STEPPING ANCHOR SUPPORTING ROBOT FOR FULLY MECHANIZED WORKING FACE

Abstract

The present invention discloses an anchor supporting intelligent device, belonging to the field of electromechanical devices for fully mechanized working faces. The device includes four parts of net supporting systems, anchoring systems, ground supporting systems and power and turning systems. The net supporting system is installed above the ground supporting system. The anchoring system is installed below a main beam and a middle main beam in the net supporting system through screws. The ground supporting system is installed below the main beam and the middle main beam in the net supporting system to provide support for the whole device. Two ends of the power and turning system are respectively connected with the main beam and the middle main beam in the net supporting system in a mode of pin connection. Further, the device disclosed by the present invention is small in volume and compact in structure, has functions of cooperative operation of multiple anchor rods and auxiliary paving of anchor nets, and is high in anchoring efficiency. Moreover, the device adopts a stepping moving mode, so that the device is smooth in operation, flexible in turning and good in maneuverability.

Description

BACKGROUND

Technical Field

The present invention relates to the field of electromechanical devices for fully mechanized working faces, and specifically relates to a stepping anchor supporting robot for a fully mechanized working face, belonging to the scope of anchor supporting intelligent devices.

Related Art

In recent years, fully-mechanized excavating, anchoring and supporting devices have developed rapidly, there are many products, and the operating efficiency has been greatly improved than before. However, such devices generally have the problem of limited application range due to a large volume of the device. Furthermore, most of devices adopt wheel type or crawler type moving solutions. Tires or crawlers working for a long time under relatively harsh environments of coal mine roadways are easy to damage and difficult to repair. The weight of the complete set of device is increased due to huge moving power components, so that there is a defect of subsidence during operating in soft rock roadways. In addition, when an existing excavating, anchoring and supporting device performs an anchoring operation on a roadway, the paving of an anchor net mostly adopts manual operation, so that the working efficiency is not high, and there is a danger of being hit by scattered rocks on a roof.

At present, some products integrate an excavating machine and an anchor supporting device together, and the traditional crawler type travelling mode is abandoned. The most typical solutions are disclosed in the publication patent numbers CN201610119970.2, CN201610119982.5, CN201810959282.6 and CN201810959588.1, in which stepping cooperation is realized by enabling an excavating supporting part and an anchoring supporting part to alternately move forward. The problem that the machine body falls into the roadway floor due to an excessive grounding ratio is solved by increasing the contact area between the machine body and the roadway floor, so that the device is suitable for soft and hard complicated roadways. Moreover, a stability increasing and vibration reducing structural part is disposed between the excavating supporting part and the anchoring supporting part, so that the connection between the excavating supporting part and the anchoring supporting part is tighter, the overall structural stability is higher, the vibratory magnitude of a stepping excavating, supporting and anchoring integrated machine set in the process of cutting coals and rocks is improved, and the excavating efficiency and the safety are further increased. Although such solutions solve the common problems of the wheel type or crawler type excavating, anchoring and supporting device, the device has higher requirements for the roadway floor and the moving process is not flexible enough, which is specifically as follows:

1) The device has higher requirements for the flatness of the roadway floor.

In the solutions mentioned in the above patents, when an excavating component is supported, an anchoring component moves back and forth, and when the anchoring component is supported, the excavating component moves back and forth. The processes are repeated alternately to realize the movement of the complete set of device. However, there is a large friction resistance between the moving component and the roadway floor, and obviously, the more uneven the roadway floor, the larger the friction resistance. Therefore, the use of the device has strict requirements for the gradient and flatness of the roadway, and the device is not suitable for roadways with relatively harsh environments.

2) The device is poor in turning performance and not flexible in moving process.

In the solutions mentioned in the above patents, the creeping movement of the device is realized by means of the alternating movement of the excavating supporting part and the anchoring supporting part. However, due to the larger volume of the excavating component and the anchoring device, the magnitude of turning of the complete set of device is very limited, a larger roadway space is required, and the moving process is very slow, which affects the excavating and anchoring speed of the complete set of device.

3) The degree of automation of the anchoring process is not high.

In the above patents, the paving of an anchor net on the roadway roof in the anchoring operation requires manual operation by workers, the working environment is harsh in this process, the manual operation has large labor intensity and low working efficiency and seriously affects the speed of the anchoring operation, and the workers are at risk of being hit by scattered rocks on the roadway roof.

SUMMARY

The present invention provides a stepping anchor supporting robot for a fully mechanized working face. The robot is small in volume, flexible in movement and strong in adaptability, and provides solutions for the above background art.

The technical problems to be solved by the present invention are implemented by the following technical solutions:

A stepping anchor supporting robot for a fully mechanized working face includes net supporting systems, anchoring systems, ground supporting systems and power and turning systems. The net supporting system is installed above the ground supporting system. The anchoring system is installed below a main beam and a middle main beam in the net supporting system through screws. The ground supporting system is installed below the main beam and the middle main beam in the net supporting system. Two ends of the power and turning system are respectively connected with the main beam and the middle main beam in the net supporting system in a mode of pin connection.

The net supporting system includes a main net supporting system, an auxiliary net supporting system, the main beam and the middle main beam. The main net supporting system is installed above the main beam in the net supporting system. The auxiliary net supporting system is installed above the middle main beam in the net supporting system. The main net supporting system includes a middle net supporting mechanism and a side net supporting mechanism, and the auxiliary net supporting system only includes a middle net supporting mechanism. The middle net supporting mechanism includes a middle bracket, a middle bracket connecting rod, a spring, a middle net supporting hydraulic cylinder and a net supporting baffle plate. The side net supporting mechanism includes a side bracket, a side net supporting hydraulic cylinder and a net supporting baffle plate.

The anchoring system includes an anchor rod, an anchor rod storage device, an anchor rod drill device, a ground supporting hydraulic cylinder, a base, a rotating power device and a connecting column. The anchor rod storage device is installed on a transmission shaft in the rotating power device in a mode of interference fit through a rod changing supporting seat thereof. The anchor rod storage device includes a storage rack rotating motor, an anchor rod storage rack, a shaft and the rod changing supporting seat. The anchor rod drill device includes an anchor rod drill guide rail, an anchor rod drill, a chain, a pushing motor, an adjusting hydraulic cylinder and a slide rail connecting plate. The rotating power device includes a bearing, a transmission shaft, a large gear, a pinion, a motor, a baffle plate and a platform box.

The ground supporting system includes a ground supporting hydraulic cylinder and a ground self-adaptive supporting base mechanism. The ground supporting hydraulic cylinder is installed below the main beam and the middle main beam in the net supporting system. The ground self-adaptive supporting base mechanism includes base hydraulic cylinders and a base tray. One end of the base hydraulic cylinder is connected with the ground supporting hydraulic cylinder through a pin, and the other end of the base hydraulic cylinder is connected with the base tray through a pin.

The power and turning system includes a pushing hydraulic cylinder, a turning hydraulic cylinder A, a turning hydraulic cylinder B, a pushing hydraulic cylinder big sleeve and a pushing hydraulic cylinder small sleeve. One end of the pushing hydraulic cylinder is connected with the pushing hydraulic cylinder small sleeve through a pin, and the other end of the pushing hydraulic cylinder is connected with the pushing hydraulic cylinder big sleeve through a pin. One ends of the turning hydraulic cylinder A and the turning hydraulic cylinder B are connected with the pushing hydraulic cylinder big sleeve through pins, and the other ends of the turning hydraulic cylinder A and the turning hydraulic cylinder B are connected with the middle main beam in the net supporting system through pins. The pushing hydraulic cylinder big sleeve is connected with the middle main beam in the net supporting system through a pin. The pushing hydraulic cylinder small sleeve is connected with the main beam in the net supporting system through a pin.

A moving process of a stepping anchor supporting robot for a fully mechanized working face is characterized by including the following steps:

S1: dividing the whole device into three sections, namely a front section, a middle section and a rear section; the device is provided with six groups of ground supporting systems and four groups of power and turning systems, and the ground supporting systems and the power and turning systems are symmetrically distributed at two sides of the device; each group of the ground supporting systems includes a ground supporting hydraulic cylinder; each group of the power and turning systems includes a pushing hydraulic cylinder, a turning hydraulic cylinder A and a turning hydraulic cylinder B; the moving processes of the systems at both sides are synchronized, and the moving process at one side is described;

S2: when the device is in an initial state, the six groups of the ground supporting systems are supported on the ground; during operation, enabling the ground supporting hydraulic cylinder on the front section of the device to shrink, the pushing hydraulic cylinder on the front half of the device to extend for a certain distance and then stop moving, and the ground supporting hydraulic cylinder on the front section of the device to extend and be supported on the roadway ground; at this time, the front section of the device is pushed forward for a certain distance;

S3: enabling the ground supporting hydraulic cylinder on the middle section of the device to shrink, the pushing hydraulic cylinder on the front half of the device to shrink, the pushing hydraulic cylinder on the rear half of the device to extend, the front and rear pushing hydraulic cylinders to synchronously move for a certain distance and then stop moving, and the ground supporting hydraulic cylinder on the middle section of the device to extend and be supported on the roadway ground; at this time, the middle section of the device is pushed forward for a certain distance; and

S4: enabling the ground supporting hydraulic cylinder on the rear section of the device to shrink, the pushing hydraulic cylinder on the rear half of the device to shrink for a certain distance and then stop moving, and the ground supporting hydraulic cylinder on the rear section of the device to extend and be supported on the roadway ground; at this time, the rear section of the device is pushed forward for a certain distance; thus, making the whole device move forward for a certain distance, and repeating the above steps to enable the complete set of device to continuously move.

A turning process of a stepping anchor supporting robot for a fully mechanized working face is characterized by including the following steps:

S1: enabling the ground supporting hydraulic cylinder on the front section of the device to shrink, at this time, enabling the pushing hydraulic cylinder at the right side of the front half of the device to extend and the pushing hydraulic cylinder at the left side to shrink, and realizing the turning process of the front section of the device under an adjusting effect of the turning hydraulic cylinder A and the turning hydraulic cylinder B; and

S2: enabling the ground supporting hydraulic cylinder on the rear section of the device to shrink, at this time, enabling the pushing hydraulic cylinder at the left side of the rear half of the device to extends and the pushing hydraulic cylinder at the right side to shrink, and realizing the turning process of the rear section of the device under the adjusting effect of the turning hydraulic cylinder A and the turning hydraulic cylinder B; thus, completing one turning action of the whole device, and repeating the above steps to realize continuous turning of the whole device in the roadway with a large curvature.

An anchoring operation process of a stepping anchor supporting robot for a fully mechanized working face is characterized by including the following steps:

S1: enabling the ground supporting hydraulic cylinder installed below a platform box to extend and act on a roadway floor;

S2: driving an anchor rod storage rack by a storage rack rotating motor to rotate to a position suitable for manually taking an anchor rod, and then, manually taking down the anchor rod and installing the anchor rod on an anchor rod drill;

S3: manually paving an anchor net on a net supporting baffle plate of the whole device, and driving the anchor net to closely adhere to a wall surface of the roadway by a middle net supporting hydraulic cylinder and a side net supporting hydraulic cylinder in a net supporting system; and

S4: after adjusting the position of an anchor rod drill device through a rotating power device and an adjusting hydraulic cylinder, enabling the anchor rod drill device to pass through the anchor net to drill the wall surface of the roadway, thereby completing the anchoring action.

Compared with an existing excavating, anchoring and supporting integrated machine, the present invention has the following beneficial effects:

1) The robot disclosed by the present invention has a simple body structure, can move smoothly, and has strong operation adaptability.

When the robot disclosed by the present invention moves, ground supporting hydraulic cylinder groups sequentially shrink and leave the roadway floor, and the stepping action is realized by means of internal pushing hydraulic cylinders. The moving process has smaller friction resistance, and the extension and shrinkage magnitudes of the hydraulic cylinders in the ground supporting hydraulic cylinder groups can be automatically adjusted according to the unevenness of the roadway floor, thereby ensuring the stability of the complete set of device. Due to a smaller volume, the whole device of the present invention is suitable for a coal mine roadway with a small space volume and a relatively harsh environment. Furthermore, main components of the device have a shrinkable function, so that the posture of the device can be adjusted in time according to actual working conditions of the roadway, so as to realize the high-efficiency operation.

2) The robot disclosed by the present invention is flexible in turning and good in maneuverability.

When the robot disclosed by the present invention turns, the turning hydraulic cylinder A and the turning hydraulic cylinder B installed on the body synergistically push the main beam in the net supporting system and the ground supporting hydraulic cylinder groups in the ground supporting system to move, therefore, the pushing quantity difference between the two turning hydraulic cylinders in the device can be adjusted according to actual working conditions of the roadway, so as to realize turning of different magnitudes. Furthermore, the present invention adopts a modular structure design, and all modules have a shorter length and are allowed to swing at a certain angle relative to each other, so that the structure greatly increases the turning flexibility of the robot disclosed by the present invention.

3) The robot disclosed by the present invention has high anchoring efficiency due to auxiliary paving of an anchor net device and cooperative operation of multiple anchor rod drills.

In the present invention, all anchor rod drills have high flexibility and large operating area and can cooperate with each other, so as to increase the anchoring speed. Moreover, before the anchoring operation, an anchor net is installed on the net supporting system in the present invention, so as to protect the safe movement of the device. During the anchoring operation, the middle net supporting hydraulic cylinder and the side net supporting hydraulic cylinder in the net supporting system drive the anchor net to closely adhere to the wall surface of the roadway, so as to provide good operating conditions for the anchor rod drill. The process replaces the traditional manual operation, which obviously can effectively improve the anchoring efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of an overall structure of the present invention.

FIG. 2 is a top view of the overall structure of the present invention.

FIG. 3 is a schematic diagram of a main beam of the present invention.

FIG. 4 is a schematic diagram of a middle main beam of the present invention.

FIG. 5 is a schematic diagram of structures of front and rear parts of the present invention.

FIG. 6 is a schematic diagram of a main net supporting system of the present invention.

FIG. 7 is a schematic diagram of an anchoring system of the present invention.

FIG. 8 is a schematic diagram of an anchor rod storage device of the present invention.

FIG. 9 is a schematic diagram of an anchor rod drill device of the present invention.

FIG. 10 is a schematic diagram of a slide rail connecting plate of the present invention.

FIG. 11 is a schematic diagram of a rotating power device of the present invention.

FIG. 12 is a schematic diagram of a platform box of the present invention.

FIG. 13 is a schematic diagram of a ground self-adaptive supporting base of the present invention.

FIG. 14 is a schematic diagram of a power and turning system of the present invention.

FIG. 15 is a schematic diagram of a pushing hydraulic cylinder big sleeve of the present invention.

FIG. 16 is a schematic diagram of a pushing hydraulic cylinder small sleeve of the present invention.

Numbers in figures represent: 1. net supporting system; 2. anchoring system; 3. ground supporting system; 4. power and turning system; 1-1. main net supporting system; 1-2. auxiliary net supporting system; 1-3. main beam; 1-4. middle main beam; 1-1-1. middle net supporting mechanism; 1-1-2. side net supporting mechanism; 1-1-1-1. middle bracket; 1-1-1-2. spring; 1-1-1-3. middle net supporting hydraulic cylinder; 1-1-1-4. middle bracket connecting rod; 1-1-2-1. net supporting baffle plate; 1-1-2-2. side bracket; 1-1-2-3. side net supporting hydraulic cylinder; 2-1. anchor rod; 2-2. anchor rod storage device; 2-3. anchor rod drill device; 2-4. ground supporting hydraulic cylinder; 2-5. base; 2-6. rotating power device; 2-7. connecting column; 2-2-1. storage rack rotating motor; 2-2-2. anchor rod storage rack; 2-2-3. shaft; 2-2-4. rod changing supporting seat; 2-3-1. anchor rod drill guide rail; 2-3-2. anchor rod drill; 2-3-3. chain; 2-3-4. pushing motor; 2-3-5. adjusting hydraulic cylinder; 2-3-6. slide rail connecting plate; 2-6-1. bearing; 2-6-2. transmission shaft; 2-6-3. large gear; 2-6-4. pinion; 2-6-5. motor; 2-6-6. baffle plate; 2-6-7. platform box; 3-1. ground supporting hydraulic cylinder; 3-2. ground self-adaptive supporting base mechanism; 3-2-1. base hydraulic cylinder; 3-2-2. base tray; 4-1. pushing hydraulic cylinder; 4-2. turning hydraulic cylinder A; 4-3. turning hydraulic cylinder B; 4-4. pushing hydraulic cylinder big sleeve; 4-5. pushing hydraulic cylinder small sleeve.

DETAILED DESCRIPTION

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.

Referring to FIG. 1, a stepping anchor supporting robot for a fully mechanized working face includes net supporting systems 1, anchoring systems 2, ground supporting systems 3 and power and turning systems 4. The net supporting system 1 is installed above the ground supporting system 3. The anchoring system 2 is installed below a main beam 1-3 and a middle main beam 1-4 in the net supporting system 1 through screws. The ground supporting system 3 is installed below the main beam 1-3 and the middle main beam 1-4 in the net supporting system 1. Two ends of the power and turning system 4 are respectively connected with the main beam 1-3 and the middle main beam 1-4 in the net supporting system 1 in a mode of pin connection. The stepping anchor supporting robot for the fully mechanized working face has the characteristics that a ground self-adaptive supporting base mechanism 3-2 of the device can adapt to rocks with different hardness and uneven ground, and thereby ensuring the stability of the device during moving and anchoring operations. The device is further provided with six groups of anchoring systems 2 which can perform the anchoring operation at the same time, and thereby greatly improving the efficiency of the anchoring operation.

Referring to FIG. 2, FIG. 3, FIG. 4, FIG. 5 and FIG. 6, the net supporting system 1 includes a main net supporting system 1-1, an auxiliary net supporting system 1-2, the main beam 1-3 and the middle main beam 1-4. The main net supporting system 1-1 is installed above the main beam 1-3 in the net supporting system 1. The auxiliary net supporting system 1-2 is installed above the middle main beam 1-4 in the net supporting system 1. The main net supporting system 1-1 includes a middle net supporting mechanism 1-1-1 and a side net supporting mechanism 1-1-2, and the auxiliary net supporting system 1-2 only includes a middle net supporting mechanism 1-1-1. The middle net supporting mechanism 1-1-1 includes a middle bracket 1-1-1-1, a middle bracket connecting rod 1-1-1-4, a spring 1-1-1-2, a middle net supporting hydraulic cylinder 1-1-1-3 and a net supporting baffle plate 1-1-2-1. The net supporting baffle plate 1-1-2-1 is installed above the middle bracket 1-1-1-1 through bolts. One end of the spring 1-1-1-2 is connected with the middle bracket 1-1-1-1, and the other end of the spring 1-1-1-2 is connected with the middle bracket connecting rod 1-1-1-4. One end of the middle net supporting hydraulic cylinder 1-1-1-3 in the main net supporting system 1-1 is connected with the main beam 1-3, and the other end of the middle net supporting hydraulic cylinder 1-1-1-3 is connected with the middle bracket 1-1-1-1. One end of the middle net supporting hydraulic cylinder 1-1-1-3 in the auxiliary net supporting system 1-2 is connected with the middle main beam 1-4, and the other end of the middle net supporting hydraulic cylinder 1-1-1-3 is connected with the middle bracket 1-1-1-1. The side net supporting mechanism 1-1-2 includes a side bracket 1-1-2-2, a side net supporting hydraulic cylinder 1-1-2-3 and a net supporting baffle plate 1-1-2-1. The net supporting baffle plate 1-1-2-1 is installed on the side bracket 1-1-2-2 through bolts. One end of the side net supporting hydraulic cylinder 1-1-2-3 is connected with the main beam 1-3, and the other end of the side net supporting hydraulic cylinder 1-1-2-3 is connected with the side bracket 1-1-2-2. The net supporting system 1 has the characteristic that the area of a supported anchor net is larger, and thereby providing favorable conditions for the anchoring operation.

Referring to FIG. 7, FIG. 8, FIG. 9, FIG. 10, FIG. 11 and FIG. 12, the anchoring system 2 includes an anchor rod 2-1, an anchor rod storage device 2-2, an anchor rod drill device 2-3, a ground supporting hydraulic cylinder 2-4, a base 2-5, a rotating power device 2-6 and a connecting column 2-7. The device is provided with six groups of anchoring systems 2, and one group of the anchoring system 2 is described below. The anchor rod storage device 2-2 is installed on a transmission shaft 2-6-2 in the rotating power device 2-6 in a mode of interference fit through a rod changing supporting seat 2-2-4 thereof. The anchor rod storage device 2-2 includes a storage rack rotating motor 2-2-1, an anchor rod storage rack 2-2-2, a shaft 2-2-3 and the rod changing supporting seat 2-2-4. The storage rack rotating motor 2-2-1 is installed at one end of the rod changing supporting seat 2-2-4. The shaft 2-2-3 is installed on a bearing pedestal on the rod changing supporting seat 2-2-4 and is connected with the storage rack rotating motor 2-2-1 through a coupler. The anchor rod storage rack 2-2-2 is installed on the shaft 2-2-3. The anchor rod storage rack 2-2-2 has the characteristics that the overall structure is pie-shaped, and the edge is of a zigzag structure with certain elasticity for storing the anchor rod 2-1. The anchor rod drill device 2-3 is installed on the rod changing supporting seat 2-2-4 in the anchor rod storage device 2-2 through screws. The anchor rod drill device 2-3 includes an anchor rod drill guide rail 2-3-1, an anchor rod drill 2-3-2, a chain 2-3-3, a pushing motor 2-3-4, an adjusting hydraulic cylinder 2-3-5 and a slide rail connecting plate 2-3-6. The anchor rod drill 2-3-2 is installed on the anchor rod drill guide rail 2-3-1. The anchor rod drill guide rail 2-3-1 is installed on the slide rail connecting plate 2-3-6 and can move along a guide rail in the slide rail connecting plate 2-3-6. The rotating power device 2-6 includes a bearing 2-6-1, a transmission shaft 2-6-2, a large gear 2-6-3, a pinion 2-6-4, a motor 2-6-5, a baffle plate 2-6-6 and a platform box 2-6-7. The bearing 2-6-1 is installed at two sides of the platform box 2-6-7. The large gear 2-6-3 sleeves the transmission shaft 2-6-2. The pinion 2-6-4 sleeves the shaft of the motor 2-6-5 and is meshed with the large gear 2-6-3. The ground supporting hydraulic cylinder 2-4 is installed below the platform box 2-6-7 through bolts and can improve the stability of the device during the anchoring operation. The connecting column 2-7 is installed above the platform box 2-6-7 through bolts.

Referring to FIG. 13, the ground supporting system 3 includes a ground supporting hydraulic cylinder 3-1 and the ground self-adaptive supporting base mechanism 3-2. The device is provided with six groups of ground supporting systems 3 which are symmetrically distributed, and the ground supporting system 3 at one side is described below. The ground supporting hydraulic cylinder 3-1 is installed below the main beam 1-3 and the middle main beam 1-4 in the net supporting system 1. The ground self-adaptive supporting base mechanism 3-2 includes base hydraulic cylinders 3-2-1 and a base tray 3-2-2. One end of the base hydraulic cylinder 3-2-1 is connected with the ground supporting hydraulic cylinder 3-1 through a pin, the other end of the base hydraulic cylinder 3-2-1 is connected with the base tray 3-2-2 through a pin, and the base hydraulic cylinder 3-2-1 has the characteristic that a telescopic distance can be adjusted appropriately according to a topographical change to keep the balance of the whole device.

Referring to FIG. 14, FIG. 15 and FIG. 16, the power and turning system 4 includes a pushing hydraulic cylinder 4-1, a turning hydraulic cylinder A 4-2, a turning hydraulic cylinder B 4-3, a pushing hydraulic cylinder big sleeve 4-4 and a pushing hydraulic cylinder small sleeve 4-5. The device is provided with four groups of power and turning systems 4, and one group of the power and turning system 4 is described below. The pushing hydraulic cylinder 4-1 is installed inside the pushing hydraulic cylinder big sleeve 4-4 and the pushing hydraulic cylinder small sleeve 4-5. One end of the pushing hydraulic cylinder 4-1 is connected with the pushing hydraulic cylinder small sleeve 4-5 through a pin, and the other end of the pushing hydraulic cylinder 4-1 is connected with the pushing hydraulic cylinder big sleeve 4-4 through a pin. One ends of the turning hydraulic cylinder A 4-2 and the turning hydraulic cylinder B 4-3 are connected with the pushing hydraulic cylinder big sleeve 4-4 through pins, and the other ends of the turning hydraulic cylinder A 4-2 and the turning hydraulic cylinder B 4-3 are connected with the middle main beam 1-4 in the net supporting system 1 through pins. The pushing hydraulic cylinder big sleeve 4-4 is connected with the middle main beam 1-4 in the net supporting system 1 through a pin. The pushing hydraulic cylinder small sleeve 4-5 is connected with the main beam 1-3 in the net supporting system 1 through a pin. The power and turning system 4 has the characteristics that the pushing hydraulic cylinder 4-1 extends and shrinks to realize movement, and the turning hydraulic cylinder A 4-2 and the turning hydraulic cylinder B 4-3 extend and shrink synergistically to realize turning of the device.

A moving process of a stepping anchor supporting robot for a fully mechanized working face is characterized by including the following steps:

S1: the overall device is divided into three sections, namely a front section, a middle section and a rear section; the device is provided with six groups of ground supporting systems 3 and four groups of power and turning systems 4, and the ground supporting systems 3 and the power and turning systems 4 are symmetrically distributed at two sides of the device; each group of the ground supporting systems 3 includes a ground supporting hydraulic cylinder 3-1; each group of the power and turning systems 4 includes a pushing hydraulic cylinder 4-1, a turning hydraulic cylinder A 4-2 and a turning hydraulic cylinder B 4-3; the moving processes of the systems at both sides are synchronized, and the moving process at one side is described;

S2: when the device is in an initial state, the six groups of ground supporting systems 3 are supported on the ground; during operation, the ground supporting hydraulic cylinder 3-1 on the front section of the device shrinks, the pushing hydraulic cylinder 4-1 on the front half of the device extends for a certain distance and then stops moving, and the ground supporting hydraulic cylinder 3-1 on the front section of the device extends and is supported on the roadway ground; at this time, the front section of the device is pushed forward for a certain distance;

S3: the ground supporting hydraulic cylinder 3-1 on the middle section of the device shrinks, the pushing hydraulic cylinder 4-1 on the front half of the device shrinks, the pushing hydraulic cylinder 4-1 on the rear half of the device extends, the front and rear pushing hydraulic cylinders 4-1 synchronously move for a certain distance and then stop moving, and the ground supporting hydraulic cylinder 3-1 on the middle section of the device extends and is supported on the roadway ground; at this time, the middle section of the device is pushed forward for a certain distance; and

S4: the ground supporting hydraulic cylinder 3-1 on the rear section of the device shrinks, the pushing hydraulic cylinder 4-1 on the rear half of the device shrinks for a certain distance and then stops moving, and the ground supporting hydraulic cylinder 3-1 on the rear section of the device extends and is supported on the roadway ground; at this time, the rear section of the device is pushed forward for a certain distance; thus, the whole device is moved forward for a certain distance, and the above steps are repeated to enable the complete set of device to continuously move.

A turning process of a stepping anchor supporting robot for a fully mechanized working face is characterized by including the following steps:

S1: the ground supporting hydraulic cylinder 3-1 on the front section of the device shrinks, at this time, the pushing hydraulic cylinder 4-1 at the right side of the front half of the device extends, the pushing hydraulic cylinder 4-1 at the left side shrinks, and the turning process of the front section of the device is realized under an adjusting effect of the turning hydraulic cylinder A 4-2 and the turning hydraulic cylinder B 4-3; and

S2: the ground supporting hydraulic cylinder 3-1 on the rear section of the device shrinks, at this time, the pushing hydraulic cylinder 4-1 at the left side of the rear half of the device extends, the pushing hydraulic cylinder 4-1 at the right side shrinks, and the turning process of the rear section of the device is realized under the adjusting effect of the turning hydraulic cylinder A 4-2 and the turning hydraulic cylinder B 4-3; thus, one turning action of the overall device is completed, and the above steps are repeated to realize continuous turning of the whole device in the roadway with a large curvature.

An anchoring operation process of a stepping anchor supporting robot for a fully mechanized working face is characterized by including the following steps:

S1: the ground supporting hydraulic cylinder 2-4 installed below a platform box 2-6-7 extends and acts on a roadway floor;

S2: an anchor rod storage rack 2-2-2 is driven by a storage rack rotating motor 2-2-1 to rotate to a position suitable for manually taking an anchor rod 2-1, and then, the anchor rod 2-1 is manually taken down and installed on the anchor rod drill 2-3-2;

S3: an anchor net is manually paved on a net supporting baffle plate 1-1-2-1 of the whole device, and the anchor net is driven by a middle net supporting hydraulic cylinder 1-1-1-3 and a side net supporting hydraulic cylinder 1-1-2-3 in a net supporting system 1 to closely adhere to a wall surface of the roadway; and

S4: after the position of an anchor rod drill device 2-3 is adjusted through a rotating power device 2-6 and an adjusting hydraulic cylinder 2-3-5, the anchor rod drill device 2-3 passes through the anchor net to drill the wall surface of the roadway, and thereby completing the anchoring action.

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.

Claims

1. A stepping anchor supporting robot for a fully mechanized working face, comprising net supporting systems, anchoring systems, ground supporting systems and power and turning systems, wherein the net supporting system is installed above the ground supporting system; the anchoring system is installed below a main beam and a middle main beam in the net supporting system through screws; the ground supporting system is installed below the main beam and the middle main beam in the net supporting system; and two ends of the power and turning system are respectively connected with the main beam and the middle main beam in the net supporting system in a mode of pin connection.

2. The stepping anchor supporting robot for a fully mechanized working face according to claim 1, wherein the net supporting system comprises a main net supporting system, an auxiliary net supporting system, the main beam and the middle main beam; the main net supporting system is installed above the main beam in the net supporting system; the auxiliary net supporting system is installed above the middle main beam in the net supporting system; the main net supporting system comprises a middle net supporting mechanism and a side net supporting mechanism, and the auxiliary net supporting system only comprises a middle net supporting mechanism; the middle net supporting mechanism comprises a middle bracket, a middle bracket connecting rod, a spring, a middle net supporting hydraulic cylinder and a net supporting baffle plate; and the side net supporting mechanism comprises a side bracket, a side net supporting hydraulic cylinder and a net supporting baffle plate.

3. The stepping anchor supporting robot for a fully mechanized working face according to claim 1, wherein the anchoring system comprises an anchor rod, an anchor rod storage device, an anchor rod drill device, a ground supporting hydraulic cylinder, a base, a rotating power device and a connecting column; the anchor rod storage device is installed on a transmission shaft in the rotating power device in a mode of interference fit through a rod changing supporting seat thereof; the anchor rod storage device comprises a storage rack rotating motor, an anchor rod storage rack, a shaft and the rod changing supporting seat; the anchor rod drill device comprises an anchor rod drill guide rail, an anchor rod drill, a chain, a pushing motor, an adjusting hydraulic cylinder and a slide rail connecting plate; and the rotating power device comprises a bearing, a transmission shaft, a large gear, a pinion, a motor, a baffle plate and a platform box.

4. The stepping anchor supporting robot for a fully mechanized working face according to claim 1, wherein the ground supporting system comprises a ground supporting hydraulic cylinder and a ground self-adaptive supporting base mechanism; the ground supporting hydraulic cylinder is installed below the main beam and the middle main beam in the net supporting system; the ground self-adaptive supporting base mechanism comprises base hydraulic cylinders and a base tray; and one end of the base hydraulic cylinder is connected with the ground supporting hydraulic cylinder through a pin, and the other end of the base hydraulic cylinder is connected with the base tray through a pin.

5. The stepping anchor supporting robot for a fully mechanized working face according to claim 1, wherein the power and turning system comprises a pushing hydraulic cylinder, a turning hydraulic cylinder A, a turning hydraulic cylinder B, a pushing hydraulic cylinder big sleeve and a pushing hydraulic cylinder small sleeve; one end of the pushing hydraulic cylinder is connected with the pushing hydraulic cylinder small sleeve through a pin, and the other end of the pushing hydraulic cylinder is connected with the pushing hydraulic cylinder big sleeve through a pin; one ends of the turning hydraulic cylinder A and the turning hydraulic cylinder B are connected with the pushing hydraulic cylinder big sleeve through pins, and the other ends of the turning hydraulic cylinder A and the turning hydraulic cylinder B are connected with the middle main beam in the net supporting system through pins; the pushing hydraulic cylinder big sleeve is connected with the middle main beam in the net supporting system through a pin; and the pushing hydraulic cylinder small sleeve is connected with the main beam in the net supporting system through a pin.

6. A stepping anchor supporting robot for a fully mechanized working face, wherein a moving process is characterized by comprising the following steps: S1: dividing the whole device into three sections, namely a front section, a middle section and a rear section; the device is provided with six groups of ground supporting systems and four groups of power and turning systems, and the ground supporting systems and the power and turning systems are symmetrically distributed at two sides of the device; each group of the ground supporting systems comprises a ground supporting hydraulic cylinder; each group of the power and turning systems comprises a pushing hydraulic cylinder, a turning hydraulic cylinder A and a turning hydraulic cylinder B; the moving processes of the systems at both sides are synchronized, and the moving process at one side is described;S2: when the device is in an initial state, the six groups of the ground supporting systems are supported on the ground; during operation, enabling the ground supporting hydraulic cylinder on the front section of the device to shrink, the pushing hydraulic cylinder on the front half of the device to extend for a certain distance and then stop moving, and the ground supporting hydraulic cylinder on the front section of the device to extend and be supported on the roadway ground; at this time, the front section of the device is pushed forward for a certain distance;S3: enabling the ground supporting hydraulic cylinder on the middle section of the device to shrink, the pushing hydraulic cylinder on the front half of the device to shrink, the pushing hydraulic cylinder on the rear half of the device to extend, the front and rear pushing hydraulic cylinders to synchronously move for a certain distance and then stop moving, and the ground supporting hydraulic cylinder on the middle section of the device to extends and be supported on the roadway ground; at this time, the middle section of the device is pushed forward for a certain distance; andS4: enabling the ground supporting hydraulic cylinder on the rear section of the device to shrink, the pushing hydraulic cylinder on the rear half of the device to shrink for a certain distance and then stop moving, and the ground supporting hydraulic cylinder on the rear section of the device to extend and be supported on the roadway ground; at this time, the rear section of the device is pushed forward for a certain distance; thus, making the whole device move forward for a certain distance, and repeating the above steps to enable the complete set of device to continuously move.

7. A stepping anchor supporting robot for a fully mechanized working face, wherein a turning process is characterized by comprising the following steps: S1: enabling the ground supporting hydraulic cylinder on the front section of the device to shrink, at this time, enabling the pushing hydraulic cylinder at the right side of the front half of the device to extend and the pushing hydraulic cylinder at the left side to shrink, and realizing the turning process of the front section of the device under an adjusting effect of the turning hydraulic cylinder A and the turning hydraulic cylinder B; andS2: enabling the ground supporting hydraulic cylinder on the rear section of the device to shrink, at this time, enabling the pushing hydraulic cylinder at the left side of the rear half of the device to extend and the pushing hydraulic cylinder at the right side to shrink, and realizing the turning process of the rear section of the device under the adjusting effect of the turning hydraulic cylinder A and the turning hydraulic cylinder B; thus, completing one turning action of the whole device, and repeating the above steps to realize continuous turning of the whole device in the roadway with a large curvature.

8. A stepping anchor supporting robot for a fully mechanized working face, wherein an anchoring operation process is characterized by comprising the following steps: S1: enabling the ground supporting hydraulic cylinder installed below a platform box to extend and act on a roadway floor;S2: driving an anchor rod storage rack by a storage rack rotating motor to rotate to a position suitable for manually taking an anchor rod, and then, manually taking down the anchor rod and installing the anchor rod on an anchor rod drill;S3: manually paving an anchor net on a net supporting baffle plate of the whole device, and driving the anchor net to closely adhere to a wall surface of the roadway by a middle net supporting hydraulic cylinder and a side net supporting hydraulic cylinder in a net supporting system; andS4: after adjusting the position of an anchor rod drill device through a rotating power device and an adjusting hydraulic cylinder, enabling the anchor rod drill device to pass through the anchor net to drill the wall surface of the roadway, thereby completing the anchoring action.