advanced support main beam; 3-2-supporting net bracket; 3-3-supporting net; 3-4-supporting net hydraulic telescopic system; 4-1-subsidiary transport system supporting assembly A; 4-2-supporting beam; 4-3-supporting stand column A; 4-4-supporting stand column B; 4-5-subsidiary transport system supporting assembly B; 4-5-1-lower suspending beam; 4-5-2-hydraulic cylinder; 4-5-3-upper suspending beam; 4-6-chain wheel and chain transporting device; 4-6-1-chain; 4-6-2-movable stopping block; 4-6-3-I-shaped stopping rod; 4-6-4-movable stopping plate; 4-6-5-chain wheel; 4-7-driving device; 4-7-1-bevel gear AA; 4-7-2-bevel gear BB; 4-7-3-servo motor AA; 4-7-4-motor cabinet; 4-8-carrying manipulator; 4-8-1-servo motor C; 4-8-2-mechanical gripper A; 4-8-3-mechanical gripper B; 4-8-4-front-end execution rod; 4-8-5-servo motor A; 4-8-6. joint A; 4-8-7-servo motor B; 4-8-8-joint B; 4-8-9-joint C; 5-1-anchoring robot hydraulic cylinder set; 5-2-anchoring robot connecting assembly; 5-2-1-foldable arm A; 5-2-2-anchor rod frame motor; 5-2-3-foldable arm B; 5-2-4-anchoring robot connecting assembly hydraulic cylinder set; 5-3-anchoring robot working platform; 5-3-1-foldable hydraulic cylinder A; 5-3-2-foldable hydraulic cylinder B; 5-3-3-middle motor stator; 5-3-4-left motor stator; 5-3-5-ground-supporting hydraulic cylinder set; 5-3-6-connecting block; 5-3-7-right motor stator; 5-3-8-motor rotor; 5-3-9-foldable arm connecting hydraulic cylinder; 5-4-anchoring robot; 5-4-1-jumbolter guide rail; 5-4-2-propulsion motor; 5-4-3-rotating table; 5-4-4-anchoring big arm; 5-4-5-motor C; 5-4-6-motor B; 5-4-7-motor A; 5-4-8-base case; 5-4-9-turntable; 5-4-10-mechanical arm base; 5-4-11-connecting rod A; 5-4-12-connecting rod B; 5-4-13-jumbolter driving chain; 5-4-14-jumbolter; 5-5-anchor rod storage device.
In order to make it easy to understand the technical means, creation features, achieved purpose and effectiveness of the present invention, the following is a further detailed description of the present invention with reference to the attached drawings and the specific implementation. It should be understood that the specific embodiments described herein are merely used to explain the present disclosure but are not intended to limit the present disclosure.
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A monorail anchoring and supporting cooperative machine for a fully mechanized excavation face, where a working process includes following steps:
S1: a section of rail 1-4 is manually paved on a tunnel roof at first, and a device is mounted on the rail 1-4;
S2: when a motor 2-3 is working, a power system 2 is enabled to move on the rail 1-4 through a gear driving system 2-4 to push a system main beam 1-1 connected thereto and realize movement of a whole set of equipment;
S3: after the whole set of equipment moves to an assigned working position, a supporting net bracket 3-2 is pushed to extend by a supporting net hydraulic telescopic system 3-4 in an advanced support system 3 to drive a supporting net 3-3 to unfold; then, a chain wheel and chain transporting device 4-6 is enabled to be at an assigned height through synchronous action of a subsidiary transport system supporting assembly A4-1 and a subsidiary transport system supporting assembly B4-5 in a subsidiary transport system 4; meanwhile, an anchoring robot working platform 5-3 is enabled to descend by a certain height and be parallel to the ground when an anchoring robot connecting assembly 5-2 in an anchoring robot system 5 swings by a certain angle under a combined action of an anchoring robot connecting assembly hydraulic cylinder set 5-2-4 and a foldable arm connecting hydraulic cylinder 5-3-9, then, the anchoring robot working platform 5-3 is unfolded under actions of a foldable hydraulic cylinder A5-3-1 and a foldable hydraulic cylinder B5-3-2, and a ground-supporting hydraulic cylinder set 5-3-5 is extended to complete a ground-supporting action, where an effect is that an impact force generated by a jumbolter 5-4-14 in a drilling process is absorbed and transmitted to the ground, so as to make the platform more stable;
S4: materials required in an operation process are transferred to an assigned position by a chain wheel and chain transporting device 4-6 in a subsidiary transport system 4; a top beam 1-2 is grabbed to a specific position of a tunnel by a carrying manipulator 4-8; positions of an anchoring robot 5-4 and an anchor rod storage device 5-5 are simultaneously adjusted to enable an anchor rod in the anchor rod storage device 5-5 to be loaded in the jumbolter 5-4-14 to complete an anchor rod loading action;
S5: the anchoring robot 5-4 are adjusted to be in different postures to realize anchoring operation of the jumbolter 5-4-14 at side faces of the tunnel and different positions of the roof, and the top beam 1-2 is fixed on the roof through the anchor rod to provide support for a whole set of equipment;
S6: materials required for constructing a suspension support system 1 are grabbed by the carrying manipulator 4-8 to be mounted on the top beam 1-2, and the rail 1-4 is grabbed by the carrying manipulator 4-8 to enable an upper end of the rail 1-4 to be connected with the suspension support system 1 and a tail end to be connected with a front end of a previous section of rail 1-4 to complete the paving of the rail; and
S7: in the advanced support system 3, the subsidiary transport system 4 and the anchoring robot system 5, a hydraulic system for adjusting the configuration is retracted, the whole set of equipment is driven to move forward by the motor 2-3, and the above steps are continued to repeat anchor protection and supporting operations.
Finally, it should be noted that the foregoing specific implementations are merely intended for describing the technical solutions of the present invention but not for limiting the present invention. Although the present invention is described in detail with reference to the exemplary embodiments, a person of ordinary skill in the art should understand that they may still make modifications or equivalent replacements to the technical solutions described in the present invention without departing from the spirit and scope of the technical solutions of the embodiments of the present invention, which should all be covered in the claims of the present invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202010039720.4 | Jan 2020 | CN | national |
